Unverified Commit 8ff60747 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #6 from nim65s/devel

fix compatibility with pinocchio v2.4.5
parents e296becb 61d5bd1d
......@@ -116,9 +116,9 @@ class RobotWrapper {
void frameClassicAcceleration(const Data& data, const Model::FrameIndex index, Motion& frameAcceleration) const;
void frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
void frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
void frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
void frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const;
protected:
void updateMd();
......
......@@ -166,11 +166,11 @@ void RobotWrapper::frameClassicAcceleration(const Data& data, const Model::Frame
frameAcceleration.linear() += v.angular().cross(v.linear());
}
void RobotWrapper::frameJacobianWorld(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
void RobotWrapper::frameJacobianWorld(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
}
void RobotWrapper::frameJacobianLocal(const Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
void RobotWrapper::frameJacobianLocal(Data& data, const Model::FrameIndex index, Data::Matrix6x& J) const {
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
}
......
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