From 50e40834a338c327da112ce7ffc3c51b353e7309 Mon Sep 17 00:00:00 2001
From: t steve <pro@stevetonneau.fr>
Date: Mon, 27 Nov 2017 16:20:37 +0100
Subject: [PATCH] fixing annoying srand reset from cddlib
---
src/centroidal_dynamics.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/centroidal_dynamics.cpp b/src/centroidal_dynamics.cpp
index 57c7f9c..f6cfa64 100644
--- a/src/centroidal_dynamics.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -172,6 +172,8 @@ bool Equilibrium::setNewContacts(const MatrixX3& contactPoints, const MatrixX3&
computeGenerators(contactPoints,contactNormals,frictionCoefficient,true);
attempts--;
}
+ // resetting random because obviously libcdd always resets to 0
+ srand(time(NULL));
if(!m_is_cdd_stable)
{
return false;
--
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