From cf93c32b34388a42e2e25879fc72c6ba2d36f781 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 11 Apr 2018 10:44:00 +0200
Subject: [PATCH] [end effector] fix really high jerk bound values for tests
---
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 14b7ad3..63ced82 100644
--- a/include/bezier-com-traj/solve_end_effector.hh
+++ b/include/bezier-com-traj/solve_end_effector.hh
@@ -682,9 +682,9 @@ ResultDataCOMTraj solveEndEffector(const ProblemData& pData,const Path& path, co
// stack the constraint for each waypoint :
MatrixXX A;
VectorX b;
- Vector3 jerk_bounds(500,500,500);
- Vector3 acc_bounds(30,30,30);
- Vector3 vel_bounds(20,20,20);
+ Vector3 jerk_bounds(1000,1000,1000);
+ Vector3 acc_bounds(100,100,100);
+ Vector3 vel_bounds(100,100,100);
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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