COP double support constraint was wrong

because security margins was counted two times

COP double support constraint was wrong
acd8af80 · Jory Lafaye · 10c0def1 · acd8af80
Commit acd8af80 authored 13 years ago by Jory Lafaye
--- a/src/Mathematics/FootHalfSize.cpp
+++ b/src/Mathematics/FootHalfSize.cpp
@@ -71,7 +71,7 @@ void FootHalfSize::updateHalfHeightDS()
 {
  double DSFeetDistance = 0.2;
  
-  m_HalfHeightDS = m_HalfHeight-m_ConstraintsOnX+DSFeetDistance/2.0;
+  m_HalfHeightDS = m_HalfHeight+DSFeetDistance/2.0;
 }

 void FootHalfSize::setConstraints(double OnX, double OnY)