Changeset 1135 for cpp/frams

Timestamp:

04/28/21 03:53:58 (4 years ago)

Author:

Maciej Komosinski

Message:

Validate joint length in Model: not just maximum but also minimum allowed

File:

• cpp/frams/model/model.cpp (modified) (1 diff)

cpp/frams/model/model.cpp

@@ -1008 +1008 @@
                                                         logPrintf("Model", "internalCheck", LOG_ERROR, "Joint #%d too long (its length %g exceeds allowed %g)%s", i, j->d(), getMaxJoint().d.x, nameForErrors().c_str());
                                                 }
+                                                else if (j->d() < getMinJoint().d.x)
+                                                {
+                                                        ret = 0;
+                                                        logPrintf("Model", "internalCheck", LOG_ERROR, "Joint #%d too short (its length %g is below allowed %g)%s", i, j->d(), getMinJoint().d.x, nameForErrors().c_str());
+                                                }
                                         }
                                 }