From beebfdfdcf4c868e7021f5e175c79a2dc3cd26d2 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Mon, 30 Apr 2018 15:35:18 +0200
Subject: [PATCH] set arbitrary high bounds of jerk for solve_end_effector
---
include/bezier-com-traj/solve_end_effector.hh | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/include/bezier-com-traj/solve_end_effector.hh b/include/bezier-com-traj/solve_end_effector.hh
index 38d2073..e33d9ef 100644
--- a/include/bezier-com-traj/solve_end_effector.hh
+++ b/include/bezier-com-traj/solve_end_effector.hh
@@ -690,9 +690,9 @@ ResultDataCOMTraj solveEndEffector(const ProblemData& pData,const Path& path, co
// stack the constraint for each waypoint :
MatrixXX A;
VectorX b;
- Vector3 jerk_bounds(5000,5000,5000);
- Vector3 acc_bounds(5000,5000,5000);
- Vector3 vel_bounds(5000,5000,5000);
+ Vector3 jerk_bounds(10000,10000,10000);
+ Vector3 acc_bounds(500,500,500);
+ Vector3 vel_bounds(500,500,500);
computeConstraintsMatrix(pData,wps_acc,wps_vel,acc_bounds,vel_bounds,A,b,wps_jerk,jerk_bounds);
// std::cout<<"End eff A = "<<std::endl<<A<<std::endl;
// std::cout<<"End eff b = "<<std::endl<<b<<std::endl;
--
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