Update initTorqueBalancingYoga.m

dbdxnuliba · Feb 8, 2019 · 8ad42ac · 8ad42ac
1 parent 6241510
commit 8ad42ac
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/torque-controllers/momentum-based-yoga/initTorqueBalancingYoga.m b/torque-controllers/momentum-based-yoga/initTorqueBalancingYoga.m
@@ -48,7 +48,7 @@
 %                center-of-mass trajectory. The associated configuration 
 %                parameters can be found under the folder:
 %
-%                app/robots/YARP_ROBOT_NAME/initRefGen.m
+%                app/robots/YARP_ROBOT_NAME/initCoordinator.m
 % 
 SM_TYPE                       = 'YOGA';
 
@@ -102,4 +102,4 @@
 end
 
 % Compute contact constraints (friction cone, unilateral constraints)
-[ConstraintsMatrix,bVectorConstraints] = constraints(forceFrictionCoefficient,numberOfPoints,torsionalFrictionCoefficient,feet_size,fZmin);
+[ConstraintsMatrix,bVectorConstraints] = constraints(forceFrictionCoefficient,numberOfPoints,torsionalFrictionCoefficient,feet_size,fZmin);