Commit 0be61d06 authored by Jean-Baptiste Mouret's avatar Jean-Baptiste Mouret
Browse files

some cleaning

parent d839f98d
Pipeline #11427 passed with stage
in 19 minutes and 26 seconds
......@@ -384,13 +384,11 @@ const HQPData & InverseDynamicsFormulationAccForce::computeProblemData(double ti
}
}
//for(it=m_taskContactForces.begin(); it!=m_taskContactForces.end(); it++)
for (auto& it : m_taskContactForces)
{
assert(false);
}
//for(it=m_taskActuations.begin(); it!=m_taskActuations.end(); it++)
for (auto& it : m_taskActuations)
{
const ConstraintBase & c = it->task.compute(time, q, v, m_data);
......@@ -482,8 +480,7 @@ bool InverseDynamicsFormulationAccForce::getContactForces(const std::string & na
RefVector f)
{
decodeSolution(sol);
//for(std::vector<ContactLevel*>::iterator it=m_contacts.begin(); it!=m_contacts.end(); it++)
for (auto &it : m_contacts)
for (auto &it : m_contacts)
{
if(it->contact.name()==name)
{
......@@ -604,7 +601,6 @@ bool InverseDynamicsFormulationAccForce::removeRigidContact(const std::string &
}
int k=0;
// for(std::vector<ContactLevel*>::iterator it=m_contacts.begin(); it!=m_contacts.end(); it++)
for (auto &it : m_contacts)
{
it->index = k;
......
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