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Create rbdl freeflyer joint properly.

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1 parent 69c9ba0 commit 568ae94d240964acb667d81408de30e75d56a125 Antonio El Khoury committed Oct 12, 2012
Showing with 7 additions and 1 deletion.
  1. +7 −1 src/joint.cc
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8 src/joint.cc
@@ -94,7 +94,13 @@ namespace ard
}
case JOINT_TYPE_FREEFLYER:
{
- throw std::runtime_error ("Freeflyer joints not handled yet.");
+ rbdlJoint_
+ = rbdlJoint_t (rbdlSpatialVector_t (0., 0., 0., 1., 0., 0.),
+ rbdlSpatialVector_t (0., 0., 0., 0., 1., 0.),
+ rbdlSpatialVector_t (0., 0., 0., 0., 0., 1.),
+ rbdlSpatialVector_t (0., 0., 1., 0., 0., 0.),
+ rbdlSpatialVector_t (0., 1., 0., 0., 0., 0.),
+ rbdlSpatialVector_t (1., 0., 0., 0., 0., 0.));
break;
}
default:

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