Fix cobots exception on empty target list

visose · Dec 12, 2022 · fa9b238 · fa9b238
1 parent 7df5277
commit fa9b238
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/Robots/RobotSystems/CobotSystem.cs b/src/Robots/RobotSystems/CobotSystem.cs
@@ -39,6 +39,9 @@ internal override IList<Joint> GetJoints(int group)
 
     public override List<KinematicSolution> Kinematics(IEnumerable<Target> targets, IEnumerable<double[]?>? prevJoints = null)
     {
+        if (!targets.Any())
+            return new(0);
+
         var target = targets.First();
         var prevJoint = prevJoints?.First();
         string? error = null;