Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
hpp-rbprm-corba
Commits
4e7760c7
Commit
4e7760c7
authored
Nov 14, 2019
by
Joseph Mirabel
Browse files
Update to changes in hpp-fcl.
parent
bed8c21c
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
4e7760c7
...
...
@@ -324,8 +324,7 @@ std::vector<fcl::Vec3f> computeRectangleContactLocalTr(const rbprm::RbPrmFullBod
fcl
::
Transform3f
roWorld
,
roEffector
;
roWorld
.
setRotation
(
state
.
contactRotation_
.
at
(
name
));
roWorld
.
setTranslation
(
position
);
roEffector
=
roWorld
;
roEffector
.
inverse
();
roEffector
=
roWorld
.
inverse
();
fcl
::
Vec3f
z_axis
(
0
,
0
,
1
);
fcl
::
Matrix3f
rotationLocal
=
tools
::
GetRotationMatrix
(
z_axis
,
limb
->
normal_
);
if
(
limb
->
contactType_
==
_3_DOF
)
{
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment