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InterpMotion: initialize reference_p to be zero. #510

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InterpMotion: initialize reference_p to be zero. #510

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6 changes: 4 additions & 2 deletions include/fcl/math/motion/interp_motion-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,8 @@ InterpMotion<S>::InterpMotion(
const Matrix3<S>& R2, const Vector3<S>& T2)
: MotionBase<S>(),
tf1(Transform3<S>::Identity()),
tf2(Transform3<S>::Identity())
tf2(Transform3<S>::Identity()),
reference_p(Vector3<S>::Zero())
{
tf1.linear() = R1;
tf1.translation() = T1;
Expand All @@ -85,7 +86,8 @@ InterpMotion<S>::InterpMotion(
template <typename S>
InterpMotion<S>::InterpMotion(
const Transform3<S>& tf1_, const Transform3<S>& tf2_)
: MotionBase<S>(), tf1(tf1_), tf2(tf2_), tf(tf1)
: MotionBase<S>(), tf1(tf1_), tf2(tf2_), tf(tf1),
reference_p(Vector3<S>::Zero())
{
// Compute the velocities for the motion
computeVelocity();
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