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fkanehiro / hrpsys-base

Basic RT components and utilities to control robots using OpenRTM
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[Stabilizer.cpp] fix segmentation fault in calcFootOriginCoords #1288

Open Naoki-Hiraoka opened 4 years ago

Naoki-Hiraoka commented 4 years ago

Stabilizer.cpp gets segmentation fault if endeffectors other than 1st or 2nd endeffector are assigned as legs.

example of such a case: https://github.com/start-jsk/rtmros_gazebo/blob/26a9dd2d4ba8ee74dcf53d8fa8a6ce1caf7a6923/hrpsys_gazebo_general/config/SampleRobot.conf#L6

This PR fixed this problem.