Devel fix bug disable torso

robotology / react-control

Framework for reaching with whole-body obstacle avoidance.

GNU General Public License v2.0

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Devel fix bug disable torso #24

Closed towardthesea closed 5 years ago

towardthesea commented 5 years ago

Hi, This PR aims to solve this bug when disable the torso. The idea is setting the velocity of torso joints as 0.0 when disable the torso, rather than using blockLink. The old way causes changes in the size of the IpOpt vector, and thus is the reason of segmentation fault thrown by IpOpt.

Cheers, Phuong