Merge pull request #121 from schmrlng/patch-1

Initialize tf in TranslationMotion
flexible-collision-library · Apr 10, 2016 · 45809e9 · 45809e9
2 parents 893630a + 648735c
commit 45809e9
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/include/fcl/ccd/motion.h b/include/fcl/ccd/motion.h
@@ -55,7 +55,8 @@ class TranslationMotion : public MotionBase
                     const Transform3f& tf2) : MotionBase(),
                                               rot(tf1.getQuatRotation()),
                                               trans_start(tf1.getTranslation()),
-                                              trans_range(tf2.getTranslation() - tf1.getTranslation())
+                                              trans_range(tf2.getTranslation() - tf1.getTranslation()),
+                                              tf(tf1)
   {
   }
 
@@ -64,6 +65,7 @@ class TranslationMotion : public MotionBase
     rot.fromRotation(R);
     trans_start = T1;
     trans_range = T2 - T1;
+    tf = Transform3f(rot, trans_start);
   }
 
   bool integrate(FCL_REAL dt) const