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Humanoid Path Planner
hpp-model
Commits
5ceaa852
Commit
5ceaa852
authored
Oct 19, 2015
by
Joseph Mirabel
Committed by
Joseph Mirabel
Oct 23, 2015
Browse files
Fix flag tests in CenterOfMassComputation::compute
parent
2a515373
Changes
1
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Inline
Side-by-side
src/center-of-mass-computation.cc
View file @
5ceaa852
...
...
@@ -64,7 +64,7 @@ namespace hpp {
void
CenterOfMassComputation
::
compute
(
const
Device
::
Computation_t
&
flag
)
{
assert
(
mass_
>
0
);
if
(
flag
|
Device
::
COM
)
{
if
(
flag
&
Device
::
COM
)
{
massCom_
.
setValue
(
0
);
for
(
JointTreeList
::
iterator
it
=
rootJointTrees_
.
begin
();
it
!=
rootJointTrees_
.
end
();
++
it
)
{
...
...
@@ -73,7 +73,7 @@ namespace hpp {
}
com_
=
massCom_
/
mass_
;
}
if
(
flag
|
Device
::
JACOBIAN
)
{
if
(
flag
&
Device
::
JACOBIAN
)
{
jacobianCom_
.
setZero
();
for
(
JointTreeList
::
iterator
it
=
jointTrees_
.
begin
();
it
!=
jointTrees_
.
end
();
++
it
)
...
...
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