Commit 573dd0b5 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[bugfix] Get the Jacobian in the world frame

parent 920d438c
......@@ -249,14 +249,13 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getFrameJacobian(m_model, data, index, J);
return se3::getJacobian<se3::WORLD>(m_model, data, index, J);
}
void RobotWrapper::frameJacobianLocal(const Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
//se3::framesForwardKinematics(*m_model, data);//TODO ask Andrea if we need this
return se3::getFrameJacobian(m_model, data, index, J);
}
......
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