Replaced parent by parentJoint introduced in Pinocchio 3

CHANGELOG.md

@@ -6,6 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+* Replaced parent by parentJoint (which was introduced in Pinocchio 3) in https://github.com/loco-3d/crocoddyl/pull/1271
 * Introduced the notion of terminal dimension, residuals and constraints in https://github.com/loco-3d/crocoddyl/pull/1269
 * General clean ups about std::size_t in https://github.com/loco-3d/crocoddyl/pull/1265
 * Fixed issues in LQR extensions in https://github.com/loco-3d/crocoddyl/pull/1263

CMakeLists.txt

@@ -103,8 +103,8 @@ if(BUILD_PYTHON_INTERFACE)
   add_project_dependency(eigenpy 3.1.0 REQUIRED PKG_CONFIG_REQUIRES
                          "eigenpy >= 3.1.0")
 endif(BUILD_PYTHON_INTERFACE)
-add_project_dependency(pinocchio 2.6.20 REQUIRED PKG_CONFIG_REQUIRES
-                       "pinocchio >= 2.6.20")
+add_project_dependency(pinocchio 3.0.0 REQUIRED PKG_CONFIG_REQUIRES
+                       "pinocchio >= 3.0.0")
 if(BUILD_EXAMPLES
    OR BUILD_TESTING
    OR BUILD_BENCHMARK)

include/crocoddyl/multibody/contacts/contact-1d.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -110,7 +110,7 @@ void ContactModel1DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   Data* d = static_cast<Data*>(data.get());
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL,
       d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da);

include/crocoddyl/multibody/contacts/contact-2d.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2020-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2020-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -73,7 +73,7 @@ void ContactModel2DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   Data* d = static_cast<Data*>(data.get());
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL,
       d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da);

include/crocoddyl/multibody/contacts/contact-3d.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -106,7 +106,7 @@ void ContactModel3DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   Data* d = static_cast<Data*>(data.get());
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL,
       d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da);

include/crocoddyl/multibody/contacts/contact-6d.hxx

@@ -2,7 +2,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -110,7 +110,7 @@ void ContactModel6DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   Data* d = static_cast<Data*>(data.get());
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointAccelerationDerivatives(
       *state_->get_pinocchio().get(), *d->pinocchio, joint, pinocchio::LOCAL,
       d->v_partial_dq, d->a_partial_dq, d->a_partial_dv, d->a_partial_da);

include/crocoddyl/multibody/contacts/multiple-contacts.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -251,7 +251,7 @@ void ContactModelMultipleTpl<Scalar>::updateForce(
             force.segment(nc, nc_i);
         m_i->contact->updateForce(d_i, force_i);
         const pinocchio::JointIndex joint =
-            state_->get_pinocchio()->frames[d_i->frame].parent;
+            state_->get_pinocchio()->frames[d_i->frame].parentJoint;
         data->fext[joint] = d_i->fext;
       } else {
         m_i->contact->setZeroForce(d_i);
@@ -272,7 +272,7 @@ void ContactModelMultipleTpl<Scalar>::updateForce(
             force.segment(nc, nc_i);
         m_i->contact->updateForce(d_i, force_i);
         const pinocchio::JointIndex joint =
-            state_->get_pinocchio()->frames[d_i->frame].parent;
+            state_->get_pinocchio()->frames[d_i->frame].parentJoint;
         data->fext[joint] = d_i->fext;
         nc += nc_i;
       } else {

include/crocoddyl/multibody/impulses/impulse-3d.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -54,7 +54,7 @@ void ImpulseModel3DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointVelocityDerivatives(*state_->get_pinocchio().get(),
                                          *d->pinocchio, joint, pinocchio::LOCAL,
                                          d->v_partial_dq, d->v_partial_dv);

include/crocoddyl/multibody/impulses/impulse-6d.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -52,7 +52,7 @@ void ImpulseModel6DTpl<Scalar>::calcDiff(
     const Eigen::Ref<const VectorXs>&) {
   boost::shared_ptr<Data> d = boost::static_pointer_cast<Data>(data);
   const pinocchio::JointIndex joint =
-      state_->get_pinocchio()->frames[d->frame].parent;
+      state_->get_pinocchio()->frames[d->frame].parentJoint;
   pinocchio::getJointVelocityDerivatives(*state_->get_pinocchio().get(),
                                          *d->pinocchio, joint, pinocchio::LOCAL,
                                          d->v_partial_dq, d->v_partial_dv);

include/crocoddyl/multibody/impulses/multiple-impulses.hxx

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -183,7 +183,7 @@ void ImpulseModelMultipleTpl<Scalar>::updateForce(
           force.segment(nc, nc_i);
       m_i->impulse->updateForce(d_i, force_i);
       const pinocchio::JointIndex joint =
-          state_->get_pinocchio()->frames[d_i->frame].parent;
+          state_->get_pinocchio()->frames[d_i->frame].parentJoint;
       data->fext[joint] = d_i->fext;
       nc += nc_i;
     } else {

unittest/bindings/factory.py

@@ -1101,7 +1101,7 @@ def __init__(self, model, collector):
         self.fXj = (
             model.state.pinocchio.frames[model._frame_id].placement.inverse().action
         )
-        self.joint = model.state.pinocchio.frames[model._frame_id].parent
+        self.joint = model.state.pinocchio.frames[model._frame_id].parentJoint
 
 
 class Contact1DModelDerived(crocoddyl.ContactModelAbstract):
@@ -1151,7 +1151,7 @@ def calc(self, data, x):
             data.a0[0] = np.dot(np.dot(self.Raxis, oRf), data.a0_local)[2]
 
