Commit 14fe121f authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[contact generation] fix generateGroundContact method : should not clone the pinocchio device

parent ad74f0e0
......@@ -922,9 +922,8 @@ namespace hpp {
Configuration_t config;
for(int i =0; i< 1000; ++i)
{
core::DevicePtr_t device = fullBody()->device_->clone();
std::vector<std::string> names = stringConversion(contactLimbs);
core::ConfigProjectorPtr_t proj = core::ConfigProjector::create(device,"proj", 1e-4, 100);
core::ConfigProjectorPtr_t proj = core::ConfigProjector::create(fullBody()->device_,"proj", 1e-4, 100);
//hpp::tools::LockJointRec(limb->limb_->name(), body->device_->rootJoint(), proj);
for(std::vector<std::string>::const_iterator cit = names.begin(); cit !=names.end(); ++cit)
{
......@@ -935,7 +934,7 @@ namespace hpp {
std::vector<bool> rotConstraints;
posConstraints.push_back(false);posConstraints.push_back(false);posConstraints.push_back(true);
rotConstraints.push_back(true);rotConstraints.push_back(true);rotConstraints.push_back(true);
const pinocchio::Frame effectorFrame = device->getFrameByName(limb->effector_.name());
const pinocchio::Frame effectorFrame = fullBody()->device_->getFrameByName(limb->effector_.name());
pinocchio::JointPtr_t effectorJoint= limb->effector_.joint();
proj->add(core::NumericalConstraint::create (constraints::Position::create("",fullBody()->device_,
effectorJoint,
......
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