From 648735ca29bf358c7413e82d03c6b7af85d6a413 Mon Sep 17 00:00:00 2001 From: Ed Schmerling Date: Tue, 5 Apr 2016 15:37:18 -0700 Subject: [PATCH] Initialize tf in TranslationMotion --- include/fcl/ccd/motion.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/include/fcl/ccd/motion.h b/include/fcl/ccd/motion.h index b640d6cff..bc24e6f21 100644 --- a/include/fcl/ccd/motion.h +++ b/include/fcl/ccd/motion.h @@ -55,7 +55,8 @@ class TranslationMotion : public MotionBase const Transform3f& tf2) : MotionBase(), rot(tf1.getQuatRotation()), trans_start(tf1.getTranslation()), - trans_range(tf2.getTranslation() - tf1.getTranslation()) + trans_range(tf2.getTranslation() - tf1.getTranslation()), + tf(tf1) { } @@ -64,6 +65,7 @@ class TranslationMotion : public MotionBase rot.fromRotation(R); trans_start = T1; trans_range = T2 - T1; + tf = Transform3f(rot, trans_start); } bool integrate(FCL_REAL dt) const