From 9baeed85afb575a45e5e39fcf7637e60b0eeb24d Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 10 Feb 2015 14:36:03 +0100
Subject: [PATCH] Fix bug: insert passive dofs in ConfigProjector
---
include/hpp/manipulation/graph/node.hh | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 0003688..ecefcfb 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -103,9 +103,13 @@ namespace hpp {
/// \return true is at least one NumericalConstraintPtr_t was inserted.
bool insertNumericalConstraintsForPath (ConfigProjectorPtr_t& proj) const
{
+ assert (numericalConstraintsForPath_.size () == passiveDofsForPath_.size ());
+ IntervalsContainer_t::const_iterator itpdofs = passiveDofsForPath_.begin ();
for (NumericalConstraints_t::const_iterator it = numericalConstraintsForPath_.begin();
- it != numericalConstraintsForPath_.end(); it++)
- proj->add (*it);
+ it != numericalConstraintsForPath_.end(); it++) {
+ proj->add (*it, *itpdofs);
+ itpdofs++;
+ }
return !numericalConstraintsForPath_.empty ();
}
--
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