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Commit 94831edc authored by Guilhem Saurel's avatar Guilhem Saurel
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fix compatibility with pinocchio v2.4.5 

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.
parent e7aff93b
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include/tsid/bindings/python/contacts/contact-6d.hpp
View file @ 94831edc
......@@ -82,7 +82,7 @@ namespace tsid
return name;
}
static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.computeMotionTask(t, q, v, data);
math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
return cons;
......
include/tsid/bindings/python/contacts/contact-point.hpp
View file @ 94831edc
......@@ -81,7 +81,7 @@ namespace tsid
return name;
}
static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.computeMotionTask(t, q, v, data);
math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
return cons;
......
include/tsid/bindings/python/formulations/formulation.hpp
View file @ 94831edc
......@@ -82,7 +82,7 @@ namespace tsid
.def("getContactForce", &InvDynPythonVisitor::getContactForce, bp::args("name", "HQPOutput"))
;
}
static pinocchio::Data data(const T & self){
static pinocchio::Data data(T & self){
pinocchio::Data data = self.data();
return data;
}
......
include/tsid/bindings/python/tasks/task-actuation-bounds.hpp
View file @ 94831edc
......@@ -62,7 +62,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintInequality cons(self.getConstraint().name(), self.getConstraint().matrix(),
self.getConstraint().lowerBound(), self.getConstraint().upperBound());
......
include/tsid/bindings/python/tasks/task-am-equality.hpp
View file @ 94831edc
......@@ -67,7 +67,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
return cons;
......
include/tsid/bindings/python/tasks/task-com-equality.hpp
View file @ 94831edc
......@@ -70,7 +70,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
return cons;
......
include/tsid/bindings/python/tasks/task-joint-bounds.hpp
View file @ 94831edc
......@@ -64,7 +64,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintBound cons(self.getConstraint().name(),
self.getConstraint().lowerBound(),
......
include/tsid/bindings/python/tasks/task-joint-posture.hpp
View file @ 94831edc
......@@ -72,7 +72,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
return cons;
......
include/tsid/bindings/python/tasks/task-se3-equality.hpp
View file @ 94831edc
......@@ -73,7 +73,7 @@ namespace tsid
std::string name = self.name();
return name;
}
static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
self.compute(t, q, v, data);
math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
return cons;
......
include/tsid/contacts/contact-6d.hpp
View file @ 94831edc
......@@ -73,7 +73,7 @@ namespace tsid
virtual const ConstraintBase & computeMotionTask(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
virtual const ConstraintInequality & computeForceTask(const double t,
ConstRefVector q,
......
include/tsid/contacts/contact-base.hpp
View file @ 94831edc
......@@ -61,7 +61,7 @@ namespace tsid
virtual const ConstraintBase & computeMotionTask(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data) = 0;
Data & data) = 0;
virtual const ConstraintInequality & computeForceTask(const double t,
ConstRefVector q,
......
include/tsid/contacts/contact-point.hpp
View file @ 94831edc
......@@ -61,7 +61,7 @@ namespace tsid
virtual const ConstraintBase & computeMotionTask(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
virtual const ConstraintInequality & computeForceTask(const double t,
ConstRefVector q,
......
include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp
View file @ 94831edc
......@@ -87,7 +87,7 @@ namespace tsid
RobotWrapper & robot,
bool verbose=false);
const Data & data() const;
Data & data() ;
unsigned int nVar() const;
unsigned int nEq() const;
......
include/tsid/formulations/inverse-dynamics-formulation-base.hpp
View file @ 94831edc
......@@ -58,7 +58,7 @@ namespace tsid
RobotWrapper & robot,
bool verbose=false);
virtual const Data & data() const = 0;
virtual Data & data() = 0;
virtual unsigned int nVar() const = 0;
virtual unsigned int nEq() const = 0;
......
include/tsid/robots/robot-wrapper.hpp
View file @ 94831edc
......@@ -158,11 +158,11 @@ namespace tsid
const Model::FrameIndex index,
Motion & frameAcceleration) const;
void frameJacobianWorld(const Data & data,
void frameJacobianWorld(Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const;
void frameJacobianLocal(const Data & data,
void frameJacobianLocal(Data & data,
const Model::FrameIndex index,
Data::Matrix6x & J) const;
......
include/tsid/tasks/task-actuation-bounds.hpp
View file @ 94831edc
......@@ -47,7 +47,7 @@ namespace tsid
const ConstraintBase & compute(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
const ConstraintBase & getConstraint() const;
......
include/tsid/tasks/task-angular-momentum-equality.hpp
View file @ 94831edc
......@@ -52,7 +52,7 @@ namespace tsid
const ConstraintBase & compute(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
const ConstraintBase & getConstraint() const;
......
include/tsid/tasks/task-base.hpp
View file @ 94831edc
......@@ -57,7 +57,7 @@ namespace tsid
virtual const ConstraintBase & compute(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data) = 0;
Data & data) = 0;
virtual const ConstraintBase & getConstraint() const = 0;
......
include/tsid/tasks/task-com-equality.hpp
View file @ 94831edc
......@@ -47,7 +47,7 @@ namespace tsid
const ConstraintBase & compute(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
const ConstraintBase & getConstraint() const;
......
include/tsid/tasks/task-joint-bounds.hpp
View file @ 94831edc
......@@ -44,7 +44,7 @@ namespace tsid
const ConstraintBase & compute(const double t,
ConstRefVector q,
ConstRefVector v,
const Data & data);
Data & data);
const ConstraintBase & getConstraint() const;
......
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