Commit 6fea710d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Fix Device::neutralConfiguration

parent feaa2016
......@@ -214,7 +214,7 @@ namespace hpp {
virtual bool currentConfiguration (ConfigurationIn_t configuration);
/// Get the neutral configuration
const Configuration_t & neutralConfiguration () const;
Configuration_t neutralConfiguration () const;
/// Get current velocity
const vector_t& currentVelocity () const
......
......@@ -206,9 +206,14 @@ namespace hpp {
return false;
}
const Configuration_t & Device::
Configuration_t Device::
neutralConfiguration () const
{ return model()->neutralConfiguration; }
{
Configuration_t n (configSize);
n.head(model_->nv) = model()->neutralConfiguration;
n.tail(extraConfigSpace_.dimension()).setZero();
return n;
}
const value_type& Device::
mass () const
......
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