Commit 59993dcb authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

[c++] Use model.gravity in task-capture-point-inequality instead of hard-coded value 9.81

parent 0edf7abf
......@@ -54,7 +54,7 @@ namespace tsid
b_lower.setZero(m_dim);
b_upper.setZero(m_dim);
m_g = 9.81;
m_g = robot.model().gravity.linear().norm();
m_w = 0;
m_ka = 0;
......
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