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Stack Of Tasks
pinocchio
Commits
82d7e083
Verified
Commit
82d7e083
authored
Oct 02, 2020
by
Justin Carpentier
Browse files
algo: remove redundant copy
parent
0848e03c
Pipeline
#11539
passed with stage
in 286 minutes and 47 seconds
Changes
1
Pipelines
1
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Side-by-side
src/algorithm/model.hxx
View file @
82d7e083
...
...
@@ -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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