Commit 9f7717a2 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[C++] control trajectories are not constrained to end at the final time anymore

parent 9663d4c4
...@@ -655,7 +655,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp ...@@ -655,7 +655,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
std::cout<<"joint velocity trajectory do not end at t_final for phase : "<<i<<std::endl; std::cout<<"joint velocity trajectory do not end at t_final for phase : "<<i<<std::endl;
return false; return false;
} }
if(phase.m_ddq->max() != phase.timeFinal()){ if((phase.m_ddq->max() != phase.timeFinal()) && i < size()-1 ){ // not required for the last phase
std::cout<<"joint acceleration trajectory do not end at t_final for phase : "<<i<<std::endl; std::cout<<"joint acceleration trajectory do not end at t_final for phase : "<<i<<std::endl;
return false; return false;
} }
...@@ -692,7 +692,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp ...@@ -692,7 +692,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
std::cout<<"Torque trajectory do not start at t_init for phase : "<<i<<std::endl; std::cout<<"Torque trajectory do not start at t_init for phase : "<<i<<std::endl;
return false; return false;
} }
if(phase.m_tau->max() != phase.timeFinal()){ if((phase.m_tau->max() != phase.timeFinal()) && i < size()-1 ){
std::cout<<"Torque trajectory do not end at t_final for phase : "<<i<<std::endl; std::cout<<"Torque trajectory do not end at t_final for phase : "<<i<<std::endl;
return false; return false;
} }
......
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