Commit fdf192b2 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

replaceCylinderByCapsule -> isCapsule

parent d52fa8cc
......@@ -56,8 +56,8 @@ namespace pinocchio
} // BOOST_FOREACH
}
bool replaceCylinderByCapsule (const std::string & linkName,
const std::string & geomName) const
bool isCapsule (const std::string & linkName,
const std::string & geomName) const
{
LinkMap_t::const_iterator _link = links_.find(linkName);
assert (_link != links_.end());
......@@ -189,7 +189,7 @@ namespace pinocchio
// Use FCL capsules for cylinders
else if (urdf_geometry->type == ::urdf::Geometry::CYLINDER)
{
bool capsule = tree.replaceCylinderByCapsule(linkName, geomName);
bool capsule = tree.isCapsule(linkName, geomName);
meshScale << 1,1,1;
const ::urdf::CylinderSharedPtr collisionGeometry = ::urdf::dynamic_pointer_cast< ::urdf::Cylinder> (urdf_geometry);
......
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