Compatible name with pinocchio 2

Author: edantec

src/friction-compensation.cpp

@@ -6,7 +6,7 @@ namespace simple_mpc
   FrictionCompensation::FrictionCompensation(const Model & model, const long actuation_size)
   {
     corrected_torque_.resize(actuation_size);
-    dry_friction_ = model.lowerDryFrictionLimit;
+    dry_friction_ = model.friction;
     viscuous_friction_ = model.damping;
   }
 

tests/friction.cpp

@@ -16,12 +16,12 @@ BOOST_AUTO_TEST_CASE(dry_viscuous_friction)
 
   pinocchio::urdf::buildModel(urdf_path, JointModelFreeFlyer(), model);
   long nu = 12;
-  model.lowerDryFrictionLimit = Eigen::VectorXd::Constant(nu, .5);
+  model.friction = Eigen::VectorXd::Constant(nu, .5);
   model.damping = Eigen::VectorXd::Constant(nu, .05);
 
   FrictionCompensation friction = FrictionCompensation(model, nu);
 
-  BOOST_CHECK_EQUAL(model.lowerDryFrictionLimit, friction.dry_friction_);
+  BOOST_CHECK_EQUAL(model.friction, friction.dry_friction_);
   BOOST_CHECK_EQUAL(model.damping, friction.viscuous_friction_);
 
   Eigen::VectorXd velocity = Eigen::VectorXd::Random(nu);
@@ -33,7 +33,7 @@ BOOST_AUTO_TEST_CASE(dry_viscuous_friction)
   for (long i = 0; i < nu; i++)
   {
     double sgn = (velocity[i] > 0) - (velocity[i] < 0);
-    ctorque[i] = torque[i] + model.lowerDryFrictionLimit[i] * sgn + model.damping[i] * velocity[i];
+    ctorque[i] = torque[i] + model.friction[i] * sgn + model.damping[i] * velocity[i];
   }
 
   BOOST_CHECK(friction.corrected_torque_.isApprox(ctorque));