Merge branch 'topic/pinocchio-deprecated' into 'devel'

Remplaced deprecated Pinocchio function (forward dynamics)

See merge request !253

CMakeLists.txt

@@ -53,7 +53,7 @@ SETUP_PROJECT()
 # Add the different required and optional dependencies
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
 ADD_REQUIRED_DEPENDENCY("eigenpy")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.8")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.9")
 ADD_REQUIRED_DEPENDENCY("example-robot-data >= 2.2.0")
 ADD_OPTIONAL_DEPENDENCY("multicontact-api >= 1.1.0")
 ADD_OPTIONAL_DEPENDENCY("quadprog")

src/multibody/actions/contact-fwddyn.cpp

@@ -65,8 +65,8 @@ void DifferentialActionModelContactFwdDynamics::calc(const boost::shared_ptr<Dif
   }
 #endif
 
-  pinocchio::forwardDynamics(pinocchio_, d->pinocchio, q, v, d->actuation->tau, d->contacts->Jc, d->contacts->a0,
-                             JMinvJt_damping_, false);
+  pinocchio::forwardDynamics(pinocchio_, d->pinocchio, d->actuation->tau, d->contacts->Jc, d->contacts->a0,
+                             JMinvJt_damping_);
   d->xout = d->pinocchio.ddq;
   contacts_->updateAcceleration(d->contacts, d->pinocchio.ddq);
   contacts_->updateForce(d->contacts, d->pinocchio.lambda_c);