From 8cb56bd698bbc83d6a6225df439701709d202c35 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 18 Jun 2014 15:49:53 +0200
Subject: [PATCH] Fix computation of closest points in global frame.
---
include/fcl/narrowphase/narrowphase.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index f2732160..6821ec32 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -617,8 +617,8 @@ struct GJKSolver_indep
if(distance) *distance = (w0 - w1).length();
- if(p1) *p1 = w0;
- if(p2) *p2 = w1;
+ if(p1) *p1 = tf1.transform (w0);
+ if(p2) *p2 = tf1.transform (w1);
return true;
}
--
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