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pinocchio
Commits
677d908b
Verified
Commit
677d908b
authored
Jul 26, 2019
by
Justin Carpentier
Browse files
model: also update the subtree of the universe
parent
774ffbc1
Changes
1
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src/multibody/model.hxx
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677d908b
//
// Copyright (c) 2015-201
8
CNRS
// Copyright (c) 2015-201
9
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
...
...
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