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Unverified Commit 5befd28e authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #51 from jmirabel/devel 

Update to changes in hpp-fcl.
parents 644e6014 4e7760c7
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src/rbprmbuilder.impl.cc
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......@@ -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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