Commit 6b5c0f07 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub

Merge pull request #886 from jcarpent/devel

Fix issue related to #885
parents 78db2388 5451f8ba
......@@ -227,7 +227,7 @@ namespace pinocchio
typedef boost::fusion::vector<const Model &,
Data &,
const JointIndex
const JointIndex &
> ArgsType;
template<typename JointModel>
......@@ -235,17 +235,18 @@ namespace pinocchio
JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data,
const JointIndex col_idx)
const JointIndex & col_idx)
{
typedef typename Model::JointIndex JointIndex;
const JointIndex i = jmodel.id();
const JointIndex parent = model.parents[i];
data.jointTorqueRegressor.block(jmodel.idx_v(),10*(int(col_idx)-1),jmodel.nv(),10) = jdata.S().transpose()*data.bodyRegressor;
data.jointTorqueRegressor.block(jmodel.idx_v(),10*(Eigen::DenseIndex(col_idx)-1),
jmodel.nv(),10) = jdata.S().transpose()*data.bodyRegressor;
if(parent>0)
forceSet::se3Action(data.liMi[i],data.bodyRegressor,data.bodyRegressor);
forceSet::se3Action(data.liMi[i],data.bodyRegressor,data.bodyRegressor);
}
};
......
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