Not compilable with the new version of Pinocchio about tsid HOT 10 CLOSED

@huaijiangzhu You just need to add this compilation flag -DPINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1when compiling Pinocchio, nothing more.

Then someone has to take care of making TSID compatible with the last version of Pinocchio. @huaijiangzhu Can you do it? It is not hard, a simple find and replace.

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@huaijiangzhu You just need to add this compilation flag -DPINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_1when compiling Pinocchio, nothing more.

Then someone has to take care of making TSID compatible with the last version of Pinocchio. @huaijiangzhu Can you do it? It is not hard, a simple find and replace.

Thanks for the reply! I just replaced the namespace but now I got a new error:
error: no matching function for call to ‘centerOfMass(const Model&, tsid::robots::RobotWrapper::Data&, int, bool)’
pinocchio::centerOfMass<true,true,true>(m_model, data, false);

Looks like the centerOfMass API is also changed in the new Pinocchio, but I'm not sure how to modify it accordingly. Can you help me with that?

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Yes, sure. For this function, the template parameters have been replaced by a LEVEL, see https://github.com/stack-of-tasks/pinocchio/blob/01f211eceda3ac2e5edc8cf101690afb6f3184d3/src/algorithm/center-of-mass.hpp#L101 for further details.
In your case, you want to compute the center of mass position, velocity, and acceleration together, so then LEVEL = 2.

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Yes, sure. For this function, the template parameters have been replaced by a LEVEL, see https://github.com/stack-of-tasks/pinocchio/blob/01f211eceda3ac2e5edc8cf101690afb6f3184d3/src/algorithm/center-of-mass.hpp#L101 for further details.
In your case, you want to compute the center of mass position, velocity, and acceleration together, so then LEVEL = 2.

Thank you for the explanation! But I still get the same error despite putting a 2 in the function call:
error: no matching function for call to ‘centerOfMass(const Model&, tsid::robots::RobotWrapper::Data&, int, bool)’
pinocchio::centerOfMass<true,true,true>(m_model, data, 2, false);

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Because you have to remove the template parameters <true,true,true> to obtain:

pinocchio::centerOfMass(m_model, data, 2, false);

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@jcarpent Thanks! Now the code compiles. But when I try to run the test, I get an import error:
Traceback (most recent call last): File "test_Formulation.py", line 2, in <module> import tsid File "/home/hz/py27/local/lib/python2.7/site-packages/tsid/__init__.py", line 1, in <module> import libtsid_pywrap as tsid ImportError: libtsid.so: cannot open shared object file: No such file or directory

Any idea what can cause this?

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Have you installed TSID? In which directory?
Similarly to Pinocchio, you have to configure your environment variables. You can look at https://stack-of-tasks.github.io/pinocchio/download.html#Install_4

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@huaijiangzhu Can you make a PR to fix these issues that you've raised?

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Similarly to Pinocchio, you have to configure your environment variables. You can look at https://stack-of-tasks.github.io/pinocchio/download.html#Install_4

Thanks, it works now!

@huaijiangzhu Can you make a PR to fix these issues that you've raised?

Sure, I will!

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I just created a new branch pinocchio_v2 that is compatible with the new version of Pinocchio (currently only available on the devel branch of Pinocchio). The master branch of TSID remains aligned with the master branch of Pinocchio (and the binaries), which is still on version 1.3

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