Commit e43905b2 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[api] getContactVariation do not return limbs not in contact in both states

parent f3fc8ea8
......@@ -1445,7 +1445,7 @@ namespace hpp {
State stateFrom = lastStatesComputed_[stateIdFrom];
State stateTo = lastStatesComputed_[stateIdTo];
std::vector<std::string> variations_s = stateTo.allVariations(stateFrom,rbprm::interpolation::extractEffectorsName(fullBody()->GetLimbs()));
std::vector<std::string> variations_s = stateTo.contactVariations(stateFrom);
CORBA::ULong size = (CORBA::ULong) variations_s.size ();
char** nameList = Names_t::allocbuf(size);
Names_t *variations = new Names_t (size,size,nameList);
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