From b713903860deb40626323c6d0d0be12146fdee7a Mon Sep 17 00:00:00 2001
From: Pierre Gergondet <pierre.gergondet@gmail.com>
Date: Thu, 15 Jul 2021 18:38:47 +0800
Subject: [PATCH] Release v1.4.1

Fix a bug in tasks::qp::PostureTask

refVel/refAccel was ignored when joint stiffness was provided
---
 CMakeLists.txt   | 2 +-
 conanfile.py     | 2 +-
 debian/changelog | 6 ++++++
 src/QPTasks.cpp  | 4 +++-
 4 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cebf042c..e65de672 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ set(PROJECT_NAME Tasks)
 set(PROJECT_DESCRIPTION "...")
 set(PROJECT_URL "https://github.com/jrl-umi3218/Tasks")
 set(PROJECT_DEBUG_POSTFIX "_d")
-set(PROJECT_VERSION 1.4.0)
+set(PROJECT_VERSION 1.4.1)
 set(PROJECT_USE_CMAKE_EXPORT TRUE)
 
 # Disable -Werror on Unix for now.
diff --git a/conanfile.py b/conanfile.py
index 387bc040..dfb08c7d 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -10,7 +10,7 @@
 
 class TasksConan(base.Eigen3ToPythonConan):
     name = "Tasks"
-    version = "1.4.0"
+    version = "1.4.1"
     description = "Real time control of robots using constrained optimization"
     topics = ("robotics", "control", "optimization", "python")
     url = "https://github.com/jrl-umi3218/Tasks"
diff --git a/debian/changelog b/debian/changelog
index 9ff9e190..e0e0f57c 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,9 @@
+tasks (1.4.1-1debian1) unstable; urgency=medium
+
+  * Update upstream version
+
+ -- Pierre Gergondet <pierre.gergondet+ppa@gmail.com>  Thu, 15 Jul 2021 18:38:27 +0800
+
 tasks (1.4.0-1debian1) unstable; urgency=medium
 
   * Update upstream version
diff --git a/src/QPTasks.cpp b/src/QPTasks.cpp
index d1777c46..86d60c34 100644
--- a/src/QPTasks.cpp
+++ b/src/QPTasks.cpp
@@ -821,7 +821,9 @@ void PostureTask::update(const std::vector<rbd::MultiBody> & mbs,
   for(const JointData & pjd : jointDatas_)
   {
     C_.segment(pjd.start, pjd.size) =
-        -pjd.stiffness * pt_.eval().segment(pjd.start, pjd.size) + pjd.damping * alphaVec_.segment(pjd.start, pjd.size);
+        -pjd.stiffness * pt_.eval().segment(pjd.start, pjd.size)
+        + pjd.damping * (alphaVec_.segment(pjd.start, pjd.size) - refVel_.segment(pjd.start, pjd.size))
+        - refAccel_.segment(pjd.start, pjd.size);
   }
 }