Commit 3e1c9852 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

ContactSequence : correctly check time interval in haveForceTrajectories

parent 9e3474f8
......@@ -757,19 +757,19 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
return false;
}
if(phase.contactForces().at(eeName)->min() != phase.timeInitial()){
std::cout<<"No contact forces trajectory for effector "<<eeName<<" do not start at t_init for phase "<<i<<std::endl;
std::cout<<"Contact forces trajectory for effector "<<eeName<<" do not start at t_init for phase "<<i<<std::endl;
return false;
}
if(phase.contactForces().at(eeName)->max() != phase.timeInitial()){
std::cout<<"No contact forces trajectory for effector "<<eeName<<" do not end at t_final for phase "<<i<<std::endl;
if(phase.contactForces().at(eeName)->max() != phase.timeFinal()){
std::cout<<"Contact forces trajectory for effector "<<eeName<<" do not end at t_final for phase "<<i<<std::endl;
return false;
}
if(phase.contactNormalForces().at(eeName)->min() != phase.timeInitial()){
std::cout<<"No contact normal force trajectory for effector "<<eeName<<" do not start at t_init for phase "<<i<<std::endl;
std::cout<<"Contact normal force trajectory for effector "<<eeName<<" do not start at t_init for phase "<<i<<std::endl;
return false;
}
if(phase.contactNormalForces().at(eeName)->max() != phase.timeInitial()){
std::cout<<"No contact normal force trajectory for effector "<<eeName<<" do not end at t_final for phase "<<i<<std::endl;
if(phase.contactNormalForces().at(eeName)->max() != phase.timeFinal()){
std::cout<<"Contact normal force trajectory for effector "<<eeName<<" do not end at t_final for phase "<<i<<std::endl;
return false;
}
}
......
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