Merge pull request #2715 from JafarAbdi/fix_has_configuration_limit_mimic

Fix hasConfigurationLimit() for mimic joints to return empty vector

Author: jorisv

CHANGELOG.md

@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Check row dimensions of input Jacobians when computing kinematics Jacobian ([#2684](https://github.com/stack-of-tasks/pinocchio/pull/2684))
 - Fix case joint_id == 0 in getJointKinematicHessian ([#2705](https://github.com/stack-of-tasks/pinocchio/pull/2705))
 - Fix nvSubtree computation in case a mimic joint is the last joint in the branch ([#2707](https://github.com/stack-of-tasks/pinocchio/pull/2707))
+- Fix `JointModelMimic::hasConfigurationLimit()` to return empty vector instead of delegating to mimicking joint ([#2715](https://github.com/stack-of-tasks/pinocchio/pull/2715))
 
 ### Changed
 - Disable coal/hpp-fcl warnings when building Pinocchio ([#2686](https://github.com/stack-of-tasks/pinocchio/pull/2686))

include/pinocchio/multibody/joint/joint-mimic.hpp

@@ -681,12 +681,12 @@ namespace pinocchio
 
     const std::vector<bool> hasConfigurationLimit() const
     {
-      return m_jmodel_mimicking.hasConfigurationLimit();
+      return {};
     }
 
     const std::vector<bool> hasConfigurationLimitInTangent() const
     {
-      return m_jmodel_mimicking.hasConfigurationLimitInTangent();
+      return {};
     }
 
     template<typename ConfigVector>

unittest/model.cpp

@@ -1057,4 +1057,21 @@ BOOST_AUTO_TEST_CASE(test_mimicked_mimicking_vectors)
   }
 }
 
+BOOST_AUTO_TEST_CASE(test_has_configuration_limit_mimic)
+{
+  Model model;
+  // j1 -- j2
+  //    -- j3
+  // with j3 mimicking j2
+  model.addJoint(0, JointModelRX(), SE3::Identity(), "j1");
+  model.addJoint(1, JointModelRX(), SE3::Identity(), "j2");
+  model.addJoint(
+    2, JointModelMimic(JointModelRX(), model.joints[1], 1., 0.), SE3::Identity(), "j3");
+
+  BOOST_CHECK_EQUAL(model.lowerPositionLimit.size(), 2);
+  BOOST_CHECK_EQUAL(model.upperPositionLimit.size(), 2);
+  BOOST_CHECK_EQUAL(model.hasConfigurationLimit().size(), 2);
+  BOOST_CHECK_EQUAL(model.hasConfigurationLimitInTangent().size(), 2);
+}
+
 BOOST_AUTO_TEST_SUITE_END()