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Joint vector

Created by: jmirabel

About the unittest of class Device: the joint vector cannot be compared for devices with anchor joints. In HPP, they appear in the joint vector. In Pinocchio, they don't.

Two solutions:

  • do not compare the joint vector,
  • compare it using a model without anchor joints (an embedded model if probably the best approach).

We will have to be careful in other packages as some algorithms are looping on the joint vector.