Commit f88c37b4 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Reflect new change in getJacoabian in pinocchio

parent 1c1579e0
......@@ -45,6 +45,7 @@
#include <sot/core/matrix-geometry.hh>
/* PINOCCHIO */
#include <pinocchio/macros.hpp>
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/joint/joint-variant.hpp>
#include <pinocchio/algorithm/rnea.hpp>
......
......@@ -745,9 +745,9 @@ computeGenericJacobian(const bool isFrame, const int jointId, dg::Matrix& res,co
//Computes Jacobian in world coordinates.
if(isFrame){
//se3::framesForwardKinematics(*m_model,*m_data);
se3::getFrameJacobian<false>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
se3::getJacobian<se3::LOCAL>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
}
else se3::getJacobian<false>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
else se3::getJacobian<se3::WORLD>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
res = tmp;
sotDEBUGOUT(25);
return res;
......@@ -768,14 +768,15 @@ computeGenericEndeffJacobian(const bool isFrame, const int jointId,dg::Matrix& r
//std::string temp;
if(isFrame){
//se3::framesForwardKinematics(*m_model,*m_data);
se3::getFrameJacobian<true>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
se3::getJacobian<se3::LOCAL>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
sotDEBUG(25) << "EndEffJacobian for "
<< m_model->frames.at((se3::Model::Index)jointId).name
<<" is "<<tmp<<std::endl;
}
else {
//temp = m_model->getJointName((se3::Model::Index)jointId);
se3::getJacobian<true>(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
se3::getJacobian<se3::WORLD>
(*m_model,*m_data,(se3::Model::Index)jointId,tmp);
sotDEBUG(25) << "EndEffJacobian for "
<< m_model->getJointName((se3::Model::Index)jointId)
<<" is "<<tmp<<std::endl;
......
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