From 9847417b553523d3d5370afe6b53413ea43913a5 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 10 Feb 2015 15:43:50 +0100
Subject: [PATCH] Fix bug in LevelSetEdge::insertConfigConstraint.
---
src/graph/edge.cc | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index edbf4db..31cc9b8 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -404,9 +404,11 @@ namespace hpp {
ConstraintSetPtr_t constraint = ConstraintSet::create (g->robot (), "Set " + n);
ConfigProjectorPtr_t proj = ConfigProjector::create(g->robot(), "proj_" + n, g->errorThreshold(), g->maxIterations());
+ IntervalsContainer_t::const_iterator itpdof = extraPassiveDofs_.begin ();
for (NumericalConstraints_t::const_iterator it = extraNumericalConstraints_.begin ();
it != extraNumericalConstraints_.end (); ++it) {
- proj->add (*it);
+ proj->add (*it, *itpdof);
+ ++itpdof;
}
for (LockedJoints_t::const_iterator it = extraLockedJoints_.begin ();
--
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