Merge pull request #6 from nim65s/devel

fix compatibility with pinocchio v2.4.5

include/sot/talos_balance/robot/robot-wrapper.hh

@@ -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();

src/robot/robot-wrapper.cpp

@@ -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);
 }