From 01aeb111198e58a97cb6519505561d0e24b99a38 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 23 Nov 2017 16:32:37 +0100
Subject: [PATCH] Rename local function inHandleOnR3xSO3 -> isHandleOnFreeflyer
for more clarity.
---
src/handle.cc | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/handle.cc b/src/handle.cc
index 3524ace4..d9e79e31 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -56,7 +56,7 @@ namespace hpp {
using core::ExplicitNumericalConstraint;
using constraints::DifferentiableFunction;
- bool isHandleOnR3SO3 (const Handle& handle)
+ bool isHandleOnFreeflyer (const Handle& handle)
{
if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname()
&& !handle.joint ()->parentJoint ()) {
@@ -108,7 +108,7 @@ namespace hpp {
{
using core::ExplicitRelativeTransformation;
// If handle is on a freeflying object, create an explicit constraint
- if (is6Dmask(mask_) && isHandleOnR3SO3 (*this)) {
+ if (is6Dmask(mask_) && isHandleOnFreeflyer (*this)) {
if (n.empty())
n = "Explicit_relative_transform_" + name() + "_" + gripper->name();
return ExplicitRelativeTransformation::create
--
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