From 1b1b705605d097fc5aba0e72cf2499bfb6ad0e2f Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 18 May 2023 12:02:23 +0200
Subject: [PATCH] [Handle] Initialize maskComp_ in constructor.
---
include/hpp/manipulation/handle.hh | 1 +
src/handle.cc | 2 ++
2 files changed, 3 insertions(+)
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 05ca632..5c366e1 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -183,6 +183,7 @@ class HPP_MANIPULATION_DLLAPI Handle {
robot_(robot),
clearance_(0),
mask_(6, true),
+ maskComp_(6, false),
weakPtr_() {}
void init(HandleWkPtr_t weakPtr) { weakPtr_ = weakPtr; }
diff --git a/src/handle.cc b/src/handle.cc
index 8e5484c..6cb59a7 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -74,6 +74,7 @@ bool isHandleOnFreeflyer(const Handle& handle) {
}
inline int maskSize(const std::vector<bool>& mask) {
+ assert(mask.size() == 6);
std::size_t res(0);
for (std::size_t i = 0; i < 6; ++i) {
if (mask[i]) ++res;
@@ -98,6 +99,7 @@ inline bool is6Dmask(const std::vector<bool>& mask) {
}
inline std::vector<bool> complementMask(const std::vector<bool>& mask) {
+ assert(mask.size() == 6);
std::vector<bool> m(6);
for (std::size_t i = 0; i < 6; ++i) m[i] = !mask[i];
return m;
--
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