Change template parameter of jointTorque::Pinocchio.
@@ -11,16 +11,16 @@ namespace toppra {
namespace constraint {
namespace jointTorque {
-template<int _Options=0, template<typename,int> class JointCollectionTpl=pinocchio::JointCollectionDefaultTpl>
+template<typename Model = pinocchio::Model>
class Pinocchio;
/** Implementation of JointTorque using pinocchio::rnea function.
* */
-template<int _Options, template<typename,int> class JointCollectionTpl>
+template<typename _Model>
class Pinocchio : public JointTorque {
public:
- typedef pinocchio::ModelTpl<value_type, _Options, JointCollectionTpl> Model;
- typedef pinocchio::DataTpl <value_type, _Options, JointCollectionTpl> Data;
+ typedef _Model Model;
+ typedef typename _Model::Data Data;
std::ostream& print(std::ostream& os) const
{
