Bug Fix : pair-collision.hxx, changing the method to check the pair_id with collisionPair.size() #1178
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…d with collisionPair.size()
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Thanks for spotting this, @ArthurH91! |
nim65s
added a commit
to nim65s/robotpkg
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Jan 27, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Jan 29, 2024
Upstream changes:
## [2.0.2] - 2023-12-07
* Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192
* Added CHANGELOG.md in loco-3d/crocoddyl#1188
* Supported nu==0 in actuation models in loco-3d/crocoddyl#1188
* Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186
* Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186
* Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180
* Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179
* Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178
* Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176
* Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172
* Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171
* Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165
* Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161
* Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160
* Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158
* Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156
* Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152
* Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151
* Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150
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Hello,
First, I'd like to thank you for your work. Here's what I think a small mistake in pair-collision.hxx I corrected.
Pull Request: Update condition to use collisionPairs.size()
Description
This pull request updates a conditional statement to use
collisionPairs.size()instead ofngeomsbecause ngeoms is not the number of collision pairs but the number of geometry objects in geom_model.The number of pairs can be higher than the number of geometry objects, hence this pull request.
Changes Made
static_cast<pinocchio::FrameIndex>(geom_model->ngeoms)withstatic_cast<pinocchio::FrameIndex>(geom_model->collisionPairs.size())in the condition.Testing
After building it, I tried on a small example in python and it works. I did not run unit tests after this but it builds successfully. Please, do not hesitate to tell me if I did something wrong here.
Related Issues
None
Checklist
Thank you,
Arthur Haffemayer
PhD. Student, LAAS CNRS, Gepetto