Commit 750e72fc authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Fix parsing and usage of neutral configuration.

parent 988d5fca
......@@ -303,8 +303,9 @@ namespace hpp {
Configuration_t Device::
neutralConfiguration () const
const Model& m (model());
Configuration_t n (configSize());
n.head(model().nq) = model().neutralConfiguration;
::pinocchio::neutral (m, n.head(m.nq));
return n;
......@@ -226,7 +226,7 @@ namespace hpp {
(model, geomModel, srdf, verbose);
hppDout(warning,"Neutral configuration won't be extracted from SRDF string.");
//TODO : A method getNeutralConfigurationFromSrdfString must be added in Pinocchio,
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