[upd] Updated tsid with the latest version of pinocchio

src/robots/robot-wrapper.cpp

@@ -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,