Commit 5fa3815b authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix bug in Device::removeJoints + make it virtual.

parent 42ad0e21
Pipeline #13040 failed with stage
in 1 minute and 8 seconds
......@@ -116,7 +116,7 @@ namespace hpp {
void createGeomData();
/// Remove some joints from the configuration space.
void removeJoints(const std::vector<std::string>& jointNames,
virtual void removeJoints(const std::vector<std::string>& jointNames,
Configuration_t referenceConfig);
/// \}
......
......@@ -179,6 +179,10 @@ namespace hpp {
model_ = nModel;
geomModel_ = nGeomModel;
// update the grippers
std::transform(grippers_.begin(), grippers_.end(), grippers_.begin(),
[this](GripperPtr_t g) { return Gripper::create(g->name(), this->weakPtr_); });
invalidate();
createData();
createGeomData();
......
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