From 253029820fadea57e14011ec813a7a43e16e136f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 20 Aug 2016 17:41:55 +0200
Subject: [PATCH] In Edge::buildConfigConstraints, add node constraints when
edge is not in to
* follows 264dc73eb40ac0cb306756205bf8ffa1789e1a14
---
src/graph/edge.cc | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 9d542c1..ff8a2b5 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -207,16 +207,16 @@ namespace hpp {
g->insertNumericalConstraints (proj);
insertNumericalConstraints (proj);
to ()->insertNumericalConstraints (proj);
- if (node () == from ()) {
- from ()->insertNumericalConstraints (proj);
+ if (node () != to ()) {
+ node ()->insertNumericalConstraints (proj);
}
constraint->addConstraint (proj);
g->insertLockedJoints (proj);
insertLockedJoints (proj);
to ()->insertLockedJoints (proj);
- if (node () == from ()) {
- from ()->insertLockedJoints (proj);
+ if (node () != to ()) {
+ node ()->insertLockedJoints (proj);
}
constraint->edge (wkPtr_.lock ());
@@ -687,8 +687,8 @@ namespace hpp {
insertNumericalConstraints (proj);
to ()->insertNumericalConstraints (proj);
- if (node () == from ()) {
- from ()->insertNumericalConstraints (proj);
+ if (node () != to ()) {
+ node ()->insertNumericalConstraints (proj);
}
constraint->addConstraint (proj);
@@ -699,8 +699,8 @@ namespace hpp {
}
insertLockedJoints (proj);
to ()->insertLockedJoints (proj);
- if (node () == from ()) {
- from ()->insertLockedJoints (proj);
+ if (node () != to ()) {
+ node ()->insertLockedJoints (proj);
}
constraint->edge (wkPtr_.lock ());
--
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