Commit 4f94c70a authored by stevet's avatar stevet
Browse files

clarified documentation on CWW

parent 901c09f7
......@@ -297,7 +297,9 @@ public:
/**
* @brief Retrieve the inequalities that define the admissible wrenchs
* for the current contact set.
* for the current contact set. WARNING. The H and h matrices are defined
* in such a way that H w >= h is verified if w is an admissible wrench. This is different
* from the ICRA 15 paper from Del Prete et al., where the negative matrices are used.
* @param H reference to the H matrix to initialize
* @param h reference to the h vector to initialize
* @return The status of the inequalities. If the inequalities are not defined
......
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