Verified Commit 82d7e083 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo: remove redundant copy

parent 0848e03c
Pipeline #11539 passed with stage
in 286 minutes and 47 seconds
......@@ -391,7 +391,9 @@ namespace pinocchio
joint_input_model.jointVelocitySelector(input_model.effortLimit),
joint_input_model.jointVelocitySelector(input_model.velocityLimit),
joint_input_model.jointConfigSelector(input_model.lowerPositionLimit),
joint_input_model.jointConfigSelector(input_model.upperPositionLimit));
joint_input_model.jointConfigSelector(input_model.upperPositionLimit),
joint_input_model.jointVelocitySelector(input_model.friction),
joint_input_model.jointVelocitySelector(input_model.damping));
// Append inertia
reduced_model.appendBodyToJoint(reduced_joint_id,
input_model.inertias[joint_id],
......@@ -403,10 +405,6 @@ namespace pinocchio
= joint_input_model.jointVelocitySelector(input_model.rotorInertia);
jmodel_out.jointVelocitySelector(reduced_model.rotorGearRatio)
= joint_input_model.jointVelocitySelector(input_model.rotorGearRatio);
jmodel_out.jointVelocitySelector(reduced_model.friction)
= joint_input_model.jointVelocitySelector(input_model.friction);
jmodel_out.jointVelocitySelector(reduced_model.damping)
= joint_input_model.jointVelocitySelector(input_model.damping);
}
}
......
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