Commit 6da88137 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[C++] fix mistakes in outputs messages in CS::have COM trajectory

parent e826878a
...@@ -440,7 +440,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp ...@@ -440,7 +440,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
} }
if(phase.m_ddc_init.isZero()){ if(phase.m_ddc_init.isZero()){
if(!(*phase.m_ddc)(phase.m_ddc->min()).isZero() ){ if(!(*phase.m_ddc)(phase.m_ddc->min()).isZero() ){
std::cout<<"CoM velocity trajectory do not start at ddc_init for phase : "<<i<<std::endl; std::cout<<"CoM acceleration trajectory do not start at ddc_init for phase : "<<i<<std::endl;
return false; return false;
} }
} }
...@@ -464,12 +464,12 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp ...@@ -464,12 +464,12 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
} }
if(phase.m_ddc_final.isZero()){ if(phase.m_ddc_final.isZero()){
if(!(*phase.m_ddc)(phase.m_ddc->max()).isZero() ){ if(!(*phase.m_ddc)(phase.m_ddc->max()).isZero() ){
std::cout<<"CoM velocity trajectory do not end at ddc_final for phase : "<<i<<std::endl; std::cout<<"CoM acceleration trajectory do not end at ddc_final for phase : "<<i<<std::endl;
return false; return false;
} }
} }
else if(!(*phase.m_ddc)(phase.m_ddc->max()).isApprox(phase.m_ddc_final) ){ else if(!(*phase.m_ddc)(phase.m_ddc->max()).isApprox(phase.m_ddc_final) ){
std::cout<<"CoM velocity trajectory do not end at ddc_final for phase : "<<i<<std::endl; std::cout<<"CoM acceleration trajectory do not end at ddc_final for phase : "<<i<<std::endl;
return false; return false;
} }
++i; ++i;
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment