Commit 36749c6d authored by Diane Bury's avatar Diane Bury
Browse files

Fix robot configuration updating and a loop issue

parent 70c2e090
......@@ -47,7 +47,11 @@ namespace hpp {
{
interval.first = -std::numeric_limits <value_type>::infinity ();
interval.second = std::numeric_limits <value_type>::infinity ();
pinocchio::DeviceSync robot (robot_);
robot_->currentConfiguration (config);
robot_->computeFramesForwardKinematics ();
robot_->updateGeometryPlacements ();
hpp::pinocchio::DeviceSync robot (robot_);
robot.currentConfiguration (config);
robot.computeForwardKinematics();
robot.updateGeometryPlacements();
......@@ -63,7 +67,6 @@ namespace hpp {
return true;
}
bool ContinuousValidation::validate(const PathPtr_t &path, bool reverse, PathPtr_t &validPart,
PathValidationReportPtr_t &report)
{
......@@ -198,7 +201,9 @@ namespace hpp {
{
ia = (*_colPair)->indexJointA ();
ib = (*_colPair)->indexJointB ();
if (ia < 0 || ib < 0) continue;
if (ia < 0 || ib < 0) {
++_colPair;
continue;}
switch (relMotion(ia, ib))
{
case RelativeMotion::Parameterized:
......
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