Commit 999cc7d6 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

[SimpleTimeParameterization] Fix method optimize.

  Comment lines that make method optimize leave the input path unchanged.
parent ab36b3b0
Pipeline #16138 passed with stage
in 6 minutes and 12 seconds
......@@ -215,10 +215,10 @@ namespace hpp {
p->timeParameterization (TimeParameterizationPtr_t(), paramRange);
PathPtr_t pp = p->copy();
if (p->length() > 0) {
output->appendPath (pp);
continue;
}
// if (p->length() > 0) {
// output->appendPath (pp);
// continue;
// }
// Compute B
p->velocityBound (v, paramRange.first, paramRange.second);
v_inv = (v.array() == 0).select(infinity, v.cwiseInverse());
......
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