Verified Commit 912ed5fd authored by Justin Carpentier's avatar Justin Carpentier
Browse files

test/frames: use new computeFrameJacobian

parent b04274e9
......@@ -254,7 +254,7 @@ BOOST_AUTO_TEST_CASE ( test_frame_jacobian )
Data::Matrix6x Jf(6,model.nv); Jf.fill(0);
Data::Matrix6x Jf_ref(6,model.nv); Jf_ref.fill(0);
frameJacobian(model, data_ref, q, idx, Jf);
computeFrameJacobian(model, data_ref, q, idx, Jf);
computeJointJacobians(model, data_ref, q);
updateFramePlacement(model, data_ref, idx);
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