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Stack Of Tasks
sot-dynamic-pinocchio
Commits
f88c37b4
Commit
f88c37b4
authored
Jan 16, 2018
by
Olivier Stasse
Browse files
Reflect new change in getJacoabian in pinocchio
parent
1c1579e0
Changes
3
Hide whitespace changes
Inline
Side-by-side
.version
deleted
100644 → 0
View file @
1c1579e0
3.1.5
include/sot-dynamic-pinocchio/dynamic-pinocchio.h
View file @
f88c37b4
...
...
@@ -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>
...
...
src/sot-dynamic-pinocchio.cpp
View file @
f88c37b4
...
...
@@ -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
::
get
Frame
Jacobian
<
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
::
get
Frame
Jacobian
<
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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