Commit c12f252b authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Fix orientation of body connected to root joint.

parent 582cba9a
......@@ -573,7 +573,8 @@ namespace hpp
MatrixHomogeneousType parentJointInWorld;
if (link == model_.getRoot ()) {
parentJointInWorld = rootJoint_->currentTransformation ();
MatrixHomogeneousType result; result.setIdentity ();
return result;
}
else {
parentJointInWorld =
......@@ -920,6 +921,8 @@ namespace hpp
jointName);
}
joint->name (jointName);
pos.inverse ();
joint->linkInJointFrame (pos);
jointsMap_[jointName] = joint;
joint->lowerBound (0, -numeric_limits<double>::infinity());
joint->upperBound (0, +numeric_limits<double>::infinity());
......
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