Commit 9e734eb8 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

fix another index

parent f1e1687d
Pipeline #20031 passed with stage
in 15 minutes and 59 seconds
......@@ -222,7 +222,7 @@ void IntegratedActionModelLPFTpl<Scalar>::calc(
const VectorXs& a = d->differential->xout;
d->dy.head(nv).noalias() =
v * time_step_ + a * time_step2_; // get dq(a_q, dt)
d->dy.segment(nq, nv).noalias() = a * time_step_; // get dv_q(a_q, dt)
d->dy.segment(nv, nv).noalias() = a * time_step_; // get dv_q(a_q, dt)
// Update dtau from LPF ids
#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
d->dy.tail(ntau_) = ((1 - alpha_) * (w - tau))(lpf_torque_ids_);
......
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