From d18df6aa16baf7cb845576932a5097017d04f97f Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Fri, 4 Jul 2014 00:16:10 +0200
Subject: [PATCH] Correct bug introduced in 846be4ab58282d87.

The symptoms only appear when walking and turning.
After a turn on the stop, the robot may start turning
in the other direction (even when asking for a straight walk).
---
 src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
index 951d55c0..44a7a8a3 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
@@ -43,7 +43,7 @@ OrientationsPreview::OrientationsPreview( CjrlHumanoidDynamicRobot *aHS)
 
   // left hip
   CjrlJoint * leftFoot  = aHS->leftFoot()->associatedAnkle();
-  CjrlJoint * leftHip   = aHS->jointsBetween(*waist, *leftFoot)[0];
+  CjrlJoint * leftHip   = aHS->jointsBetween(*waist, *leftFoot)[1];
 
   lLimitLeftHipYaw_  = leftHip->lowerBound(0);//-30.0/180.0*M_PI;
   uLimitLeftHipYaw_  = leftHip->upperBound(0);//45.0/180.0*M_PI;
@@ -55,7 +55,7 @@ OrientationsPreview::OrientationsPreview( CjrlHumanoidDynamicRobot *aHS)
 
   // right hip
   CjrlJoint * rightFoot = aHS->rightFoot()->associatedAnkle();
-  CjrlJoint * rightHip  = aHS->jointsBetween(*waist, *rightFoot)[0];
+  CjrlJoint * rightHip  = aHS->jointsBetween(*waist, *rightFoot)[1];
 
   lLimitRightHipYaw_ = rightHip->lowerBound(0);//-45.0/180.0*M_PI;
   uLimitRightHipYaw_ = rightHip->upperBound(0);//30.0/180.0*M_PI;
-- 
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