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Guilhem Saurel
tsid
Commits
71d10d13
Commit
71d10d13
authored
Nov 25, 2020
by
Andrea Del Prete
Browse files
Fix bug in Contact6d::setRegularizationTaskWeightVector
parent
d2d6618d
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2
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Subproject commit
32015cb28d977b592227675665d17d11531ef418
Subproject commit
000a90190d1dca8b028f437095f2fddff0f9839b
src/contacts/contact-6d.cpp
View file @
71d10d13
...
...
@@ -138,7 +138,7 @@ typedef Eigen::Matrix<double,6,6> Matrix6;
Matrix6
A
=
Matrix6
::
Zero
();
A
.
diagonal
()
=
m_weightForceRegTask
;
m_forceRegTask
.
setMatrix
(
A
*
m_forceGenMat
);
m_forceRegTask
.
setVector
(
m_fRef
);
m_forceRegTask
.
setVector
(
A
*
m_fRef
);
}
void
Contact6d
::
updateForceGeneratorMatrix
()
...
...
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