diff options
| author | Benoit Bolsee <benoit.bolsee@online.be> | 2012-06-07 12:16:41 +0400 |
|---|---|---|
| committer | Benoit Bolsee <benoit.bolsee@online.be> | 2012-06-07 12:16:41 +0400 |
| commit | 2b889eea8d1e43e46c9a1dfb2ab3a253eab60e55 (patch) | |
| tree | 020c97f7c11fa09938a29812215e05194ed7fa03 /intern/itasc/kdl/joint.hpp | |
| parent | ef850d75f52726e9d479cd9873ec8b6343cdf3f2 (diff) | |
Fix [#31430] part 2: crash in iTaSC when end effector is a fixed bone. This situation was causing access to invalid index in the joint angle array although the end effector doesn't need any joint angle to compute its pause. Fixed this by changing the internal API of joint array: return pointer instead of reference so that NULL pointer can be returned instead of crashing when the index is invalid.
Diffstat (limited to 'intern/itasc/kdl/joint.hpp')
| -rw-r--r-- | intern/itasc/kdl/joint.hpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/intern/itasc/kdl/joint.hpp b/intern/itasc/kdl/joint.hpp index a1291509f0f..9d25b427499 100644 --- a/intern/itasc/kdl/joint.hpp +++ b/intern/itasc/kdl/joint.hpp @@ -70,7 +70,7 @@ namespace KDL { * * @return the resulting 6D-pose */ - Frame pose(const double& q)const; + Frame pose(const double* q)const; /** * Request the resulting 6D-velocity with a joint velocity qdot * |