Commit 8cef8ccc authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[upd] Updated tsid with the latest version of pinocchio

parent d84c536d
......@@ -170,14 +170,14 @@ namespace tsid
const Model::JointIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<false>(m_model, data, index, J);
return se3::getJacobian<se3::WORLD>(m_model, data, index, J);
}
void RobotWrapper::jacobianLocal(const Data & data,
const Model::JointIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<true>(m_model, data, index, J);
return se3::getJacobian<se3::LOCAL>(m_model, data, index, J);
}
SE3 RobotWrapper::framePosition(const Data & data,
......@@ -249,14 +249,15 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getFrameJacobian<false>(m_model, data, index, J);
return se3::getFrameJacobian(m_model, data, index, J);
}
void RobotWrapper::frameJacobianLocal(const Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getFrameJacobian<true>(m_model, data, index, J);
//se3::framesForwardKinematics(*m_model, data);//TODO ask Andrea if we need this
return se3::getFrameJacobian(m_model, data, index, J);
}
// const Vector3 & com(Data & data,const Vector & q,
......
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