Commit 7036c61c authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

Fix warnings, stop using deprecated functions of Pinocchio

parent 6deb98a6
......@@ -290,6 +290,7 @@ bool InverseDynamicsFormulationAccForce::updateRigidContactWeights(const std::st
}
}
}
return false;
}
......
......@@ -31,8 +31,7 @@ namespace tsid
bool InverseDynamicsFormulationBase::addRigidContact(ContactBase & contact)
{
addRigidContact(contact, 1e-5);
return addRigidContact(contact, 1e-5);
}
}
......@@ -72,7 +72,7 @@ namespace tsid
= data.M.transpose().triangularView<Eigen::StrictlyLower>();
// computeAllTerms does not compute the com acceleration, so we need to call centerOfMass
se3::centerOfMass<true,true,true>(m_model, data, false);
se3::framesForwardKinematics(m_model, data);
se3::updateFramePlacements(m_model, data);
se3::centerOfMass(m_model, data, q, v, Eigen::VectorXd::Zero(nv()));
}
......@@ -170,14 +170,14 @@ namespace tsid
const Model::JointIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<se3::WORLD>(m_model, data, index, J);
return se3::getJointJacobian<se3::WORLD>(m_model, data, index, J);
}
void RobotWrapper::jacobianLocal(const Data & data,
const Model::JointIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<se3::LOCAL>(m_model, data, index, J);
return se3::getJointJacobian<se3::LOCAL>(m_model, data, index, J);
}
SE3 RobotWrapper::framePosition(const Data & data,
......@@ -249,14 +249,14 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<se3::WORLD>(m_model, data, m_model.frames[index].parent, J);
return se3::getJointJacobian<se3::WORLD>(m_model, data, m_model.frames[index].parent, J);
}
void RobotWrapper::frameJacobianLocal(const Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getFrameJacobian(m_model, data, index, J);
return se3::getFrameJacobian<se3::LOCAL>(m_model, data, index, J);
}
// const Vector3 & com(Data & data,const Vector & q,
......
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