Unverified Commit 233bd5ba authored by Joseph Mirabel's avatar Joseph Mirabel Committed by GitHub
Browse files

Merge pull request #99 from nim65s/devel

Compatibility with Pinocchio v2.1.6
parents 750129d8 a4aa7f37
......@@ -82,7 +82,11 @@ namespace hpp {
// TODO as of now, it is not possible to access the template parameter
// JointCollectionTpl of Model so we use the default one.
typedef ::pinocchio::JacobianCenterOfMassBackwardStep<Model::Scalar,
Model::Options, JointCollectionTpl> Pass;
Model::Options, JointCollectionTpl
#if PINOCCHIO_VERSION_AT_LEAST(2,1,6)
,Data::Matrix3x
#endif
> Pass;
// Assume root is sorted from smallest id.
// Nasty cast below, from (u-long) size_t to int.
......@@ -95,7 +99,11 @@ namespace hpp {
{
if(computeJac)
Pass::run(model.joints[jid],data.joints[jid],
Pass::ArgsType(model,data,false));
Pass::ArgsType(model,data,
#if PINOCCHIO_VERSION_AT_LEAST(2,1,6)
data.Jcom,
#endif
false));
else
{
assert(computeCOM);
......@@ -117,7 +125,11 @@ namespace hpp {
const JointIndex & parent = model.parents[jid];
if(computeJac)
Pass::run(model.joints[jid],data.joints[jid],
Pass::ArgsType(model,data,false));
Pass::ArgsType(model,data,
#if PINOCCHIO_VERSION_AT_LEAST(2,1,6)
data.Jcom,
#endif
false));
else
{
assert(computeCOM);
......
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