From 2e7f062dc737aa8c0c1d7f3e17765f5eeba68bb1 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Fri, 16 May 2014 18:00:58 +0200
Subject: [PATCH] call to the function that compute the articular trajectory
for control
---
src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 332b9ac6..ad778469 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -581,10 +581,12 @@ ZMPVelocityReferencedQP::OnLine(double time,
// INTERPOLATION
ControlInterpolation( FinalCOMTraj_deq, FinalZMPTraj_deq, FinalLeftFootTraj_deq,
FinalRightFootTraj_deq, time) ;
- DynamicFilterInterpolation( time) ;
+
+ ComputeTrajArtControl( FinalCOMTraj_deq, FinalLeftFootTraj_deq, FinalRightFootTraj_deq) ;
// DYNAMIC FILTER
// --------------
+ DynamicFilterInterpolation( time) ;
DynamicFilter( time, FinalCOMTraj_deq );
--
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