From c70d569f173f4b5a328aeff140af073b5a587efe Mon Sep 17 00:00:00 2001
From: Olivier Stasse <Olivier.stasse@aist.go.jp>
Date: Fri, 29 Oct 2010 19:10:03 +0900
Subject: [PATCH] Removed hard-coded values related to feet linear constraints.

Those values work for HRP-2, but prevented regression tests
with sample-humanoid-robot.
---
 src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
index 06fafbea..d158f29b 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
@@ -73,11 +73,11 @@ FootConstraintsAsLinearSystemForVelRef(SimplePluginManager *aSPM,
 
 
   //TODO: Scilab feet
-  lLeftFootHalfHeight = 0.069-0.059;
+  /*  lLeftFootHalfHeight = 0.069-0.059;
   lRightFootHalfHeight = 0.069-0.059;
 
   lLeftFootHalfWidth = 0.1206-0.1006;
-  lRightFootHalfWidth = 0.1206-0.1006;
+  lRightFootHalfWidth = 0.1206-0.1006; */
 
   DSFeetDistance = 0.2;
   lLeftFootHalfHeightDS = lLeftFootHalfHeight+DSFeetDistance/2.0;
-- 
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