Commit b032f4cb authored by Nicolas Mansard's avatar Nicolas Mansard Committed by Nicolas Mansard
Browse files

Account for Pinocchio new API in parsers.

parent 30780d03
...@@ -26,7 +26,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf ...@@ -26,7 +26,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
{ {
hpp::pinocchio::DevicePtr_t pinocchio = hpp::pinocchio::Device::create(urdfFilename); hpp::pinocchio::DevicePtr_t pinocchio = hpp::pinocchio::Device::create(urdfFilename);
hpp::pinocchio::ModelPtr_t model( new se3::Model() ); hpp::pinocchio::ModelPtr_t model( new se3::Model() );
*model = se3::urdf::buildModel(urdfFilename,se3::JointModelFreeFlyer()); se3::urdf::buildModel(urdfFilename,se3::JointModelFreeFlyer(),*model);
pinocchio->model(model); pinocchio->model(model);
pinocchio->createData(); pinocchio->createData();
...@@ -34,8 +34,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf ...@@ -34,8 +34,7 @@ hpp::pinocchio::DevicePtr_t hppPinocchio( bool withGeoms, const std::string urdf
{ {
std::vector<std::string> baseDirs; baseDirs.push_back(ROMEO_MODEL_DIR); std::vector<std::string> baseDirs; baseDirs.push_back(ROMEO_MODEL_DIR);
hpp::pinocchio::GeomModelPtr_t geom( new se3::GeometryModel() ); hpp::pinocchio::GeomModelPtr_t geom( new se3::GeometryModel() );
se3::GeometryModel & geomRef = *geom; se3::urdf::buildGeom(pinocchio->model(),pinocchio->name(),se3::COLLISION,*geom,baseDirs);
geomRef = se3::urdf::buildGeom(pinocchio->model(),pinocchio->name(),baseDirs,se3::COLLISION);
pinocchio->geomModel(geom); pinocchio->geomModel(geom);
pinocchio->createGeomData(); pinocchio->createGeomData();
......
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