Merge pull request #51 from jmirabel/devel

Update to changes in hpp-fcl.
humanoid-path-planner · Nov 27, 2019 · 5befd28 · 5befd28
2 parents 644e601 + 4e7760c
commit 5befd28
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
@@ -324,8 +324,7 @@ std::vector<fcl::Vec3f> computeRectangleContactLocalTr(const rbprm::RbPrmFullBod
       fcl::Transform3f roWorld, roEffector;
       roWorld.setRotation(state.contactRotation_.at(name));
       roWorld.setTranslation(position);
-      roEffector = roWorld;
-      roEffector.inverse();
+      roEffector = roWorld.inverse();
       fcl::Vec3f z_axis(0, 0, 1);
       fcl::Matrix3f rotationLocal = tools::GetRotationMatrix(z_axis, limb->normal_);
       if (limb->contactType_ == _3_DOF) {