From 7b5c7040f3367ae25ee86665925809113a960b11 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 7 Sep 2016 14:02:19 +0200
Subject: [PATCH] [C++] Fix URDF parser: addFixedJointAndBody
---
src/parsers/urdf/model.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/parsers/urdf/model.cpp b/src/parsers/urdf/model.cpp
index cc48058ee..86e5d286e 100644
--- a/src/parsers/urdf/model.cpp
+++ b/src/parsers/urdf/model.cpp
@@ -128,7 +128,7 @@ namespace se3
int fid = model.addFrame(
Frame (joint_name, frame.parent, parentFrameId,
- frame.placement, FIXED_JOINT)
+ frame.placement * joint_placement, FIXED_JOINT)
);
if (fid < 0)
throw std::invalid_argument ("Fixed joint " + joint_name + " could not be added.");
--
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