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Guilhem Saurel
hpp-rbprm-corba
Commits
e43905b2
Commit
e43905b2
authored
Jun 05, 2019
by
Pierre Fernbach
Browse files
[api] getContactVariation do not return limbs not in contact in both states
parent
f3fc8ea8
Changes
1
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Side-by-side
src/rbprmbuilder.impl.cc
View file @
e43905b2
...
...
@@ -1445,7 +1445,7 @@ namespace hpp {
}
State
stateFrom
=
lastStatesComputed_
[
stateIdFrom
];
State
stateTo
=
lastStatesComputed_
[
stateIdTo
];
std
::
vector
<
std
::
string
>
variations_s
=
stateTo
.
all
Variations
(
stateFrom
,
rbprm
::
interpolation
::
extractEffectorsName
(
fullBody
()
->
GetLimbs
())
);
std
::
vector
<
std
::
string
>
variations_s
=
stateTo
.
contact
Variations
(
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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