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
dd1e12f0
Commit
dd1e12f0
authored
Jun 05, 2019
by
Pierre Fernbach
Browse files
computeCenterOfContactAtStateForLimb correctly apply the offset when the rotation is not Identity
parent
e43905b2
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
dd1e12f0
...
...
@@ -2134,9 +2134,8 @@ namespace hpp {
res
->
length
((
_CORBA_ULong
)
2
);
fcl
::
Vec3f
&
position
=
state
.
contactPositions_
.
at
(
limbName
);
position
+=
fullBody
()
->
GetLimb
(
limb
)
->
offset_
;
fcl
::
Transform3f
jointT
(
state
.
contactRotation_
.
at
(
limbName
),
state
.
contactPositions_
.
at
(
limbName
));
fcl
::
Vec3f
position
=
jointT
.
transform
(
fullBody
()
->
GetLimb
(
limb
)
->
offset_
);
_CORBA_ULong
size
=
(
_CORBA_ULong
)
3
;
double
*
dofArray
=
hpp
::
floatSeq
::
allocbuf
(
size
);
hpp
::
floatSeq
floats
(
size
,
size
,
dofArray
,
true
);
...
...
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