Fix hasConfigurationLimitInTangent for mimic joints

JafarAbdi · jorisv · commit c6e7d809bb41 · 2025-06-30T14:53:30.000+02:00
diff --git a/include/pinocchio/multibody/joint/joint-mimic.hpp b/include/pinocchio/multibody/joint/joint-mimic.hpp
@@ -686,7 +686,7 @@ namespace pinocchio
 
     const std::vector<bool> hasConfigurationLimitInTangent() const
     {
-      return m_jmodel_mimicking.hasConfigurationLimitInTangent();
+      return {};
     }
 
     template<typename ConfigVector>
diff --git a/unittest/model.cpp b/unittest/model.cpp
@@ -1071,6 +1071,7 @@ BOOST_AUTO_TEST_CASE(test_has_configuration_limit_mimic)
   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()

Original file line number	Diff line number	Diff line change
`@@ -686,7 +686,7 @@ namespace pinocchio`
`686`	`686`
`687`	`687`	`const std::vector<bool> hasConfigurationLimitInTangent() const`
`688`	`688`	`{`
`689`		`- return m_jmodel_mimicking.hasConfigurationLimitInTangent();`
	`689`	`+ return {};`
`690`	`690`	`}`
`691`	`691`
`692`	`692`	`template<typename ConfigVector>`
Original file line number	Diff line number	Diff line change
`@@ -1071,6 +1071,7 @@ BOOST_AUTO_TEST_CASE(test_has_configuration_limit_mimic)`
`1071`	`1071`	`BOOST_CHECK_EQUAL(model.lowerPositionLimit.size(), 2);`
`1072`	`1072`	`BOOST_CHECK_EQUAL(model.upperPositionLimit.size(), 2);`
`1073`	`1073`	`BOOST_CHECK_EQUAL(model.hasConfigurationLimit().size(), 2);`
	`1074`	`+ BOOST_CHECK_EQUAL(model.hasConfigurationLimitInTangent().size(), 2);`
`1074`	`1075`	`}`
`1075`	`1076`
`1076`	`1077`	`BOOST_AUTO_TEST_SUITE_END()`