Fix the option to enable joint retargeting in BLF-IK

robotology · Sep 16, 2022 · c591e97 · c591e97
1 parent 3bfe374
commit c591e97
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/WholeBodyControllers/src/IntegrationBasedIK.cpp b/src/WholeBodyControllers/src/IntegrationBasedIK.cpp
@@ -42,7 +42,9 @@ bool IntegrationBasedIK::initialize(
     }
 
     m_usejointRetargeting = false;
-    ptr->getParameter("use_joint_retargeting", m_usejointRetargeting);
+    int usejointRetargeting = 0;
+    ptr->getParameter("use_joint_retargeting", usejointRetargeting);
+    m_usejointRetargeting = usejointRetargeting != 0;
 
     m_useRootLinkForHeight = false;
     ptr->getParameter("use_root_link_for_height", m_useRootLinkForHeight);