Commit 72877257 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Device::getFrameByName accepts all frame types.

parent 7d7d6efc
......@@ -226,12 +226,11 @@ namespace hpp {
getFrameByName (const std::string& name) const
{
assert(model_);
const se3::FrameType type = (se3::FrameType)(se3::JOINT | se3::FIXED_JOINT);
if(! model_->existFrame(name, type))
if(! model_->existFrame(name))
throw std::logic_error ("Device " + name_ +
" does not have any frame named "
+ name);
FrameIndex id = model_->getFrameId(name, type);
FrameIndex id = model_->getFrameId(name);
return Frame(weakPtr_.lock(), id);
}
......
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