From d511df45df5fb0120b3be79510003f245d91e841 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 23 Feb 2018 22:55:08 +0100
Subject: [PATCH] use acc constraint

---
 src/solve_transition.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/solve_transition.cpp b/src/solve_transition.cpp
index 8443b7f..2b923fb 100644
--- a/src/solve_transition.cpp
+++ b/src/solve_transition.cpp
@@ -13,11 +13,11 @@
 #define QHULL 0
 #endif
 #ifndef DDC0_CONSTRAINT
-#define DDC0_CONSTRAINT 0
+#define DDC0_CONSTRAINT 1
 #endif
 
 #ifndef DDC1_CONSTRAINT
-#define DDC1_CONSTRAINT 0
+#define DDC1_CONSTRAINT 1
 #endif
 
 #ifndef DC1_CONSTRAINT
@@ -28,13 +28,13 @@
 #endif
 
 #ifndef CONSTRAINT_ACC
-#define CONSTRAINT_ACC 0
+#define CONSTRAINT_ACC 1
 #endif
 
 
 
 #ifndef MAX_ACC
-#define MAX_ACC 3
+#define MAX_ACC 1
 #endif
 
 namespace bezier_com_traj
-- 
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