fix compatibility with pinocchio v2.4.5

nim65s · nim65s · commit 94831edc48f9 · 2020-05-25T23:13:37.000+02:00
Following stack-of-tasks/pinocchio#1220, some Data can't be const anymore. This commit just removed const until compilation succedded again.
diff --git a/include/tsid/bindings/python/contacts/contact-6d.hpp b/include/tsid/bindings/python/contacts/contact-6d.hpp
@@ -82,7 +82,7 @@ namespace tsid
         return name;
       }
 
-      static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.computeMotionTask(t, q, v, data);
         math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
         return cons;
diff --git a/include/tsid/bindings/python/contacts/contact-point.hpp b/include/tsid/bindings/python/contacts/contact-point.hpp
@@ -81,7 +81,7 @@ namespace tsid
         return name;
       }
 
-      static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.computeMotionTask(t, q, v, data);
         math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
         return cons;
diff --git a/include/tsid/bindings/python/formulations/formulation.hpp b/include/tsid/bindings/python/formulations/formulation.hpp
@@ -82,7 +82,7 @@ namespace tsid
         .def("getContactForce", &InvDynPythonVisitor::getContactForce, bp::args("name", "HQPOutput"))
         ;
       }
-      static pinocchio::Data data(const T & self){
+      static pinocchio::Data data(T & self){
         pinocchio::Data data = self.data();
         return data;
       }
diff --git a/include/tsid/bindings/python/tasks/task-actuation-bounds.hpp b/include/tsid/bindings/python/tasks/task-actuation-bounds.hpp
@@ -62,7 +62,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintInequality cons(self.getConstraint().name(), self.getConstraint().matrix(),
                                         self.getConstraint().lowerBound(), self.getConstraint().upperBound());
diff --git a/include/tsid/bindings/python/tasks/task-am-equality.hpp b/include/tsid/bindings/python/tasks/task-am-equality.hpp
@@ -67,7 +67,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
         return cons;
diff --git a/include/tsid/bindings/python/tasks/task-com-equality.hpp b/include/tsid/bindings/python/tasks/task-com-equality.hpp
@@ -70,7 +70,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
         return cons;
diff --git a/include/tsid/bindings/python/tasks/task-joint-bounds.hpp b/include/tsid/bindings/python/tasks/task-joint-bounds.hpp
@@ -64,7 +64,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintBound cons(self.getConstraint().name(),
                                    self.getConstraint().lowerBound(),
diff --git a/include/tsid/bindings/python/tasks/task-joint-posture.hpp b/include/tsid/bindings/python/tasks/task-joint-posture.hpp
@@ -72,7 +72,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
         return cons;
diff --git a/include/tsid/bindings/python/tasks/task-se3-equality.hpp b/include/tsid/bindings/python/tasks/task-se3-equality.hpp
@@ -73,7 +73,7 @@ namespace tsid
         std::string name = self.name();
         return name;
       }
-      static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
+      static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
         self.compute(t, q, v, data);
         math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
         return cons;
diff --git a/include/tsid/contacts/contact-6d.hpp b/include/tsid/contacts/contact-6d.hpp
@@ -73,7 +73,7 @@ namespace tsid
       virtual const ConstraintBase & computeMotionTask(const double t,
                                                        ConstRefVector q,
                                                        ConstRefVector v,
-                                                       const Data & data);
+                                                       Data & data);
 
       virtual const ConstraintInequality & computeForceTask(const double t,
                                                             ConstRefVector q,
diff --git a/include/tsid/contacts/contact-base.hpp b/include/tsid/contacts/contact-base.hpp
@@ -61,7 +61,7 @@ namespace tsid
       virtual const ConstraintBase & computeMotionTask(const double t,
                                                        ConstRefVector q,
                                                        ConstRefVector v,
-                                                       const Data & data) = 0;
+                                                       Data & data) = 0;
 
       virtual const ConstraintInequality & computeForceTask(const double t,
                                                             ConstRefVector q,
diff --git a/include/tsid/contacts/contact-point.hpp b/include/tsid/contacts/contact-point.hpp
@@ -61,7 +61,7 @@ namespace tsid
       virtual const ConstraintBase & computeMotionTask(const double t,
                                                        ConstRefVector q,
                                                        ConstRefVector v,
-                                                       const Data & data);
+                                                       Data & data);
 
       virtual const ConstraintInequality & computeForceTask(const double t,
                                                             ConstRefVector q,
diff --git a/include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp b/include/tsid/formulations/inverse-dynamics-formulation-acc-force.hpp
@@ -87,7 +87,7 @@ namespace tsid
                                        RobotWrapper & robot,
                                        bool verbose=false);
 
