Verified Commit 20ab2696 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: fix setIndexes for JointModelTpl

parent d24e293b
......@@ -167,13 +167,19 @@ namespace pinocchio
JointModelTpl(const JointModelVariant & jmodel_variant)
: JointCollection::JointModelVariant(jmodel_variant)
{}
{
setIndexes(::pinocchio::id(jmodel_variant),
::pinocchio::nq(jmodel_variant),
::pinocchio::nv(jmodel_variant));
}
template<typename JointModelDerived>
JointModelTpl(const JointModelBase<JointModelDerived> & jmodel)
: JointModelVariant((JointModelVariant)jmodel.derived())
{
BOOST_MPL_ASSERT((boost::mpl::contains<typename JointModelVariant::types,JointModelDerived>));
setIndexes(jmodel.id(),jmodel.nq(),jmodel.nv());
}
JointModelVariant & toVariant()
......
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