InverseKinematics: Fix multiple calls to add**(Target|Constraint) #479
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While the InverseKinematics library was designed to specify all the targets and constraints **before** the first call to solve, apparently for some users it make sense to call again this method between solve, to change some aspects of the constraints. While this is not properly documented, this commit make sures that if the user uses the methods in this way, everything works fine.
traversaro
changed the title
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Hot-fix, merging. |
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While the InverseKinematics library was designed to specify all the
targets and constraints before the first call to solve,
apparently for some users it make sense to call again this method
between solve, to change some aspects of the constraints.
While this behavior is indeed not properly documented, this commit make sures
that if the user uses the methods in this way, everything works fine.