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Commit a40310b1 authored by Pierre Fernbach's avatar 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
...@@ -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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