Verified Commit 677d908b authored by Justin Carpentier's avatar Justin Carpentier
Browse files

model: also update the subtree of the universe

parent 774ffbc1
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -268,6 +268,9 @@ namespace pinocchio
{
for(JointIndex parent = parents[joint_id]; parent>0; parent = parents[parent])
subtrees[parent].push_back(joint_id);
// Also add joint_id to the universe
subtrees[0].push_back(joint_id);
}
} // namespace pinocchio
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment