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avoid mapping memory and comparing joints with zero variables #519

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avoid mapping memory and comparing joints with zero variables #519

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3 changes: 3 additions & 0 deletions core/src/stages/connect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,9 @@ bool Connect::compatible(const InterfaceState& from_state, const InterfaceState&
continue; // ignore joints we plan for

const unsigned int num = jm->getVariableCount();
if (num == 0)
continue; // The joint model doesn't have any variables (e.g. fixed).

Eigen::Map<const Eigen::VectorXd> positions_from(from.getJointPositions(jm), num);
Eigen::Map<const Eigen::VectorXd> positions_to(to.getJointPositions(jm), num);
if (!(positions_from - positions_to).isZero(1e-4)) {
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