Commit 9a2a54bb authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Update to pinocchio 1.2.4

parent 3b149346
......@@ -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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