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));
n.tail(extraConfigSpace_.dimension()).setZero();
return n;
}
......
......@@ -226,7 +226,7 @@ namespace hpp {
_removeCollisionPairs<srdfAsXmlString>
(model, geomModel, srdf, verbose);
if(!srdfAsXmlString)
::pinocchio::srdf::getNeutralConfiguration(model,srdf);
::pinocchio::srdf::loadReferenceConfigurations(model,srdf,verbose);
else{
hppDout(warning,"Neutral configuration won't be extracted from SRDF string.");
//TODO : A method getNeutralConfigurationFromSrdfString must be added in Pinocchio,
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment