The constructor for TreeIkSolverPos_Online takes nr_of_jnts argument but it is a double. Looking at the source code, the argument is only used to construct the JntArray objects and that constructor takes an unsigned int...it seems to me the nr_of_jnts argument should also be an unsigned int. I can't see a use case for having non-integer number of joints. The argument is not used anywhere else but the constructor.
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TreeIkSolverPos_Online::TreeIkSolverPos_Online(const double& nr_of_jnts, |
I can do a PR if you like.
The constructor for
TreeIkSolverPos_Onlinetakesnr_of_jntsargument but it is adouble. Looking at the source code, the argument is only used to construct the JntArray objects and that constructor takes anunsigned int...it seems to me thenr_of_jntsargument should also be anunsigned int. I can't see a use case for having non-integer number of joints. The argument is not used anywhere else but the constructor.orocos_kinematics_dynamics/orocos_kdl/src/treeiksolverpos_online.cpp
Line 29 in 4f705fe
I can do a PR if you like.