-    const Data & data() const;
+    Data & data() ;
 
     unsigned int nVar() const;
     unsigned int nEq() const;
diff --git a/include/tsid/formulations/inverse-dynamics-formulation-base.hpp b/include/tsid/formulations/inverse-dynamics-formulation-base.hpp
@@ -58,7 +58,7 @@ namespace tsid
                                    RobotWrapper & robot,
                                    bool verbose=false);
 
-    virtual const Data & data() const = 0;
+    virtual Data & data() = 0;
 
     virtual unsigned int nVar() const = 0;
     virtual unsigned int nEq() const = 0;
diff --git a/include/tsid/robots/robot-wrapper.hpp b/include/tsid/robots/robot-wrapper.hpp
@@ -158,11 +158,11 @@ namespace tsid
                                     const Model::FrameIndex index,
                                     Motion & frameAcceleration) const;
       
-      void frameJacobianWorld(const Data & data,
+      void frameJacobianWorld(Data & data,
                               const Model::FrameIndex index,
                               Data::Matrix6x & J) const;
       
-      void frameJacobianLocal(const Data & data,
+      void frameJacobianLocal(Data & data,
                               const Model::FrameIndex index,
                               Data::Matrix6x & J) const;
 
diff --git a/include/tsid/tasks/task-actuation-bounds.hpp b/include/tsid/tasks/task-actuation-bounds.hpp
@@ -47,7 +47,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-angular-momentum-equality.hpp b/include/tsid/tasks/task-angular-momentum-equality.hpp
@@ -52,7 +52,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-base.hpp b/include/tsid/tasks/task-base.hpp
@@ -57,7 +57,7 @@ namespace tsid
       virtual const ConstraintBase & compute(const double t,
                                              ConstRefVector q,
                                              ConstRefVector v,
-                                             const Data & data) = 0;
+                                             Data & data) = 0;
 
       virtual const ConstraintBase & getConstraint() const = 0;
       
diff --git a/include/tsid/tasks/task-com-equality.hpp b/include/tsid/tasks/task-com-equality.hpp
@@ -47,7 +47,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-joint-bounds.hpp b/include/tsid/tasks/task-joint-bounds.hpp
@@ -44,7 +44,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-joint-posVelAcc-bounds.hpp b/include/tsid/tasks/task-joint-posVelAcc-bounds.hpp
@@ -55,7 +55,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-joint-posture.hpp b/include/tsid/tasks/task-joint-posture.hpp
@@ -47,7 +47,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/include/tsid/tasks/task-se3-equality.hpp b/include/tsid/tasks/task-se3-equality.hpp
@@ -53,7 +53,7 @@ namespace tsid
       const ConstraintBase & compute(const double t,
                                      ConstRefVector q,
                                      ConstRefVector v,
-                                     const Data & data);
+                                     Data & data);
 
       const ConstraintBase & getConstraint() const;
 
diff --git a/src/contacts/contact-6d.cpp b/src/contacts/contact-6d.cpp
@@ -229,7 +229,7 @@ void Contact6d::setReference(const SE3 & ref)
 const ConstraintBase & Contact6d::computeMotionTask(const double t,
                                                     ConstRefVector q,
                                                     ConstRefVector v,
-                                                    const Data & data)
+                                                    Data & data)
 {
   return m_motionTask.compute(t, q, v, data);
 }
diff --git a/src/contacts/contact-point.cpp b/src/contacts/contact-point.cpp
@@ -193,7 +193,7 @@ void ContactPoint::setReference(const SE3 & ref)
 const ConstraintBase & ContactPoint::computeMotionTask(const double t,
                                                     ConstRefVector q,
                                                     ConstRefVector v,
-                                                    const Data & data)
+                                                    Data & data)
 {
   return m_motionTask.compute(t, q, v, data);
 }
diff --git a/src/formulations/inverse-dynamics-formulation-acc-force.cpp b/src/formulations/inverse-dynamics-formulation-acc-force.cpp
@@ -59,7 +59,7 @@ InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce(const std
 }
 
