From c279d318ead46beb619dd8d5ec026231906a978a Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 30 Mar 2018 16:26:52 +0200
Subject: [PATCH] Add the constraints for t=0
---
src/utils.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/utils.cpp b/src/utils.cpp
index ad2a0d8..b6bb2b4 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -47,7 +47,7 @@ T_time computeDiscretizedTime(const VectorX& phaseTimings, const int pointsPerPh
T_time timeArray;
double t = 0;
double t_total = phaseTimings.sum();
-
+ timeArray.push_back(std::make_pair(0.,0));
for(int i = 0 ; i < phaseTimings.size() ; ++i)
{
double step = (double) phaseTimings[i] / pointsPerPhase;
--
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