Merge pull request #621 from mkoval/bugfix/initialization

Fixed initialization of position and velocity
dartsim · Feb 23, 2016 · cbe9b09 · cbe9b09
2 parents 12b1fe7 + 119c807
commit cbe9b09
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/dart/dynamics/SingleDofJoint.cpp b/dart/dynamics/SingleDofJoint.cpp
@@ -1148,9 +1148,9 @@ SingleDofJoint::SingleDofJoint(const Properties& _properties)
   : Joint(_properties),
     mDof(createDofPointer(0)),
     mCommand(0.0),
-    mPosition(0.0),
+    mPosition(_properties.mInitialPosition),
     mPositionDeriv(0.0),
-    mVelocity(0.0),
+    mVelocity(_properties.mInitialVelocity),
     mVelocityDeriv(0.0),
     mAcceleration(0.0),
     mAccelerationDeriv(0.0),

diff --git a/dart/dynamics/detail/MultiDofJoint.h b/dart/dynamics/detail/MultiDofJoint.h
@@ -1344,9 +1344,9 @@ template <size_t DOF>
 MultiDofJoint<DOF>::MultiDofJoint(const Properties& _properties)
   : Joint(_properties),
     mCommands(Vector::Zero()),
-    mPositions(Vector::Zero()),
+    mPositions(_properties.mInitialPositions),
     mPositionDeriv(Vector::Zero()),
-    mVelocities(Vector::Zero()),
+    mVelocities(_properties.mInitialVelocities),
     mVelocitiesDeriv(Vector::Zero()),
     mAccelerations(Vector::Zero()),
     mAccelerationsDeriv(Vector::Zero()),