ccrba is now in a new centroidal.hpp file in Pinocchio v1.3.0

CMakeLists.txt

@@ -43,7 +43,7 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 SETUP_PROJECT()
 # Search for dependencies.
 ADD_REQUIRED_DEPENDENCY("eigenpy")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.3.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")

src/sot-dynamic-pinocchio.cpp

@@ -29,6 +29,7 @@
 #include <pinocchio/algorithm/center-of-mass.hpp>
 #include <pinocchio/spatial/motion.hpp>
 #include <pinocchio/algorithm/crba.hpp>
+#include <pinocchio/algorithm/centroidal.hpp>
 #include <pinocchio/multibody/model.hpp>
 
 #include <dynamic-graph/all-commands.h>