Fix Serialization

stack-of-tasks · Oct 7, 2024 · 332e4e1 · 332e4e1
1 parent d71b10d
commit 332e4e1
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/include/pinocchio/serialization/joints-model.hpp b/include/pinocchio/serialization/joints-model.hpp
@@ -108,7 +108,7 @@ namespace boost
       ar & make_nvp("i_v", i_v);
       ar & make_nvp("i_j", i_j);
 
-      SetJointIndexes<pinocchio::JointModelBase<Derived>>(joint.derived()).run(i_id, i_q, i_v, i_j);
+      SetJointIndexes<Derived>(joint.derived()).run(i_id, i_q, i_v, i_j);
     }
 
     template<class Archive, typename Scalar, int Options, int axis>

diff --git a/unittest/serialization.cpp b/unittest/serialization.cpp
@@ -408,6 +408,7 @@ struct init<pinocchio::JointModelMimicTpl<Scalar, Options, JointCollection>>
     JointModelRX jmodel_ref = init<JointModelRX>::run();
 
     JointModel jmodel(jmodel_ref, 1., 0.);
+    jmodel.setIndexes(0, 0, 0, 0);
 
     return jmodel;
   }