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Stack Of Tasks
pinocchio
Commits
20ab2696
Verified
Commit
20ab2696
authored
Apr 29, 2021
by
Justin Carpentier
Browse files
core: fix setIndexes for JointModelTpl
parent
d24e293b
Changes
1
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Inline
Side-by-side
src/multibody/joint/joint-generic.hpp
View file @
20ab2696
...
...
@@ -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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