Commit db2f658d authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #408 from jcarpent/topic/devel

Fix bug related to HPP-FCL
parents 2b8433b9 7bdc54da
......@@ -56,11 +56,14 @@ namespace se3
.def_readonly("overrideMaterial", &GeometryObject::overrideMaterial, "Boolean that tells whether material information is stored in Geometry object")
.def_readonly("meshTexturePath", &GeometryObject::meshTexturePath, "Absolute path to the mesh texture file")
#ifdef WITH_HPP_FCL
.def("CreateCapsule", &GeometryObjectPythonVisitor::maker_capsule)
.staticmethod("CreateCapsule")
#endif WITH_HPP_FCL
;
}
#ifdef WITH_HPP_FCL
static GeometryObject maker_capsule( const double radius , const double length)
{
return GeometryObject("",FrameIndex(0),JointIndex(0),
......@@ -68,6 +71,7 @@ namespace se3
SE3::Identity());
}
#endif WITH_HPP_FCL
static void expose()
{
......
......@@ -137,8 +137,8 @@ BOOST_AUTO_TEST_CASE (test_ccrb)
Eigen::VectorXd q = Eigen::VectorXd::Ones(model.nq);
q.segment <4> (3).normalize();
Eigen::VectorXd v = Eigen::VectorXd::Ones(model.nv);
Eigen::VectorXd a = Eigen::VectorXd::Ones(model.nv);
Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
Eigen::VectorXd a = Eigen::VectorXd::Random(model.nv);
const Eigen::VectorXd g = rnea(model,data_ref,q,0*v,0*a);
rnea(model,data_ref,q,v,a);
......
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