Merge pull request #75 from orsoromeo/fix-stance-duration

awinkler · web-flow · commit e125b358ed53 · 2020-06-17T08:25:51.000-07:00
[TotalDurationConstraint::GetBounds] change variable type definition
diff --git a/towr/src/total_duration_constraint.cc b/towr/src/total_duration_constraint.cc
@@ -59,7 +59,7 @@ TotalDurationConstraint::GetBounds () const
 {
   // TODO hacky and should be fixed
   // since last phase is not optimized over these hardcoded numbers go here
-  int min_duration_last_phase = 0.2;
+  double min_duration_last_phase = 0.2;
   return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));
 }
 

Original file line number	Diff line number	Diff line change
`@@ -59,7 +59,7 @@ TotalDurationConstraint::GetBounds () const`
`59`	`59`	`{`
`60`	`60`	`// TODO hacky and should be fixed`
`61`	`61`	`// since last phase is not optimized over these hardcoded numbers go here`
`62`		`- int min_duration_last_phase = 0.2;`
	`62`	`+ double min_duration_last_phase = 0.2;`
`63`	`63`	`return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));`
`64`	`64`	`}`
`65`	`65`