Commit f634a562 authored by Guilhem Saurel's avatar Guilhem Saurel

[Pinocchio v2] fix use of new API

parent 9a495a57
......@@ -756,12 +756,12 @@ computeGenericJacobian(const bool isFrame, const int jointId, dg::Matrix& res,co
//Computes Jacobian in world coordinates.
if(isFrame){
pinocchio::getJacobian(*m_model,*m_data,
pinocchio::getJointJacobian(*m_model,*m_data,
m_model->frames[(pinocchio::Model::Index)jointId].parent,
pinocchio::WORLD, tmp);
}
else
pinocchio::getJacobian(*m_model,*m_data,(pinocchio::Model::Index)jointId,
pinocchio::getJointJacobian(*m_model,*m_data,(pinocchio::Model::Index)jointId,
pinocchio::WORLD, tmp);
res = tmp;
sotDEBUGOUT(25);
......@@ -792,7 +792,7 @@ computeGenericEndeffJacobian(const bool isFrame, const bool isLocal, const int j
}
else {
//temp = m_model->getJointName((pinocchio::Model::Index)jointId);
pinocchio::getJacobian(*m_model,*m_data,(pinocchio::Model::Index)jointId,
pinocchio::getJointJacobian(*m_model,*m_data,(pinocchio::Model::Index)jointId,
pinocchio::LOCAL, tmp);
sotDEBUG(25) << "EndEffJacobian for "
<< m_model->getJointName((pinocchio::Model::Index)jointId)
......
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