Fix mistake in the use of transform in moveEfectorOf

include/multicontact-api/scenario/contact-sequence.hpp

@@ -216,7 +216,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
     if (!m_contact_phases.back().isEffectorInContact(eeName))
       throw std::invalid_argument("In moveEffectorToPlacement : effector is not currently in contact : " + eeName);
     ContactPatch::SE3 previous(m_contact_phases.back().contactPatch(eeName).placement());
-    ContactPatch::SE3 target = previous.act(transform);
+    ContactPatch::SE3 target = transform.act(previous);
     return moveEffectorToPlacement(eeName, target, durationBreak, durationCreate);
   }
 

unittest/python/scenario.py

@@ -1486,7 +1486,7 @@ class ContactSequenceTest(unittest.TestCase):
         self.assertTrue(cs1.size() == 10)
         self.assertFalse(cs1.contactPhases[8].isEffectorInContact("left-leg"))
         self.assertTrue(cs1.contactPhases[9].isEffectorInContact("left-leg"))
-        target_placement = cs1.contactPhases[7].contactPatch("left-leg").placement.act(target_transform)
+        target_placement = target_transform.act(cs1.contactPhases[7].contactPatch("left-leg").placement)
         self.assertTrue(cs1.contactPhases[9].contactPatch("left-leg").placement == target_placement)
         self.assertTrue(cs1.contactPhases[9].contactPatch("left-leg").friction == 10.)
         # check that the other contactPatch have been copied :

unittest/scenario.cpp

@@ -1567,7 +1567,7 @@ BOOST_AUTO_TEST_CASE(contact_sequence_helper) {
   BOOST_CHECK(cs1.size() == 10);
   BOOST_CHECK(!cs1.contactPhase(8).isEffectorInContact("left_foot"));
   BOOST_CHECK(cs1.contactPhase(9).isEffectorInContact("left_foot"));
-  target_placement = cs1.contactPhase(7).contactPatch("left_foot").placement().act(target_transform);
+  target_placement = target_transform.act(cs1.contactPhase(7).contactPatch("left_foot").placement());
   BOOST_CHECK(cs1.contactPhase(9).contactPatch("left_foot").placement() == target_placement);
   BOOST_CHECK(cs1.contactPhase(9).contactPatch("left_foot").friction() == 10.);
   // check that the other contactPatch have been copied :