Commit 288e92af authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

dynamicValidation constructor now take a Device

parent 25827f2d
...@@ -109,7 +109,7 @@ namespace hpp { ...@@ -109,7 +109,7 @@ namespace hpp {
mass = robot->mass(); mass = robot->mass();
mu = problemSolver_->problem()->getParameter (std::string("DynamicPlanner/friction")).floatValue(); mu = problemSolver_->problem()->getParameter (std::string("DynamicPlanner/friction")).floatValue();
hppDout(notice,"mu define in python : "<<mu); hppDout(notice,"mu define in python : "<<mu);
DynamicValidationPtr_t dynamicVal = DynamicValidation::create(rectangularContact,sizeFootX,sizeFootY,mass,mu); DynamicValidationPtr_t dynamicVal = DynamicValidation::create(rectangularContact,sizeFootX,sizeFootY,mass,mu,robot);
collisionChecking->addDynamicValidator(dynamicVal); collisionChecking->addDynamicValidator(dynamicVal);
return collisionChecking; return collisionChecking;
......
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