From e9b34c5112bbe075cbac5f37eabe96d11b6dd1ba Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 14:57:20 +0100
Subject: [PATCH] [bugfix] Wrong definition of nu,nq and nv
---
crocoddyl/floating_contact.py | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/crocoddyl/floating_contact.py b/crocoddyl/floating_contact.py
index 4cbf4120..43ce0edc 100644
--- a/crocoddyl/floating_contact.py
+++ b/crocoddyl/floating_contact.py
@@ -107,9 +107,11 @@ class DifferentialActionModelFloatingInContact(DifferentialActionModelAbstract):
return data.xout,data.cost
def quasiStatic(self,data,x):
- nu,nq,nv = self.nx,self.nu,self.nq,self.nv
- if len(x)==nq: x = np.concatenate([x,np.zero(nv)])
- else: x[nq:] = 0
+ nu,nq,nv = self.nu,self.nq,self.nv
+ if len(x)==nq:
+ x = np.concatenate([x,np.zero(nv)])
+ else:
+ x[nq:] = 0
self.calcDiff(data,x,np.zeros(nu))
return np.dot(
np.linalg.pinv(np.hstack([data.actuation.Au,data.contact.J.T])),
--
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