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Stack Of Tasks
sot-dynamic-pinocchio
Commits
93138e71
Commit
93138e71
authored
Aug 06, 2020
by
Julian Viereck
Committed by
Olivier Stasse
Aug 11, 2020
Browse files
Fix regression in DynamicPinocchio::computeGenericEndeffJacobian
parent
74ccae42
Pipeline
#10658
passed with stage
in 5 minutes and 20 seconds
Changes
1
Pipelines
1
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Inline
Side-by-side
src/sot-dynamic-pinocchio.cpp
View file @
93138e71
...
...
@@ -713,8 +713,16 @@ dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(const bool isFrame, c
jid
=
frame
.
parent
;
M
=
frame
.
placement
.
inverse
();
if
(
!
isLocal
)
// Express the jacobian is world coordinate system.
M
.
rotation
()
=
m_data
->
oMf
[
fid
].
rotation
()
*
M
.
rotation
();
if
(
!
isLocal
)
{
// Express the jacobian is world coordinate system.
// Need to compute frame placement for oMf.
pinocchio
::
updateFramePlacement
(
*
m_model
,
*
m_data
,
fid
);
pinocchio
::
SE3
T
;
T
.
rotation
()
=
m_data
->
oMf
[
fid
].
rotation
();
T
.
translation
().
setZero
();
M
=
T
*
M
;
}
}
else
{
jid
=
(
pinocchio
::
JointIndex
)
id
;
if
(
!
isLocal
)
{
// Express the jacobian is world coordinate system.
...
...
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