Fix dimension of A and b matrices in TSID's CoMTask (#727)

ami-iit · Sep 22, 2023 · 367c1e6 · 367c1e6
1 parent 6723222
commit 367c1e6
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,7 +4,7 @@ All notable changes to this project are documented in this file.
 ## [Unreleased]
 
 ### Added
-- Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724)
+- Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724, https://github.com/ami-iit/bipedal-locomotion-framework/pull/727)
 
 ## [0.15.0] - 2023-09-05
 ### Added

diff --git a/src/TSID/src/CoMTask.cpp b/src/TSID/src/CoMTask.cpp
@@ -58,9 +58,9 @@ bool CoMTask::setVariablesHandler(const System::VariablesHandler& variablesHandl
     }
 
     // resize the matrices
-    m_A.resize(m_linearVelocitySize, variablesHandler.getNumberOfVariables());
+    m_A.resize(m_DoFs, variablesHandler.getNumberOfVariables());
     m_A.setZero();
-    m_b.resize(m_linearVelocitySize);
+    m_b.resize(m_DoFs);
     m_b.setZero();
     m_jacobian.resize(m_linearVelocitySize, m_robotAccelerationVariable.size);