Commit a5c1c973 authored by jcarpent's avatar jcarpent
Browse files

[Algo] Avoid useless computations with frame index 0

parent f283677d
......@@ -84,7 +84,9 @@ namespace se3
Data & data
)
{
for (Model::FrameIndex i=0; i < (Model::FrameIndex) model.nframes; ++i)
// The following for loop starts by index 1 because the first frame is fixed
// and corresponds to the universe.s
for (Model::FrameIndex i=1; i < (Model::FrameIndex) model.nframes; ++i)
{
const Frame & frame = model.frames[i];
const Model::JointIndex & parent = frame.parent;
......
......@@ -291,6 +291,7 @@ namespace se3
f[0].setZero();
oMi[0].setIdentity();
liMi[0].setIdentity();
oMf[0].setIdentity();
}
inline void Data::computeLastChild (const Model & model)
......
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