Geometry placement
Created by: jmirabel
As mentioned earlier, hpp-model computes the geometry placement twice.
I added a computation flag to trigger geometry placement update in Device::computeForwardKinematics
in hpp-pinocchio. This is not in the hpp-model API. I do not know whether is useful to have JOINT_POSITION
and GEOMETRY
flags. I do not see any (motion planning) application where JOINT_POSITION
would be used without GEOMETRY
.
Any opinion on this topic ?