Replace PointToLocal with operator overload in mjCDef.

PiperOrigin-RevId: 609376948 Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
2024-02-22 08:11:46 -08:00
parent cf7bd77cd3
commit 0ae9ba37f9
5 changed files with 39 additions and 13 deletions
@@ -125,13 +125,6 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
      jnt.spec.joint->group = 3;
      defjoint[(mjtCompKind)i].push_back(jnt);
    }
-
-    // TODO: push_back might invoke a copy constructor, we undo its effect on pointers here
-    for (int i=0; i<mjNCOMPKINDS; i++) {
-      for (int j=0; j<defjoint[(mjtCompKind)i].size(); j++) {
-        defjoint[(mjtCompKind)i][j].PointToLocal();
-      }
-    }
  }
  return true;
 }