[major] Point out update of contact reference velocities

Thanks to @Saeed-Mansouri for pointing it out! See jrl-umi3218#37
stephane-caron · Jun 22, 2022 · 542597c · 542597c
1 parent 336424a
commit 542597c
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diff --git a/include/lipm_walking/FootstepPlan.h b/include/lipm_walking/FootstepPlan.h
@@ -105,6 +105,9 @@ struct FootstepPlan
    *
    * \param initHeight Height of first two contacts after transform.
    *
+   * \note This function does not, but should update contacts_[i].refVel as
+   * well. Thanks to @Saeed-Mansouri for pointing out this issue
+   * <https://github.com/jrl-umi3218/lipm_walking_controller/issues/37>.
    */
   void updateInitialTransform(const sva::PTransformd & X_0_lf, const sva::PTransformd & X_0_rf, double initHeight);
 

diff --git a/src/FootstepPlan.cpp b/src/FootstepPlan.cpp
@@ -172,6 +172,10 @@ void FootstepPlan::updateInitialTransform(const sva::PTransformd & X_0_lf,
                                           const sva::PTransformd & X_0_rf,
                                           double initHeight)
 {
+  // Note that this function does not, but should update contacts_[i].refVel as
+  // well. Thanks to @Saeed-Mansouri for pointing out this issue
+  // <https://github.com/jrl-umi3218/lipm_walking_controller/issues/37>.
+
   sva::PTransformd X_0_mid = sva::interpolate(X_0_lf, X_0_rf, 0.5);
   sva::PTransformd X_0_old = sva::interpolate(contacts_[0].pose, contacts_[1].pose, 0.5);
   sva::PTransformd X_delta = makeHorizontal(X_0_old.inv() * X_0_mid);