[inverse-kinematics] Re-initialize the problem if addCenterOfMassCons…

…traint is called again
robotology · Sep 7, 2018 · ed9684b · ed9684b
1 parent 99567f1
commit ed9684b
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/inverse-kinematics/src/InverseKinematics.cpp b/src/inverse-kinematics/src/InverseKinematics.cpp
@@ -375,6 +375,9 @@ namespace iDynTree {
         IK_PIMPL(m_pimpl)->m_comHullConstraint_yAxisOfPlaneInWorld = yAxisOfPlaneInWorld;
         IK_PIMPL(m_pimpl)->m_comHullConstraint_originOfPlaneInWorld = originOfPlaneInWorld;
 
+        // If this method is called again to reconfigure the constraint, the problem need to be reinitialized
+        IK_PIMPL(m_pimpl)->m_problemInitialized = false;
+
         return true;
     }