From 7e4f9ff9dd7bd27cf51fe69f68bf8319c79e4186 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 16 Sep 2016 16:32:06 +0200
Subject: [PATCH] Fix condition on explicit constraint in Handle::createGrasp.
---
src/handle.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/handle.cc b/src/handle.cc
index d1e8938..9deb053 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -62,7 +62,7 @@ namespace hpp {
bool isHandleOnR3SO3 (const Handle& handle)
{
if (handle.joint()->jointModel().shortname() == se3::JointModelFreeFlyer::classname()
- && handle.joint ()->parentJoint ()) {
+ && !handle.joint ()->parentJoint ()) {
return true;
}
return false;
--
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