joint/constraint: add static constructor

2889fa55 · Justin Carpentier · 79c938f5 · 2889fa55
Verified Commit 2889fa55 authored Dec 21, 2019 by Justin Carpentier
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src/multibody/constraint-generic.hpp src/multibody/constraint-generic.hpp +5 -0

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--- a/src/multibody/constraint-generic.hpp
+++ b/src/multibody/constraint-generic.hpp
@@ -74,6 +74,11 @@ namespace pinocchio
                          YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
    }
    
+    static ConstraintTpl Zero(const int dim)
+    {
+      return ConstraintTpl(dim);
+    }
+    
    template<typename VectorLike>
    JointMotion __mult__(const Eigen::MatrixBase<VectorLike> & vj) const
    {