Explicitly initialize InterpMotion<S>::reference_p and linear_vel

williamjenagility · williamjenagility · commit bb7e34016b2e · 2026-06-03T12:58:59.000-07:00
diff --git a/include/fcl/math/motion/interp_motion-inl.h b/include/fcl/math/motion/interp_motion-inl.h
@@ -56,8 +56,10 @@ InterpMotion<S>::InterpMotion()
   angular_vel = 0;
 
   // Default reference point is local zero point
+  reference_p = Vector3<S>::Zero();
 
   // Default linear velocity is zero
+  linear_vel = Vector3<S>::Zero();
 }
 
 //==============================================================================

Original file line number	Diff line number	Diff line change
`@@ -56,8 +56,10 @@ InterpMotion<S>::InterpMotion()`
`56`	`56`	`angular_vel = 0;`
`57`	`57`
`58`	`58`	`// Default reference point is local zero point`
	`59`	`+ reference_p = Vector3<S>::Zero();`
`59`	`60`
`60`	`61`	`// Default linear velocity is zero`
	`62`	`+ linear_vel = Vector3<S>::Zero();`
`61`	`63`	`}`
`62`	`64`
`63`	`65`	`//==============================================================================`