Minor change

earlaud · earlaud · commit 0418e683ec58 · 2025-08-13T10:13:19.000+02:00
diff --git a/src/inverse-dynamics.cpp b/src/inverse-dynamics.cpp
@@ -141,7 +141,7 @@ void KinodynamicsID::setTarget(
   // Foot contacts
   for (std::size_t i = 0; i < model_handler_.getFeetNames().size(); i++)
   {
-    const std::string name = model_handler_.getFeetNames()[i];
+    const std::string & name{model_handler_.getFootName(i)};
     if (contact_state_target[i])
     {
       if (!active_tsid_contacts_[i])

Original file line number	Diff line number	Diff line change
`@@ -141,7 +141,7 @@ void KinodynamicsID::setTarget(`
`141`	`141`	`// Foot contacts`
`142`	`142`	`for (std::size_t i = 0; i < model_handler_.getFeetNames().size(); i++)`
`143`	`143`	`{`
`144`		`- const std::string name = model_handler_.getFeetNames()[i];`
	`144`	`+ const std::string & name{model_handler_.getFootName(i)};`
`145`	`145`	`if (contact_state_target[i])`
`146`	`146`	`{`
`147`	`147`	`if (!active_tsid_contacts_[i])`