diff options
Diffstat (limited to 'intern/itasc/kdl/treejnttojacsolver.cpp')
-rw-r--r-- | intern/itasc/kdl/treejnttojacsolver.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/intern/itasc/kdl/treejnttojacsolver.cpp b/intern/itasc/kdl/treejnttojacsolver.cpp index 624bbef7990..e8b4d385ab2 100644 --- a/intern/itasc/kdl/treejnttojacsolver.cpp +++ b/intern/itasc/kdl/treejnttojacsolver.cpp @@ -28,16 +28,16 @@ int TreeJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac, return -1; //Lets search the tree-element - SegmentMap::const_iterator it = tree.getSegments().find(segmentname); + SegmentMap::value_type const* it = tree.getSegmentPtr(segmentname); //If segmentname is not inside the tree, back out: - if (it == tree.getSegments().end()) + if (!it) return -2; //Let's make the jacobian zero: SetToZero(jac); - SegmentMap::const_iterator root = tree.getSegments().find("root"); + SegmentMap::value_type const* root = tree.getSegmentPtr("root"); Frame T_total = Frame::Identity(); Frame T_local, T_joint; |