Commit f892b24e authored by NoelieRamuzat's avatar NoelieRamuzat Committed by Noëlie RAMUZAT
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[SimpleInvDyn] Cleaning scripts and add comments

parent 538741ba
......@@ -397,8 +397,6 @@ DEFINE_SIGNAL_OUT_FUNCTION(tau_des, dynamicgraph::Vector) {
const Vector6& dx_waist_ref = m_waist_ref_velSIN(iter);
const Vector6& ddx_waist_ref = m_waist_ref_accSIN(iter);
const VectorN& q_ref = m_posture_ref_posSIN(iter);
// std::cout << "q_ref.size() = " << q_ref.size() << std::endl;
// std::cout << "m_robot_util->m_nbJoints = " << static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints) << std::endl;
assert(q_ref.size() == static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints));
const VectorN& dq_ref = m_posture_ref_velSIN(iter);
assert(dq_ref.size() == static_cast<Eigen::VectorXd::Index>(m_robot_util->m_nbJoints));
......
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