From fe174e2b9e872085d47979f3c08a090bf11f8852 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 4 Aug 2014 18:58:57 +0200
Subject: [PATCH] Update Robot::copyGrippers to take gripper parameter into
account.
---
src/robot.cc | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/robot.cc b/src/robot.cc
index 8645fda..f896dff 100644
--- a/src/robot.cc
+++ b/src/robot.cc
@@ -145,6 +145,18 @@ namespace hpp {
itJoint != joints.end() ; itJoint++ ) {
gripper->addDisabledCollision(jointMap_[*itJoint]);
}
+ if ((*itGripper)->isParameterActive ())
+ {
+ JointVector_t innerJoints = (*itGripper)->innerJoints(),
+ innerJointsNew;
+ for (model::JointVector_t::const_iterator itJoint = innerJoints.begin() ;
+ itJoint != innerJoints.end() ; itJoint++ ) {
+ innerJointsNew.push_back(jointMap_[*itJoint]);
+ }
+ gripper->innerJoints (innerJointsNew);
+ gripper->openConfig ((*itGripper)->openConfig ());
+ gripper->closedConfig ((*itGripper)->closedConfig ());
+ }
addGripper (gripper->name (), gripper);
}
}
--
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