Commit db1e72c8 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

fix tests

parent ad215b87
......@@ -66,6 +66,8 @@ using ::se3::JointModelPY;
using ::se3::JointModelPZ;
using ::se3::JointIndex;
#define TOSTR( x ) static_cast< std::ostringstream & >( ( std::ostringstream() << x ) ).str()
DevicePtr_t createRobot ()
{
......
......@@ -23,6 +23,7 @@
#include <hpp/util/debug.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/pinocchio/joint.hh>
#include <hpp/pinocchio/configuration.hh>
#include <hpp/core/fwd.hh>
#include <hpp/core/roadmap.hh>
#include <hpp/core/problem.hh>
......@@ -55,6 +56,7 @@ using hpp::core::RoadmapPtr_t;
using hpp::core::Roadmap;
using hpp::core::NodePtr_t;
using hpp::core::WeighedDistance;
using namespace hpp::core;
using ::se3::JointModelPX;
using ::se3::JointModelPY;
using ::se3::JointModelPZ;
......
......@@ -92,7 +92,7 @@ DevicePtr_t createRobot ()
boost::shared_ptr <Box> box (new Box (1,2,1));
fcl::CollisionObject object(box, position);
robot->model().appendBodyToJoint(idX,::se3::Inertia::Identity());
::se3::GeomIndex idObj = robot->geomModel().addGeometryObject(idX,object,mat);
::se3::GeomIndex idObj = robot->geomModel().addGeometryObject(idX,object.collisionGeometry(),mat);
robot->geomModel().addInnerObject(idX,idObj);
......
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