A valid link always has a parent joint.

sjahr · Aug 12, 2024 · 7a6b3e9 · 7a6b3e9
1 parent c2a3f52
commit 7a6b3e9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -1371,7 +1371,7 @@ const LinkModel* RobotModel::getRigidlyConnectedParentLinkModel(const LinkModel*
   const moveit::core::LinkModel* parent_link = link->getParentLinkModel();
   const moveit::core::JointModel* joint = link->getParentJointModel();
 
-  while (parent_link && joint && joint->getType() == moveit::core::JointModel::FIXED)
+  while (parent_link && joint->getType() == moveit::core::JointModel::FIXED)
   {
     link = parent_link;
     joint = link->getParentJointModel();