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Guilhem Saurel
hpp-rbprm-corba
Commits
5befd28e
Unverified
Commit
5befd28e
authored
Nov 27, 2019
by
Guilhem Saurel
Committed by
GitHub
Nov 27, 2019
Browse files
Merge pull request #51 from jmirabel/devel
Update to changes in hpp-fcl.
parents
644e6014
4e7760c7
Changes
1
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Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
5befd28e
...
...
@@ -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
)
{
...
...
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