2 Commits

Author	SHA1	Message	Date
Benoit Bolsee	2b889eea8d	Fix [#31430] part 2: crash in iTaSC when end effector is a fixed bone. This situation was causing access to invalid index in the joint angle array although the end effector doesn't need any joint angle to compute its pause. Fixed this by changing the internal API of joint array: return pointer instead of reference so that NULL pointer can be returned instead of crashing when the index is invalid.	2012-06-07 08:16:41 +00:00
Benoit Bolsee	1483fafd13	Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.	2009-09-24 21:22:24 +00:00