Commit 0e6fe70e authored by Jason Chemin's avatar Jason Chemin
Browse files

create new startState_ and endState_, it was stacking before

parent e3da9658
......@@ -1191,6 +1191,7 @@ void RbprmBuilder::setStartState(const hpp::floatSeq& configuration,
bool validity = problemSolver()->problem()->configValidations()->validate(
dofArrayToConfig(fullBody()->device_, configuration), validationReport);
if (validity) {
startState_ = State();
SetPositionAndNormal(startState_, fullBody(), configuration, names);
} else {
std::ostringstream oss;
......@@ -1235,6 +1236,7 @@ void RbprmBuilder::setEndState(const hpp::floatSeq& configuration,
bool validity = problemSolver()->problem()->configValidations()->validate(
dofArrayToConfig(fullBody()->device_, configuration), validationReport);
if (validity) {
endState_ = State();
SetPositionAndNormal(endState_, fullBody(), configuration, names);
} else {
std::ostringstream oss;
......
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