spatial/motion: add isEqual method to MotionZeroTpl

cdadf1a1 · Justin Carpentier · 24dc9245 · cdadf1a1
Verified Commit cdadf1a1 authored Dec 17, 2019 by Justin Carpentier
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src/spatial/motion-zero.hpp src/spatial/motion-zero.hpp +8 -1

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--- a/src/spatial/motion-zero.hpp
+++ b/src/spatial/motion-zero.hpp
@@ -57,7 +57,14 @@ namespace pinocchio
    
    template<typename D2>
    static bool isEqual_impl(const MotionDense<D2> & other)
-    { return other.linear().isZero() && other.angular().isZero(); }
+    {
+      return other.linear().isZero(0) && other.angular().isZero(0);
+    }
+    
+    static bool isEqual_impl(const MotionZeroTpl &)
+    {
+      return true;
+    }
    
    template<typename D2>
    static void addTo(const MotionBase<D2> &) {}