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Commit 01aeb111 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Rename local function inHandleOnR3xSO3 -> isHandleOnFreeflyer 

  for more clarity.
parent a2558d50
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src/handle.cc
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...@@ -56,7 +56,7 @@ namespace hpp { ...@@ -56,7 +56,7 @@ namespace hpp {
using core::ExplicitNumericalConstraint; using core::ExplicitNumericalConstraint;
using constraints::DifferentiableFunction; using constraints::DifferentiableFunction;
bool isHandleOnR3SO3 (const Handle& handle) bool isHandleOnFreeflyer (const Handle& handle)
{ {
if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname() if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname()
&& !handle.joint ()->parentJoint ()) { && !handle.joint ()->parentJoint ()) {
...@@ -108,7 +108,7 @@ namespace hpp { ...@@ -108,7 +108,7 @@ namespace hpp {
{ {
using core::ExplicitRelativeTransformation; using core::ExplicitRelativeTransformation;
// If handle is on a freeflying object, create an explicit constraint // If handle is on a freeflying object, create an explicit constraint
if (is6Dmask(mask_) && isHandleOnR3SO3 (*this)) { if (is6Dmask(mask_) && isHandleOnFreeflyer (*this)) {
if (n.empty()) if (n.empty())
n = "Explicit_relative_transform_" + name() + "_" + gripper->name(); n = "Explicit_relative_transform_" + name() + "_" + gripper->name();
return ExplicitRelativeTransformation::create return ExplicitRelativeTransformation::create
......
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