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Fixed smartpointer as pointed out by Murilo. Now we are using perfect forwarding.

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This commit is contained in:
Juancho
2023-06-07 17:45:04 +09:00
parent 74877b3abd
commit fc478dd079
1 changed files with 2 additions and 2 deletions
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4
src/quadratic_program_motion_generator.cpp
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@@ -7,8 +7,8 @@ QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &s
const Eigen::VectorXd &q_goal) const Eigen::VectorXd &q_goal)
{ {
n_links_ = _get_dimensions(q_initial, q_dot_initial, q_goal); n_links_ = _get_dimensions(q_initial, q_dot_initial, q_goal);
solver_ = std::make_unique<DQ_QPOASESSolver>(DQ_QPOASESSolver()); solver_ = std::make_unique<DQ_QPOASESSolver>();
constraints_manager_ = std::make_unique<ConstraintsManager>(ConstraintsManager(n_links_)); constraints_manager_ = std::make_unique<ConstraintsManager>(n_links_);
_check_gains(); _check_gains();
q_ = q_initial; q_ = q_initial;
q_dot_ = q_dot_initial; q_dot_ = q_dot_initial;