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
}
if(phase.m_ddc_init.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;
}
}
......@@ -464,12 +464,12 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
}
if(phase.m_ddc_final.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;
}
}
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;
}
++i;
......
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