Commit f6f213df authored by olivier stasse's avatar olivier stasse Committed by GitHub
Browse files

Merge pull request #28 from olivier-stasse/master

Update to pinocchio 1.2.4
parents 3b149346 9a2a54bb
...@@ -870,9 +870,9 @@ computeCom( dg::Vector& com,const int& time ) ...@@ -870,9 +870,9 @@ computeCom( dg::Vector& com,const int& time )
{ {
sotDEBUGIN(25); sotDEBUGIN(25);
const Eigen::VectorXd& q = pinocchioPosSINTERN.access(time);
forwardKinematicsSINTERN(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); sotDEBUGOUT(25);
return com; return com;
} }
......
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