Commit 2df38b95 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Set default values for joint bounds.

parent 48afdff1
......@@ -17,6 +17,7 @@
// hpp-model If not, see
// <http://www.gnu.org/licenses/>.
#include <limits>
#include <stdexcept>
#include <cstdlib>
#include <iostream>
......@@ -38,6 +39,8 @@ namespace hpp {
upperBounds_.resize (configSize);
for (size_type i=0; i < (size_type)bounded_.size (); ++i) {
bounded_ [i] = false;
lowerBounds_ [i] = -std::numeric_limits<value_type>::infinity();
upperBounds_ [i] = +std::numeric_limits<value_type>::infinity();
}
}
......@@ -85,6 +88,10 @@ namespace hpp {
SO3JointConfig::SO3JointConfig () : JointConfiguration (4)
{
for (size_type i=0; i<4; ++i) {
lowerBound (i, -1);
upperBound (i, 1);
}
}
SO3JointConfig::~SO3JointConfig ()
......@@ -93,6 +100,8 @@ namespace hpp {
RotationJointConfig::RotationJointConfig () : JointConfiguration (1)
{
lowerBound (0, -M_PI);
upperBound (0, M_PI);
}
RotationJointConfig::~RotationJointConfig ()
......
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