From acd8af80eec443ba399e20f35f2a9f069e9a127e Mon Sep 17 00:00:00 2001
From: Jory Lafaye <jory.lafaye@inrialpes.fr>
Date: Fri, 14 Oct 2011 16:20:13 +0200
Subject: [PATCH] COP double support constraint was wrong because security
margins was counted two times
---
src/Mathematics/FootHalfSize.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/Mathematics/FootHalfSize.cpp b/src/Mathematics/FootHalfSize.cpp
index 5e19abd7..9212f4ea 100644
--- 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)
--
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