Merge pull request #1440 from francois-keith/devel

Fix bug in urdf parsing (win32+debug)

src/parsers/urdf/model.hxx

@@ -202,12 +202,13 @@ namespace pinocchio
               const std::string & body_name)
           {
             const Frame & parent_frame = model.frames[parent_frame_id];
+            const JointIndex parent_frame_parent = parent_frame.parent;
 
             const SE3 placement = parent_frame.placement * joint_placement;
             FrameIndex fid = model.addFrame(Frame(joint_name, parent_frame.parent, parent_frame_id,
                                                   placement, FIXED_JOINT, Y));
 
-            model.addBodyFrame(body_name, parent_frame.parent, placement, (int)fid);
+            model.addBodyFrame(body_name, parent_frame_parent, placement, (int)fid);
           }
 
           void appendBodyToJoint(

unittest/urdf.cpp

@@ -178,12 +178,10 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
 {
   const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/example-robot-data/robots/romeo_description/urdf/romeo_small.urdf");
   
-  std::cout << "parseURDFFile" << std::endl;
   ::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
   
   pinocchio::Model model;
-  std::cout << "buildModel" << std::endl;
-  pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model, true);
+  pinocchio::urdf::buildModel(urdfTree, pinocchio::JointModelFreeFlyer(), model);
   
   BOOST_CHECK(model.nq == 38);
 }