Fix a bug in inverseKinBackend. Restore the 'active' property in Quas…

…iStaticConstraint
yk-ren · Feb 27, 2014 · da48409 · da48409
1 parent 8108191
commit da48409
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/systems/plants/@RigidBodyManipulator/inverseKinBackend.m b/systems/plants/@RigidBodyManipulator/inverseKinBackend.m
@@ -43,7 +43,7 @@
 end
 ikoptions = varargin{end};
 %   qsc = QuasiStaticConstraint(obj);
-qsc = QuasiStaticConstraint(obj,1);
+qsc = QuasiStaticConstraint(obj,[-inf,inf],1);
 qsc = qsc.setActive(false);
 [joint_min,joint_max] = obj.getJointLimits();
 joint_min = bsxfun(@times,joint_min,ones(1,nT));

diff --git a/systems/plants/constraint/RigidBodyConstraint.cpp b/systems/plants/constraint/RigidBodyConstraint.cpp
@@ -86,12 +86,13 @@ QuasiStaticConstraint::QuasiStaticConstraint(RigidBodyManipulator* robot, const
 {
   this->m_robotnumset = robotnumset;
   this->shrinkFactor = 0.9;
+  this->active = false;
   this->num_bodies = 0;
   this->num_pts = 0;
   this->type = RigidBodyConstraint::QuasiStaticConstraintType;
 }
 
-QuasiStaticConstraint::QuasiStaticConstraint(const QuasiStaticConstraint &rhs):RigidBodyConstraint(rhs),m_robotnumset(rhs.m_robotnumset),shrinkFactor(rhs.shrinkFactor),num_bodies(rhs.num_bodies),num_pts(rhs.num_pts),bodies(rhs.bodies),num_body_pts(rhs.num_body_pts),body_pts(rhs.body_pts)
+QuasiStaticConstraint::QuasiStaticConstraint(const QuasiStaticConstraint &rhs):RigidBodyConstraint(rhs),m_robotnumset(rhs.m_robotnumset),shrinkFactor(rhs.shrinkFactor),active(rhs.active),num_bodies(rhs.num_bodies),num_pts(rhs.num_pts),bodies(rhs.bodies),num_body_pts(rhs.num_body_pts),body_pts(rhs.body_pts)
 {
 }