Unverified Commit 810988c1 authored by Fernbach Pierre's avatar Fernbach Pierre Committed by GitHub
Browse files

Merge pull request #63 from JasonChmn/Topic/FixStateAndGoalStacking

Re-initialize startState_ and endState_
parents d4499855 0e6fe70e
......@@ -1189,6 +1189,7 @@ void RbprmBuilder::setStartState(const hpp::floatSeq& configuration,
bool validity = problemSolver()->problem()->configValidations()->validate(
dofArrayToConfig(fullBody()->device_, configuration), validationReport);
if (validity) {
startState_ = State();
SetPositionAndNormal(startState_, fullBody(), configuration, names);
} else {
std::ostringstream oss;
......@@ -1233,6 +1234,7 @@ void RbprmBuilder::setEndState(const hpp::floatSeq& configuration,
bool validity = problemSolver()->problem()->configValidations()->validate(
dofArrayToConfig(fullBody()->device_, configuration), validationReport);
if (validity) {
endState_ = State();
SetPositionAndNormal(endState_, fullBody(), configuration, names);
} else {
std::ostringstream oss;
......
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