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Bug Fix : pair-collision.hxx, changing the method to check the pair_id with collisionPair.size() #1178

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merged 2 commits into from
Nov 8, 2023
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Bug Fix : pair-collision.hxx, changing the method to check the pair_id with collisionPair.size() #1178

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Bug Fix : pair-collision.hxx, changing the method to check the pair_i…
ArthurH91 Nov 7, 2023
117b730
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Nov 7, 2023
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3 changes: 2 additions & 1 deletion include/crocoddyl/multibody/residuals/pair-collision.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,8 @@ ResidualModelPairCollisionTpl<Scalar>::ResidualModelPairCollisionTpl(
geom_model_(geom_model),
pair_id_(pair_id),
joint_id_(joint_id) {
if (static_cast<pinocchio::FrameIndex>(geom_model->ngeoms) <= pair_id) {
if (static_cast<pinocchio::FrameIndex>(geom_model->collisionPairs.size()) <=
pair_id) {
throw_pretty(
"Invalid argument: "
<< "the pair index is wrong (it does not exist in the geometry model)");
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