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Fix Lie-group differences in acceleration limit
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stephane-caron committed Jul 29, 2024
1 parent d10b4e1 commit a89a555
Showing 1 changed file with 3 additions and 3 deletions.
6 changes: 3 additions & 3 deletions pink/limits/acceleration_limit.py
Original file line number Diff line number Diff line change
Expand Up @@ -130,10 +130,10 @@ def compute_qp_inequalities(
return None

Delta_q_max = pin.difference(
self.model, self.model.upperPositionLimit, q
self.model, q, self.model.upperPositionLimit
)[self.indices]
Delta_q_min = pin.difference(
self.model, q, self.model.lowerPositionLimit
self.model, self.model.lowerPositionLimit, q
)[self.indices]
dt_sq = dt * dt
G = np.vstack([self.projection_matrix, -self.projection_matrix])
Expand All @@ -146,7 +146,7 @@ def compute_qp_inequalities(
np.minimum(
self.a_max * dt_sq - self.Delta_q_prev,
np.sqrt(2 * self.a_max * Delta_q_min),
)
),
]
)
return G, h

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