From 190967008c9482d19deb438c9833961ac6ab9ef2 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 14 Feb 2016 21:49:14 +0100
Subject: [PATCH] Fix naming of pregrasp constraints for handle. Add TODO
---
include/hpp/manipulation/axial-handle.hh | 2 ++
src/handle.cc | 2 +-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 5f722870..cb0c8374 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -66,6 +66,8 @@ namespace hpp {
/// \return the constraint of relative transformation between the handle and
/// the gripper.
/// \note The translation along x-axis and the rotation around z-axis are not constrained.
+ /// \todo this function is never called. It should follow changes of
+ /// Handle::createPreGrasp prototype.
virtual NumericalConstraintPtr_t createPreGrasp
(const GripperPtr_t& gripper) const;
diff --git a/src/handle.cc b/src/handle.cc
index f68a5d0c..772e8fc4 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -111,7 +111,7 @@ namespace hpp {
* Transform3f (fcl::Vec3f (shift,0,0));
return NumericalConstraintPtr_t
(NumericalConstraint::create (RelativeTransformation::create
- ("Transformation_(0,1,1,1,1,1)_" + name ()
+ ("Transformation_(1,1,1,1,1,1)_" + name ()
+ "_" + gripper->name (),
gripper->joint()->robot(),
gripper->joint (), joint (),
--
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