Commit bb184fa6 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[pinocchio-v2.1] Fix problems when rebsasing on origin/devel

parent 21532717
......@@ -42,7 +42,7 @@ namespace tsid
typedef tasks::TaskSE3Equality TaskSE3Equality;
typedef math::ConstraintInequality ConstraintInequality;
typedef math::ConstraintEquality ConstraintEquality;
typedef se3::SE3 SE3;
typedef pinocchio::SE3 SE3;
ContactPoint(const std::string & name,
RobotWrapper & robot,
......
......@@ -60,7 +60,7 @@ Contact6d::Contact6d(const std::string & name,
const double frictionCoefficient,
const double minNormalForce,
const double maxNormalForce,
const double forceRegWeight):
const double ):
Contact6d(name, robot, frameName, contactPoints, contactNormal, frictionCoefficient, minNormalForce, maxNormalForce)
{
std::cout<<"[Contact6d] The constructor with forceRegWeight is deprecated now. forceRegWeight should now be specified when calling addRigidContact()\n";
......
......@@ -171,22 +171,14 @@ namespace tsid
const Model::JointIndex index,
Data::Matrix6x & J) const
{
<<<<<<< 7036c61c0ac04313b92b5f31544ab4986d80bba0
return se3::getJointJacobian<se3::WORLD>(m_model, data, index, J);
=======
return pinocchio::getFrameJacobian(m_model, data, index,pinocchio::WORLD,J);
>>>>>>> [pinocchio-v2.1] Apply pinocchio v2.1.0 API changes.
}
void RobotWrapper::jacobianLocal(const Data & data,
const Model::JointIndex index,
Data::Matrix6x & J) const
{
<<<<<<< 7036c61c0ac04313b92b5f31544ab4986d80bba0
return se3::getJointJacobian<se3::LOCAL>(m_model, data, index, J);
=======
return pinocchio::getFrameJacobian(m_model, data, index,pinocchio::LOCAL, J);
>>>>>>> [pinocchio-v2.1] Apply pinocchio v2.1.0 API changes.
}
SE3 RobotWrapper::framePosition(const Data & data,
......@@ -258,22 +250,14 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
<<<<<<< 7036c61c0ac04313b92b5f31544ab4986d80bba0
return se3::getJointJacobian<se3::WORLD>(m_model, data, m_model.frames[index].parent, J);
=======
return pinocchio::getFrameJacobian(m_model, data, m_model.frames[index].parent,pinocchio::WORLD, J);
>>>>>>> [pinocchio-v2.1] Apply pinocchio v2.1.0 API changes.
}
void RobotWrapper::frameJacobianLocal(const Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
<<<<<<< 7036c61c0ac04313b92b5f31544ab4986d80bba0
return se3::getFrameJacobian<se3::LOCAL>(m_model, data, index, J);
=======
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL,J);
>>>>>>> [pinocchio-v2.1] Apply pinocchio v2.1.0 API changes.
}
// const Vector3 & com(Data & data,const Vector & q,
......
......@@ -42,7 +42,7 @@ namespace tsid
return 6;
}
void TrajectorySE3Constant::setReference(const se3::SE3 & ref)
void TrajectorySE3Constant::setReference(const pinocchio::SE3 & ref)
{
m_sample.resize(12, 6);
SE3ToVector(ref, m_sample.pos);
......
......@@ -499,12 +499,12 @@ BOOST_AUTO_TEST_CASE ( test_contact_point_invdyn_formulation_acc_force )
string urdfFileName = package_dirs[0] + "/urdf/quadruped.urdf";
RobotWrapper robot(urdfFileName,
package_dirs,
se3::JointModelFreeFlyer(),
pinocchio::JointModelFreeFlyer(),
false);
BOOST_REQUIRE(robot.model().existFrame(frameName));
Vector q = robot.model().neutralConfiguration;
Vector q = neutral(robot.model());
Vector v = Vector::Zero(robot.nv());
const unsigned int nv = robot.nv();
......@@ -521,11 +521,11 @@ BOOST_AUTO_TEST_CASE ( test_contact_point_invdyn_formulation_acc_force )
InverseDynamicsFormulationAccForce *tsid =
new InverseDynamicsFormulationAccForce("tsid", robot);
tsid->computeProblemData(t, q, v);
const se3::Data & data = tsid->data();
const pinocchio::Data & data = tsid->data();
// Place the robot onto the ground.
se3::SE3 fl_contact = robot.framePosition(data, robot.model().getFrameId("FL_contact"));
pinocchio::SE3 fl_contact = robot.framePosition(data, robot.model().getFrameId("FL_contact"));
q[2] -= fl_contact.translation()(2);
tsid->computeProblemData(t, q, v);
......@@ -612,7 +612,7 @@ BOOST_AUTO_TEST_CASE ( test_contact_point_invdyn_formulation_acc_force )
dv = sol->x.head(nv);
v += dt*dv;
q = se3::integrate(robot.model(), q, dt*v);
q = pinocchio::integrate(robot.model(), q, dt*v);
t += dt;
REQUIRE_FINITE(dv.transpose());
......
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