Merge pull request #408 from jcarpent/topic/devel

Fix bug related to HPP-FCL

bindings/python/multibody/geometry-object.hpp

@@ -56,11 +56,14 @@ namespace se3
         .def_readonly("overrideMaterial", &GeometryObject::overrideMaterial, "Boolean that tells whether material information is stored in Geometry object")
         .def_readonly("meshTexturePath", &GeometryObject::meshTexturePath, "Absolute path to the mesh texture file")
 
+#ifdef WITH_HPP_FCL
           .def("CreateCapsule", &GeometryObjectPythonVisitor::maker_capsule)
           .staticmethod("CreateCapsule")
+#endif WITH_HPP_FCL
         ;
       }
 
+#ifdef WITH_HPP_FCL
       static GeometryObject maker_capsule( const double radius , const double length)
       {
         return GeometryObject("",FrameIndex(0),JointIndex(0),
@@ -68,6 +71,7 @@ namespace se3
                               SE3::Identity());
 
       }
+#endif WITH_HPP_FCL
 
       static void expose()
       {

unittest/crba.cpp

@@ -137,8 +137,8 @@ BOOST_AUTO_TEST_CASE (test_ccrb)
     
     Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq);
     q.segment <4> (3).normalize();
-    Eigen::VectorXd v = Eigen::VectorXd::Ones(model.nv);
-    Eigen::VectorXd a = Eigen::VectorXd::Ones(model.nv);
+    Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
+    Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
     
     const Eigen::VectorXd g = rnea(model,data_ref,q,0*v,0*a);
     rnea(model,data_ref,q,v,a);