replace namespace se3 with pinocchio

bindings/python/contacts/contact.hpp

@@ -82,17 +82,17 @@ namespace tsid
         return name;
       }
 
-      static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
+      static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
         self.computeMotionTask(t, q, v, data);
         math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
         return cons;
       }
-      static math::ConstraintInequality computeForceTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
+      static math::ConstraintInequality computeForceTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
         self.computeForceTask(t, q, v, data);
         math::ConstraintInequality cons(self.getForceConstraint().name(), self.getForceConstraint().matrix(), self.getForceConstraint().lowerBound(), self.getForceConstraint().upperBound());
         return cons;
       }
-      static math::ConstraintEquality computeForceRegularizationTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
+      static math::ConstraintEquality computeForceRegularizationTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
         self.computeForceRegularizationTask(t, q, v, data);
         math::ConstraintEquality cons(self.getForceRegularizationTask().name(), self.getForceRegularizationTask().matrix(), self.getForceRegularizationTask().vector());
         return cons;
@@ -131,7 +131,7 @@ namespace tsid
       static bool setRegularizationTaskWeight (Contact6d & self, const double w){
         return self.setRegularizationTaskWeight(w);
       }
-      static void setReference(Contact6d & self, const se3::SE3 & ref){
+      static void setReference(Contact6d & self, const pinocchio::SE3 & ref){
         self.setReference(ref);
       }
       static void setForceReference(Contact6d & self, const::Eigen::VectorXd f_ref){

bindings/python/formulations/formulation.hpp

@@ -68,8 +68,8 @@ namespace tsid
         .def("getContactForce", &InvDynPythonVisitor::getContactForce, bp::args("name", "HQPOutput"))
         ;
       }
-      static se3::Data data(const T & self){
-        se3::Data data = self.data();
+      static pinocchio::Data data(const T & self){
+        pinocchio::Data data = self.data();
         return data;
       }
       static bool addMotionTask_SE3(T & self, tasks::TaskSE3Equality & task, double weight, unsigned int priorityLevel, double transition_duration){