From fb5e6f8ea83a306c97cbd8f17f28899819f0e0a3 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Fri, 11 Mar 2016 16:17:23 +0100
Subject: [PATCH] deal with all possibility in a test
---
src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
index 90abbd21..c349c665 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
@@ -490,7 +490,7 @@ void OnLineFootTrajectoryGeneration::interpolate_feet_positions(
FinalRightFootTraj_deq[CurrentIndex+k].time = Time+k*m_SamplingPeriod;
}
}
- else if (CurrentSupport.Phase == DS || Time+QP_T_ > CurrentSupport.TimeLimit)
+ else if (CurrentSupport.Phase == DS || Time+QP_T_ >= CurrentSupport.TimeLimit)
{
for(int k = 1; k<=(int)(QP_T_/m_SamplingPeriod);k++)
{
--
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