algorithm/joint-config: dintegrateTransport fix function call

src/algorithm/joint-configuration.hpp

@@ -371,7 +371,32 @@ namespace pinocchio
                            const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
                            const ArgumentPosition arg);
 
-  
+  /**
+   *
+   * @brief   Transport an input matrix to the manifold defined by the dIntegrate computation.
+   *
+   * @details This input and output has to be interpreted in terms of Lie group, not vector space: as such,
+   *          Thus, dIntegrate(q, v, J, arg) creates a manifold manifold M given by a small variation of the configuration vector or the tangent vector into the tangent space at identity.
+   *          We are moving our input matrix onto this manifold M.
+   *
+   * @param[in]  model   Model of the kinematic tree on which the integration operation is performed.
+   * @param[in]  q       Initial configuration (size model.nq)
+   * @param[in]  v       Joint velocity (size model.nv)
+   * @param[out] Jin     Input Matrix (number of rows = model.nv).
+   * @param[out] Jout    Output Matrix (same size as Jin).
+   * @param[in]  arg     Argument (either q or v) with respect to which the differentiation manifold M is generated.
+   *
+   */
+  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType1, typename JacobianMatrixType2>
+  void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
+                           const Eigen::MatrixBase<ConfigVectorType> & q,
+                           const Eigen::MatrixBase<TangentVectorType> & v,
+                           const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
+                           const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
+                           const ArgumentPosition arg)
+  {
+    dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2>(model, q.derived(), v.derived(), Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2,Jout),arg);
+  }
   
   /**
    *

src/algorithm/joint-configuration.hxx

@@ -175,7 +175,7 @@ namespace pinocchio
   void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                            const Eigen::MatrixBase<ConfigVectorType> & q,
                            const Eigen::MatrixBase<TangentVectorType> & v,
-                           const Eigen::MatrixBase<JacobianMatrixType1> & J,
+                           const Eigen::MatrixBase<JacobianMatrixType1> & Jin,
                            const Eigen::MatrixBase<JacobianMatrixType2> & Jout,
                            const ArgumentPosition arg)
   {
@@ -188,8 +188,8 @@ namespace pinocchio
     typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
     typedef typename Model::JointIndex JointIndex;
     
-    typedef dIntegrateStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2> Algo;
-    typename Algo::ArgsType args(q.derived(),v.derived(),Jin.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,Jout),arg);
+    typedef dIntegrateTransportStep<LieGroup_t,ConfigVectorType,TangentVectorType,JacobianMatrixType1,JacobianMatrixType2> Algo;
+    typename Algo::ArgsType args(q.derived(),v.derived(),Jin.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType2,Jout),arg);
     for(JointIndex i=1; i<(JointIndex)model.njoints; ++i)
     {
       Algo::run(model.joints[i], args);