 
-const Data & InverseDynamicsFormulationAccForce::data() const
+Data & InverseDynamicsFormulationAccForce::data()
 {
   return m_data;
 }
diff --git a/src/robots/robot-wrapper.cpp b/src/robots/robot-wrapper.cpp
@@ -298,14 +298,14 @@ namespace tsid
       return a_world;
     }
     
-    void RobotWrapper::frameJacobianWorld(const Data & data,
+    void RobotWrapper::frameJacobianWorld(Data & data,
                                           const Model::FrameIndex index,
                                           Data::Matrix6x & J) const
     {
       return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
     }
     
-    void RobotWrapper::frameJacobianLocal(const Data & data,
+    void RobotWrapper::frameJacobianLocal(Data & data,
                                           const Model::FrameIndex index,
                                           Data::Matrix6x & J) const
     {
diff --git a/src/tasks/task-actuation-bounds.cpp b/src/tasks/task-actuation-bounds.cpp
@@ -85,7 +85,7 @@ namespace tsid
     const ConstraintBase & TaskActuationBounds::compute(const double ,
                                                         ConstRefVector ,
                                                         ConstRefVector ,
-                                                        const Data & )
+                                                        Data & )
     {
       return m_constraint;
     }
diff --git a/src/tasks/task-angular-momentum-equality.cpp b/src/tasks/task-angular-momentum-equality.cpp
@@ -111,7 +111,7 @@ namespace tsid
     const ConstraintBase & TaskAMEquality::compute(const double ,
                                                     ConstRefVector ,
                                                     ConstRefVector v,
-                                                    const Data & data)
+                                                    Data & data)
     {
       // Compute errors
       // Get momentum jacobian
diff --git a/src/tasks/task-com-equality.cpp b/src/tasks/task-com-equality.cpp
@@ -120,7 +120,7 @@ namespace tsid
     const ConstraintBase & TaskComEquality::compute(const double ,
                                                     ConstRefVector ,
                                                     ConstRefVector ,
-                                                    const Data & data)
+                                                    Data & data)
     {
       m_robot.com(data, m_p_com, m_v_com, m_drift);
 
diff --git a/src/tasks/task-joint-bounds.cpp b/src/tasks/task-joint-bounds.cpp
@@ -96,7 +96,7 @@ namespace tsid
     const ConstraintBase & TaskJointBounds::compute(const double ,
                                                     ConstRefVector ,
                                                     ConstRefVector v,
-                                                    const Data & )
+                                                    Data & )
     {
       // compute min/max joint acc imposed by velocity limits
       m_ddq_max_due_to_vel = (m_v_ub - v.tail(m_na))/m_dt;
diff --git a/src/tasks/task-joint-posVelAcc-bounds.cpp b/src/tasks/task-joint-posVelAcc-bounds.cpp
@@ -194,7 +194,7 @@ namespace tsid
     const ConstraintBase & TaskJointPosVelAccBounds::compute(const double ,
                                                     ConstRefVector q,
                                                     ConstRefVector v,
-                                                    const Data & )
+                                                    Data & )
     {
       // getProfiler().start("TaskJointPosVelAccBounds");
       // Eigen::internal::set_is_malloc_allowed(false);
diff --git a/src/tasks/task-joint-posture.cpp b/src/tasks/task-joint-posture.cpp
@@ -145,7 +145,7 @@ namespace tsid
     const ConstraintBase & TaskJointPosture::compute(const double ,
                                                     ConstRefVector q,
                                                     ConstRefVector v,
-                                                    const Data & )
+                                                    Data & )
     {
       // Compute errors
       m_p = q.tail(m_robot.na());
diff --git a/src/tasks/task-se3-equality.cpp b/src/tasks/task-se3-equality.cpp
@@ -164,7 +164,7 @@ namespace tsid
     const ConstraintBase & TaskSE3Equality::compute(const double ,
                                                     ConstRefVector ,
                                                     ConstRefVector ,
-                                                    const Data & data)
+                                                    Data & data)
     {
       SE3 oMi;
       Motion v_frame;
diff --git a/tests/tsid-formulation.cpp b/tests/tsid-formulation.cpp
@@ -128,7 +128,7 @@ class StandardRomeoInvDynCtrl
     // Create the inverse-dynamics formulation
     tsid = new InverseDynamicsFormulationAccForce("tsid", *robot);
     tsid->computeProblemData(t, q, v);
-    const pinocchio::Data & data = tsid->data();
+    pinocchio::Data & data = tsid->data();
 
     // Add the contact constraints
     Matrix3x contactPoints(3,4);
@@ -531,7 +531,7 @@ BOOST_AUTO_TEST_CASE ( test_contact_point_invdyn_formulation_acc_force )
   InverseDynamicsFormulationAccForce *tsid =
       new InverseDynamicsFormulationAccForce("tsid", robot);
   tsid->computeProblemData(t, q, v);
-  const pinocchio::Data & data = tsid->data();
+  pinocchio::Data & data = tsid->data();
 
   // Place the robot onto the ground.
 

Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,7 @@ namespace tsid`
`82`	`82`	`return name;`
`83`	`83`	`}`
`84`	`84`
`85`		`- static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`85`	`+ static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`86`	`86`	`self.computeMotionTask(t, q, v, data);`
`87`	`87`	`math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());`
`88`	`88`	`return cons;`
Original file line number	Diff line number	Diff line change
`@@ -81,7 +81,7 @@ namespace tsid`
`81`	`81`	`return name;`
`82`	`82`	`}`
`83`	`83`
`84`		`- static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`84`	`+ static math::ConstraintEquality computeMotionTask(ContactPoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`85`	`85`	`self.computeMotionTask(t, q, v, data);`
`86`	`86`	`math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());`
`87`	`87`	`return cons;`
Original file line number	Diff line number	Diff line change
`@@ -62,7 +62,7 @@ namespace tsid`
`62`	`62`	`std::string name = self.name();`
`63`	`63`	`return name;`
`64`	`64`	`}`
`65`		`- static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`65`	`+ static math::ConstraintInequality compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`66`	`66`	`self.compute(t, q, v, data);`
`67`	`67`	`math::ConstraintInequality cons(self.getConstraint().name(), self.getConstraint().matrix(),`
`68`	`68`	`self.getConstraint().lowerBound(), self.getConstraint().upperBound());`
Original file line number	Diff line number	Diff line change
`@@ -67,7 +67,7 @@ namespace tsid`
`67`	`67`	`std::string name = self.name();`
`68`	`68`	`return name;`
`69`	`69`	`}`
`70`		`- static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`70`	`+ static math::ConstraintEquality compute(TaskAM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`71`	`71`	`self.compute(t, q, v, data);`
`72`	`72`	`math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());`
`73`	`73`	`return cons;`
Original file line number	Diff line number	Diff line change
`@@ -70,7 +70,7 @@ namespace tsid`
`70`	`70`	`std::string name = self.name();`
`71`	`71`	`return name;`
`72`	`72`	`}`
`73`		`- static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`73`	`+ static math::ConstraintEquality compute(TaskCOM & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`74`	`74`	`self.compute(t, q, v, data);`
`75`	`75`	`math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());`
`76`	`76`	`return cons;`
Original file line number	Diff line number	Diff line change
`@@ -64,7 +64,7 @@ namespace tsid`
`64`	`64`	`std::string name = self.name();`
`65`	`65`	`return name;`
`66`	`66`	`}`
`67`		`- static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`67`	`+ static math::ConstraintBound compute(Task & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`68`	`68`	`self.compute(t, q, v, data);`
`69`	`69`	`math::ConstraintBound cons(self.getConstraint().name(),`
`70`	`70`	`self.getConstraint().lowerBound(),`
Original file line number	Diff line number	Diff line change
`@@ -72,7 +72,7 @@ namespace tsid`
`72`	`72`	`std::string name = self.name();`
`73`	`73`	`return name;`
`74`	`74`	`}`
`75`		`- static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`75`	`+ static math::ConstraintEquality compute(TaskJoint & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`76`	`76`	`self.compute(t, q, v, data);`
`77`	`77`	`math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());`
`78`	`78`	`return cons;`
Original file line number	Diff line number	Diff line change
`@@ -73,7 +73,7 @@ namespace tsid`
`73`	`73`	`std::string name = self.name();`
`74`	`74`	`return name;`
`75`	`75`	`}`
`76`		`- static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){`
	`76`	`+ static math::ConstraintEquality compute(TaskSE3 & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){`
`77`	`77`	`self.compute(t, q, v, data);`
`78`	`78`	`math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());`
`79`	`79`	`return cons;`