From 9422e4b9e57b7c96fb9de0ee67813a24025f4eea Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Mon, 10 Dec 2018 12:43:13 +0100 Subject: [PATCH 1/2] Compatibility with Pinocchio v2 --- src/tools/device.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/tools/device.cpp b/src/tools/device.cpp index 300475459..3c5d7506d 100644 --- a/src/tools/device.cpp +++ b/src/tools/device.cpp @@ -52,7 +52,7 @@ void Device::integrateRollPitchYaw(Vector& state, const Vector& control, using Eigen::Vector3d; using Eigen::QuaternionMapd; - typedef se3::SpecialEuclideanOperation<3> SE3; + typedef pinocchio::SpecialEuclideanOperationTpl<3, double> SE3; Eigen::Matrix qin, qout; qin.head<3>() = state.head<3>(); From 2749a6a1debff4640dfff9c3ee47b2bd1e6e47e6 Mon Sep 17 00:00:00 2001 From: Guilhem Saurel Date: Mon, 10 Dec 2018 13:21:54 +0100 Subject: [PATCH 2/2] require pinocchio >= 2.0.0 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e04244a26..a8112362f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -58,7 +58,7 @@ IF(BUILD_PYTHON_INTERFACE) INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0") ENDIF(BUILD_PYTHON_INTERFACE) -ADD_COMPILE_DEPENDENCY ("pinocchio") +ADD_COMPILE_DEPENDENCY ("pinocchio >= 2.0.0") SEARCH_FOR_BOOST()