Commit c8600af6 authored by andreadelprete's avatar andreadelprete
Browse files

[task-se3-equality] Fix small bug in computaiton of acceleration (just used for debugging)

parent 3b58fe9a
......@@ -126,7 +126,7 @@ namespace tsid
Vector TaskSE3Equality::getAcceleration(ConstRefVector dv) const
{
return m_constraint.matrix()*dv - m_drift.toVector();
return m_constraint.matrix()*dv + m_drift.toVector();
}
const ConstraintBase & TaskSE3Equality::getConstraint() const
......
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