Commit 71d10d13 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

Fix bug in Contact6d::setRegularizationTaskWeightVector

parent d2d6618d
Pipeline #12422 passed with stage
in 13 minutes and 57 seconds
Subproject commit 32015cb28d977b592227675665d17d11531ef418
Subproject commit 000a90190d1dca8b028f437095f2fddff0f9839b
......@@ -138,7 +138,7 @@ typedef Eigen::Matrix<double,6,6> Matrix6;
Matrix6 A = Matrix6::Zero();
A.diagonal() = m_weightForceRegTask;
m_forceRegTask.setMatrix(A*m_forceGenMat);
m_forceRegTask.setVector(m_fRef);
m_forceRegTask.setVector(A*m_fRef);
}
void Contact6d:: updateForceGeneratorMatrix()
......
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