Commit c1c65945 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

concatenateEffectorTrajectory: throw an explicit error if the effector doesn't have any trajectory

parent 9874d576
......@@ -1039,6 +1039,9 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
if(first_phase == m_contact_phases.size())
throw std::invalid_argument("The contact sequence doesn't have any phase with an effector trajectory"
" for the given effector name");
if(first_phase > 0){
// add a first constant phase at the initial placement
curve_SE3_ptr ptr_init(new SE3Curve_t(first_placement, first_placement,,
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