From d8ca3de020025aa3a8f947546f3795b2df99f5b3 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 17 Apr 2026 14:31:24 +0200 Subject: [PATCH] Fix deprecations for Pinocchio >= 3.0 Frame::parent -> Frame::parentJoint Frame::previous -> Frame::parentFrame --- pinocchio/modelinterface2_pin.cpp | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/pinocchio/modelinterface2_pin.cpp b/pinocchio/modelinterface2_pin.cpp index be9cbde..6a62474 100644 --- a/pinocchio/modelinterface2_pin.cpp +++ b/pinocchio/modelinterface2_pin.cpp @@ -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; @@ -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 @@ -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; @@ -452,6 +451,3 @@ Eigen::Vector3d ModelInterface2Pin::getCOMJdotTimesV() const } XBOT2_REGISTER_MODEL_PLUGIN(ModelInterface2Pin, pin); - - -