Merge pull request #42 from jmirabel/master

proyan · web-flow · commit a0067f67af87 · 2017-11-17T10:15:05.000+01:00
Fix Task::computeTaskExponentialDecrease when using derivative.
diff --git a/src/task/task.cpp b/src/task/task.cpp
@@ -265,7 +265,7 @@ computeTaskExponentialDecrease( VectorMultiBound& errorRef,int time )
     {
       const dynamicgraph::Vector & de = errorTimeDerivativeSOUT(time);
       for( unsigned int i=0;i<errorRef.size(); ++i )
-	errorRef[i] = errorRef[i].getSingleBound() - de(i);
+	errorRef[i] = errorRef[i].getSingleBound() + de(i);
     }
 
   sotDEBUG(15) << "# Out }" << endl;

Original file line number	Diff line number	Diff line change
`@@ -265,7 +265,7 @@ computeTaskExponentialDecrease( VectorMultiBound& errorRef,int time )`
`265`	`265`	`{`
`266`	`266`	`const dynamicgraph::Vector & de = errorTimeDerivativeSOUT(time);`
`267`	`267`	`for( unsigned int i=0;i<errorRef.size(); ++i )`
`268`		`- errorRef[i] = errorRef[i].getSingleBound() - de(i);`
	`268`	`+ errorRef[i] = errorRef[i].getSingleBound() + de(i);`
`269`	`269`	`}`
`270`	`270`
`271`	`271`	`sotDEBUG(15) << "# Out }" << endl;`