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Make free_joint_state parsing more generalized #943

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Oct 6, 2023
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Make free_joint_state parsing more generalized #943

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6 changes: 3 additions & 3 deletions tesseract_kinematics/ikfast/include/tesseract_kinematics/ikfast/ikfast_factory_boilerplate.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,18 +70,18 @@ class IKFastInvKinFactory : public InvKinFactory
// Get the free joint states
if (YAML::Node free_joint_states_node = config["free_joint_states"])
{
for (auto it = free_joint_states_node.begin(); it != free_joint_states_node.end(); ++it)
for (std::size_t idx = 0; idx < free_joint_states_node.size(); ++idx)
{
// Check the joints specification
if (it->second.size() != free_joints_required)
if (free_joint_states_node[idx].size() != free_joints_required)
{
std::stringstream ss;
ss << "IKFastInvKinFactory, Number of active joints (" << active_joints.size()
<< ") must equal the sum of the number of nominal joints (" << n_joints
<< ") and the number of free joints (" << free_joint_states_map.size() << ")";
throw std::runtime_error(ss.str());
}
free_joint_states_map[it->first.as<std::size_t>()] = it->second.as<std::vector<double>>();
free_joint_states_map[idx] = free_joint_states_node[idx].as<std::vector<double>>();
}
}
else
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