From 367c1e68a12cf2f42bdf3299e8a5632d748c1eeb Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 22 Sep 2023 17:43:41 +0200 Subject: [PATCH] Fix dimension of A and b matrices in TSID's CoMTask (#727) --- CHANGELOG.md | 2 +- src/TSID/src/CoMTask.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index e549a7aeb8..db2064d81b 100644 --- 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 index e2bce12392..69a4f1980a 100644 --- 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);