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Commit 40ced7ec authored by Joseph Mirabel's avatar Joseph Mirabel
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Update to API changes of Joint

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src/graph/helper.cc
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...@@ -1106,7 +1106,7 @@ namespace hpp { ...@@ -1106,7 +1106,7 @@ namespace hpp {
BOOST_FOREACH (const se3::FrameIndex& f, robot.frameIndices.get (od.name)) { BOOST_FOREACH (const se3::FrameIndex& f, robot.frameIndices.get (od.name)) {
if (model.frames[f].type != se3::JOINT) continue; if (model.frames[f].type != se3::JOINT) continue;
const JointIndex j = model.frames[f].parent; const JointIndex j = model.frames[f].parent;
JointPtr_t oj (new Joint (ps->robot(), j)); JointPtr_t oj (Joint::create (ps->robot(), j));
LiegroupSpacePtr_t space (oj->configurationSpace ()); LiegroupSpacePtr_t space (oj->configurationSpace ());
LiegroupElement lge (robot.currentConfiguration() LiegroupElement lge (robot.currentConfiguration()
.segment (oj->rankInConfiguration (), .segment (oj->rankInConfiguration (),
......
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