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Commit e7b83817 authored by Médéric Fourmy's avatar Médéric Fourmy
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hotfix: wrong O sb size in statePlusDelta

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2 merge requests!18Release after RAL,!17After 2nd RAL submission
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src/processor/processor_force_torque_preint.cpp
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...@@ -206,7 +206,7 @@ void ProcessorForceTorquePreint::statePlusDelta(const VectorComposite& _x, ...@@ -206,7 +206,7 @@ void ProcessorForceTorquePreint::statePlusDelta(const VectorComposite& _x,
VectorXd x_plus_delta = bodydynamics::composeOverState(x, _delta, _dt); VectorXd x_plus_delta = bodydynamics::composeOverState(x, _delta, _dt);
_x_plus_delta = VectorComposite(x_plus_delta, "CDLO", {3,3,3,3}); _x_plus_delta = VectorComposite(x_plus_delta, "CDLO", {3,3,3,4});
} }
void ProcessorForceTorquePreint::deltaPlusDelta(const Eigen::VectorXd& _delta_preint, void ProcessorForceTorquePreint::deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
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