Merge pull request #1178 from ArthurH91/devel

Bug Fix : pair-collision.hxx, changing the method to check the pair_id with collisionPair.size()
loco-3d · Nov 8, 2023 · 73acfe6 · 73acfe6
2 parents bc450a3 + 117b730
commit 73acfe6
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/include/crocoddyl/multibody/residuals/pair-collision.hxx b/include/crocoddyl/multibody/residuals/pair-collision.hxx
@@ -26,7 +26,8 @@ ResidualModelPairCollisionTpl<Scalar>::ResidualModelPairCollisionTpl(
       geom_model_(geom_model),
       pair_id_(pair_id),
       joint_id_(joint_id) {
-  if (static_cast<pinocchio::FrameIndex>(geom_model->ngeoms) <= pair_id) {
+  if (static_cast<pinocchio::FrameIndex>(geom_model->collisionPairs.size()) <=
+      pair_id) {
     throw_pretty(
         "Invalid argument: "
         << "the pair index is wrong (it does not exist in the geometry model)");