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sot-dynamic-pinocchio
Commits
9a2a54bb
Commit
9a2a54bb
authored
Jun 09, 2017
by
Olivier Stasse
Browse files
Update to pinocchio 1.2.4
parent
3b149346
Changes
1
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Inline
Side-by-side
src/sot-dynamic-pinocchio.cpp
View file @
9a2a54bb
...
...
@@ -870,9 +870,9 @@ computeCom( dg::Vector& com,const int& time )
{
sotDEBUGIN
(
25
);
const
Eigen
::
VectorXd
&
q
=
pinocchioPosSINTERN
.
access
(
time
);
forwardKinematicsSINTERN
(
time
);
com
=
se3
::
centerOfMass
(
*
m_model
,
*
m_data
,
q
,
false
,
false
);
se3
::
centerOfMass
(
*
m_model
,
*
m_data
,
false
);
com
=
m_data
->
com
[
0
];
sotDEBUGOUT
(
25
);
return
com
;
}
...
...
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