From d3dd6ca412c9ab56a377fec8d2b784c411bee347 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 24 Jul 2017 12:56:16 +0200
Subject: [PATCH] Fix Handle::createGrasp
---
src/handle.cc | 21 ++++++++++++---------
1 file changed, 12 insertions(+), 9 deletions(-)
diff --git a/src/handle.cc b/src/handle.cc
index 9fdea11b..1ef224ab 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -140,15 +140,18 @@ namespace hpp {
} else {
// TODO handle cases where rotations or translation are allowed.
std::vector<bool> Cmask = complementMask(mask_);
- return NumericalConstraintPtr_t
- (NumericalConstraint::create (RelativeTransformation::create
- ("Transformation_" + maskToStr(Cmask) + "_" + name ()
- + "_" + gripper->name (),
- gripper->joint()->robot(),
- gripper->joint (), joint (),
- gripper->objectPositionInJoint (),
- localPosition(), Cmask),
- core::Equality::create ()));
+ RelativeTransformationPtr_t function = RelativeTransformation::create
+ ("Transformation_" + maskToStr(Cmask) + "_" + name ()
+ + "_" + gripper->name (),
+ gripper->joint()->robot(),
+ gripper->joint (), joint (),
+ gripper->objectPositionInJoint (),
+ localPosition(), Cmask);
+ return NumericalConstraintPtr_t (NumericalConstraint::create
+ (function,
+ core::ComparisonTypes::create(function->outputSize(),
+ core::ComparisonType::Equality)
+ ));
}
}
--
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