Commit a4b71889 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

[Minor][C++] Homogenize behaviour of URDF regarding root joint.

* In both cases, the frame tree starts with frame "root_joint"
parent bfb83318
......@@ -493,7 +493,8 @@ namespace se3
///
void parseRootTree (::urdf::LinkConstPtr root_link, Model & model, const bool verbose) throw (std::invalid_argument)
{
appendBodyToJoint(model, 0, root_link->inertial, SE3::Identity(), root_link->name);
addFixedJointAndBody(model, 0, SE3::Identity(), "root_joint",
root_link->inertial, root_link->name);
BOOST_FOREACH(::urdf::LinkPtr child, root_link->child_links)
{
......
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