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Guilhem Saurel
hpp-rbprm-corba
Commits
14fe121f
Commit
14fe121f
authored
Apr 28, 2019
by
Pierre Fernbach
Browse files
[contact generation] fix generateGroundContact method : should not clone the pinocchio device
parent
ad74f0e0
Changes
1
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Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
14fe121f
...
...
@@ -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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