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Commit fb5e6f8e authored by mnaveau's avatar mnaveau
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deal with all possibility in a test

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src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
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...@@ -490,7 +490,7 @@ void OnLineFootTrajectoryGeneration::interpolate_feet_positions( ...@@ -490,7 +490,7 @@ void OnLineFootTrajectoryGeneration::interpolate_feet_positions(
FinalRightFootTraj_deq[CurrentIndex+k].time = Time+k*m_SamplingPeriod; 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++) for(int k = 1; k<=(int)(QP_T_/m_SamplingPeriod);k++)
{ {
......
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