Commit 48afdff1 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Fix another bug in SO3JointConfig

  - size of joint confiuration is 4, not 3.
  - rename JointConfiguration constructor input parameter to avoid confusion.
parent 47fade91
......@@ -38,10 +38,9 @@ namespace hpp {
class HPP_MODEL_DLLAPI JointConfiguration {
public:
/// Constructor
/// \param numberDof number of degrees of freedom of the joint
/// configuration
/// Used to resize the vector of bounds.
JointConfiguration (size_type numberDof);
/// \param configSize dimension of the joint configuration size: used to
/// resize the vector of bounds.
JointConfiguration (size_type configSize);
/// Destructor
virtual ~JointConfiguration ();
......
......@@ -31,11 +31,11 @@ namespace hpp {
typedef Eigen::AngleAxis <value_type> AngleAxis_t;
typedef fcl::Quaternion3f Quaternion_t;
JointConfiguration::JointConfiguration (size_type numberDof)
JointConfiguration::JointConfiguration (size_type configSize)
{
bounded_.resize (numberDof);
lowerBounds_.resize (numberDof);
upperBounds_.resize (numberDof);
bounded_.resize (configSize);
lowerBounds_.resize (configSize);
upperBounds_.resize (configSize);
for (size_type i=0; i < (size_type)bounded_.size (); ++i) {
bounded_ [i] = false;
}
......@@ -83,7 +83,7 @@ namespace hpp {
{
}
SO3JointConfig::SO3JointConfig () : JointConfiguration (3)
SO3JointConfig::SO3JointConfig () : JointConfiguration (4)
{
}
......
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