Fix problems for compiling.

CMakeLists.txt

@@ -20,6 +20,7 @@ INCLUDE(cmake/boost.cmake)
 INCLUDE(cmake/lapack.cmake)
 INCLUDE(cmake/cpack.cmake)
 
+
 SET(PROJECT_NAME sot-hrp2)
 SET(PROJECT_DESCRIPTION "dynamic-graph package for HRP-2 robot")
 SET(PROJECT_URL "http://github.com/laas/sot-hrp2")

src/sot-hrp2-controller.cpp

@@ -170,7 +170,7 @@ void SoTHRP2Controller::getControl(map<string,dgsot::ControlValues> &controlOut)
     baseff[i*4+3] = freeFlyerPose () (i, 3);
   for(unsigned i = 0;i < 3; ++i)
     for(unsigned j = 0; j < 3; ++j)
-      baseff[i * 3 + j] = freeFlyerPose () (i, j);
+      baseff[i * 4 + j] = freeFlyerPose () (i, j);
 
   controlOut["baseff"].setValues(baseff);