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Fix deprecations for Pinocchio >= 3.0 #4

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Fix deprecations for Pinocchio >= 3.0 #4

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14 changes: 5 additions & 9 deletions pinocchio/modelinterface2_pin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ void ModelInterface2Pin::update_impl()
for(const auto& [unused, ab] : _attached_body_map)
{
// restore original inertia
_mdl.inertias[ab.frame.parent] = _mdl_orig.inertias[ab.frame.parent];
_mdl.inertias[ab.frame.parentJoint] = _mdl_orig.inertias[ab.frame.parentJoint];

// update placement
_mdl.frames[ab.frame_idx].placement = ab.frame.placement;
Expand All @@ -61,8 +61,7 @@ void ModelInterface2Pin::update_impl()
for(const auto& [unused, ab] : _attached_body_map)
{
// update inertia
_mdl.inertias[ab.frame.parent] += ab.frame.placement.act(ab.frame.inertia);

_mdl.inertias[ab.frame.parentJoint] += ab.frame.placement.act(ab.frame.inertia);
}

// compute fk
Expand Down Expand Up @@ -159,18 +158,18 @@ int ModelInterface2Pin::addFixedLink(string_const_ref link_name,

// add frame
pinocchio::Frame frame;
frame.parent = _mdl.getJointId(movable_joint->name);
frame.parentJoint = _mdl.getJointId(movable_joint->name);
frame.placement.translation() = m_pose.translation();
frame.placement.rotation() = m_pose.linear();
frame.inertia.mass() = mass;
frame.inertia.inertia() = pinocchio::Symmetric3(inertia);
frame.name = link_name;
frame.type = pinocchio::FrameType::BODY;
frame.previousFrame = -1;
frame.parentFrame = -1;

AttachedBody ab;
ab.frame = frame;
ab.frame_idx = _mdl.addBodyFrame(link_name, frame.parent, frame.placement);
ab.frame_idx = _mdl.addBodyFrame(link_name, frame.parentJoint, frame.placement);
ab.m_T_p = m_T_p;

_attached_body_map[ab.frame_idx] = ab;
Expand Down Expand Up @@ -452,6 +451,3 @@ Eigen::Vector3d ModelInterface2Pin::getCOMJdotTimesV() const
}

XBOT2_REGISTER_MODEL_PLUGIN(ModelInterface2Pin, pin);