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Pierre Fernbach
hpp-bezier-com-traj
Commits
a40310b1
Commit
a40310b1
authored
5 years ago
by
Pierre Fernbach
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Revert "[C++] fix compilation warning" Cause error in Debug mode
This reverts commit
29a65e41
.
parent
29a65e41
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Pipeline
#7994
passed with warnings
5 years ago
Stage: test
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src/computeCOMTraj.cpp
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src/computeCOMTraj.cpp
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src/computeCOMTraj.cpp
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a40310b1
...
@@ -109,7 +109,7 @@ long int computeNumIneq(const ProblemData& pData, const VectorX& Ts, const std::
...
@@ -109,7 +109,7 @@ long int computeNumIneq(const ProblemData& pData, const VectorX& Ts, const std::
void
updateH
(
const
ProblemData
&
pData
,
const
ContactData
&
phase
,
MatrixXX
&
mH
,
VectorX
&
h
,
int
&
dimH
)
{
void
updateH
(
const
ProblemData
&
pData
,
const
ContactData
&
phase
,
MatrixXX
&
mH
,
VectorX
&
h
,
int
&
dimH
)
{
VectorX
hrow
;
VectorX
hrow
;
centroidal_dynamics
::
MatrixXX
Hrow
;
centroidal_dynamics
::
MatrixXX
Hrow
;
phase
.
contactPhase_
->
getPolytopeInequalities
(
Hrow
,
hrow
);
centroidal_dynamics
::
LP_status
status
=
phase
.
contactPhase_
->
getPolytopeInequalities
(
Hrow
,
hrow
);
assert
(
status
==
centroidal_dynamics
::
LP_STATUS_OPTIMAL
&&
assert
(
status
==
centroidal_dynamics
::
LP_STATUS_OPTIMAL
&&
"Error in centroidal dynamics lib while computing inequalities"
);
"Error in centroidal dynamics lib while computing inequalities"
);
mH
=
-
Hrow
*
phase
.
contactPhase_
->
m_mass
;
mH
=
-
Hrow
*
phase
.
contactPhase_
->
m_mass
;
...
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