Commit 7e778bbe authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Bugfix: Device::controlComputation reset flag of all DeviceData.

parent 5ca636b3
......@@ -113,7 +113,7 @@ namespace hpp {
/// Select computation
/// Optimize computation time by selecting only necessary values in
/// method computeForwardKinematics.
void controlComputation (const Computation_t& flag);
virtual void controlComputation (const Computation_t& flag);
/// Get computation flag
Computation_t computationFlag () const { return d().computationFlag_; }
/// Compute forward kinematics
......
......@@ -277,6 +277,8 @@ namespace hpp {
/// - sum all the BB obtained.
fcl::AABB computeAABB() const;
void controlComputation (const Computation_t& flag);
protected:
/// \brief Constructor
Device(const std::string& name);
......
......@@ -150,6 +150,16 @@ namespace hpp {
d().invalidate();
numberDeviceData(datas_.size());
}
void Device::controlComputation (const Computation_t& flag)
{
AbstractDevice::controlComputation (flag);
// TODO this should not be done in controlComputation
// It should be done in another function (like controlComputations)
// as it might be a desired behaviour to have different computation options
// in different DeviceData.
numberDeviceData(datas_.size());
}
/* ---------------------------------------------------------------------- */
/* --- JOINT ------------------------------------------------------------ */
......
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