pinocchio v2.6.0 incompatibility

[nim65s]

Hi,

This is already fixed in devel, but in the current master and latest release:

[  2%] Building CXX object CMakeFiles/hpp-pinocchio.dir/src/collision-object.cc.o
…/src/collision-object.cc: In member function ‘hpp::fcl::CollisionObject* hpp::pinocchio::CollisionObject::fcl(hpp::pinocchio::GeomData&) const’:
…/src/collision-object.cc:72:25: error: ‘hpp::pinocchio::GeomData {aka struct pinocchio::GeometryData}’ has no member named ‘collisionObjects’; did you mean ‘collisionRequests’?
       return & geomData.collisionObjects[geomInModelIndex];
                         ^~~~~~~~~~~~~~~~
                         collisionRequests
…/src/collision-object.cc: In member function ‘const hpp::fcl::CollisionObject* hpp::pinocchio::CollisionObject::fcl(const GeomData&) const’:
…/src/collision-object.cc:77:25: error: ‘const GeomData {aka const struct pinocchio::GeometryData}’ has no member named ‘collisionObjects’; did you mean ‘collisionRequests’?
       return & geomData.collisionObjects[geomInModelIndex];
                         ^~~~~~~~~~~~~~~~
                         collisionRequests
…/src/collision-object.cc: In member function ‘hpp::fcl::CollisionObject* hpp::pinocchio::CollisionObject::fcl(hpp::pinocchio::DeviceData&) const’:
…/src/collision-object.cc:85:28: error: ‘hpp::pinocchio::GeomData {aka struct pinocchio::GeometryData}’ has no member named ‘collisionObjects’; did you mean ‘collisionRequests’?
       return & geomData(d).collisionObjects[geomInModelIndex];
                            ^~~~~~~~~~~~~~~~
                            collisionRequests
…/src/collision-object.cc: In member function ‘const hpp::fcl::CollisionObject* hpp::pinocchio::CollisionObject::fcl(const hpp::pinocchio::DeviceData&) const’:
…/src/collision-object.cc:91:28: error: ‘const GeomData {aka const struct pinocchio::GeometryData}’ has no member named ‘collisionObjects’; did you mean ‘collisionRequests’?
       return & geomData(d).collisionObjects[geomInModelIndex];
                            ^~~~~~~~~~~~~~~~
                            collisionRequests
…/src/collision-object.cc: In member function ‘void hpp::pinocchio::CollisionObject::move(const Transform3f&)’:
…/src/collision-object.cc:121:18: error: ‘hpp::pinocchio::GeomData {aka struct pinocchio::GeometryData}’ has no member named ‘collisionObjects’; did you mean ‘collisionRequests’?
       geomData().collisionObjects[geomInModelIndex]
                  ^~~~~~~~~~~~~~~~
                  collisionRequests

collisionObjects was deprecated since stack-of-tasks/pinocchio@00a1036 and have been removed in stack-of-tasks/pinocchio@6ea12e4

ref. stack-of-tasks/pinocchio#1373

[florent-lamiraux]

If you release the devel branch, what is the problem ?

[nim65s]

@florent-lamiraux : I don't have a problem with this, as I am working on the release.

This issue is only here to explain the pinocchio v2.6.0 API break to @jcarpent, as he requested.

[jcarpent]

Is the issue coming from Pinocchio?