     def calcDiff(self, data, x):
-        joint = self.state.pinocchio.frames[self.id].parent
+        joint = self.state.pinocchio.frames[self.id].parentJoint
         (
             v_partial_dq,
             a_partial_dq,
@@ -1271,7 +1271,7 @@ def calc(self, data, x):
             data.a0[:] = np.dot(oRf, data.a0_local)
 
     def calcDiff(self, data, x):
-        joint = self.state.pinocchio.frames[self.id].parent
+        joint = self.state.pinocchio.frames[self.id].parentJoint
         (
             v_partial_dq,
             a_partial_dq,
@@ -1425,7 +1425,7 @@ def calc(self, data, x):
             data.a0[:] = data.lwaMl.act(data.a0_local).vector
 
     def calcDiff(self, data, x):
-        joint = self.state.pinocchio.frames[self.id].parent
+        joint = self.state.pinocchio.frames[self.id].parentJoint
         (
             v_partial_dq,
             a_partial_dq,
@@ -1536,7 +1536,7 @@ def calc(self, data, x):
             )
 
     def calcDiff(self, data, x):
-        joint = self.state.pinocchio.frames[self.id].parent
+        joint = self.state.pinocchio.frames[self.id].parentJoint
         v_partial_dq, _ = pinocchio.getJointVelocityDerivatives(
             self.state.pinocchio, data.pinocchio, joint, pinocchio.ReferenceFrame.LOCAL
         )
@@ -1613,7 +1613,7 @@ def calc(self, data, x):
             data.Jc[:, :] = np.dot(data.lwaMl.toActionMatrix(), data.fJf)
 
     def calcDiff(self, data, x):
-        joint = self.state.pinocchio.frames[self.id].parent
+        joint = self.state.pinocchio.frames[self.id].parentJoint
         v_partial_dq, _ = pinocchio.getJointVelocityDerivatives(
             self.state.pinocchio, data.pinocchio, joint, pinocchio.ReferenceFrame.LOCAL
         )

unittest/factory/cost.cpp

@@ -1,7 +1,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
+// Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh,
 //                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
@@ -229,14 +229,14 @@ boost::shared_ptr<crocoddyl::CostModelAbstract> CostModelFactory::create(
   pinocchio::GeomIndex ig_frame =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "frame", frame_index,
-          state->get_pinocchio()->frames[frame_index].parent,
+          state->get_pinocchio()->frames[frame_index].parentJoint,
           CollisionGeometryPtr(new hpp::fcl::Capsule(0, alpha)), frame_SE3));
   pinocchio::GeomIndex ig_obs =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "obs", state->get_pinocchio()->getFrameId("universe"),
           state->get_pinocchio()
               ->frames[state->get_pinocchio()->getFrameId("universe")]
-              .parent,
+              .parentJoint,
           CollisionGeometryPtr(new hpp::fcl::Capsule(0, beta)),
           frame_SE3_obstacle));
   geometry->addCollisionPair(pinocchio::CollisionPair(ig_frame, ig_obs));
@@ -247,7 +247,7 @@ boost::shared_ptr<crocoddyl::CostModelAbstract> CostModelFactory::create(
           state, boost::make_shared<crocoddyl::ActivationModelQuad>(3),
           boost::make_shared<crocoddyl::ResidualModelPairCollision>(
               state, nu, geometry, 0,
-              state->get_pinocchio()->frames[frame_index].parent));
+              state->get_pinocchio()->frames[frame_index].parentJoint));
       break;
     default:
       throw_pretty(__FILE__ ": Wrong CostModelTypes::Type given");

unittest/factory/residual.cpp

@@ -1,7 +1,8 @@
 ///////////////////////////////////////////////////////////////////////////////
 // BSD 3-Clause License
 //
-// Copyright (C) 2021-2022, University of Edinburgh, LAAS-CNRS
+// Copyright (C) 2021-2024, University of Edinburgh, LAAS-CNRS,
+//                          Heriot-Watt University
 // Copyright note valid unless otherwise stated in individual files.
 // All rights reserved.
 ///////////////////////////////////////////////////////////////////////////////
@@ -91,14 +92,14 @@ ResidualModelFactory::create(ResidualModelTypes::Type residual_type,
   pinocchio::GeomIndex ig_frame =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "frame", frame_index,
-          state->get_pinocchio()->frames[frame_index].parent,
+          state->get_pinocchio()->frames[frame_index].parentJoint,
           std::make_shared<hpp::fcl::Sphere>(0), frame_SE3));
   pinocchio::GeomIndex ig_obs =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "obs", state->get_pinocchio()->getFrameId("universe"),
           state->get_pinocchio()
               ->frames[state->get_pinocchio()->getFrameId("universe")]
-              .parent,
+              .parentJoint,
           std::make_shared<hpp::fcl::Sphere>(0), frame_SE3_obstacle));
   geometry->addCollisionPair(pinocchio::CollisionPair(ig_frame, ig_obs));
 #endif  // PINOCCHIO_WITH_HPP_FCL
@@ -148,7 +149,7 @@ ResidualModelFactory::create(ResidualModelTypes::Type residual_type,
     case ResidualModelTypes::ResidualModelPairCollision:
       residual = boost::make_shared<crocoddyl::ResidualModelPairCollision>(
           state, nu, geometry, 0,
-          state->get_pinocchio()->frames[frame_index].parent);
+          state->get_pinocchio()->frames[frame_index].parentJoint);
       break;
 #endif  // PINOCCHIO_WITH_HPP_FCL
     default: