From 3616bda7e5f2f5cb1c05e087b88f2c244cdd0050 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 27 Aug 2021 11:00:11 +0200
Subject: [PATCH] Return to default tolerances for the QP in the whole body
control
---
src/QPWBC.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/QPWBC.cpp b/src/QPWBC.cpp
index b7dc6a4b..74ced7c0 100644
--- a/src/QPWBC.cpp
+++ b/src/QPWBC.cpp
@@ -195,8 +195,8 @@ int QPWBC::call_solver() {
// settings->rho = 0.1f;
// settings->sigma = 1e-6f;
// settings->max_iter = 4000;
- settings->eps_abs = (float)1e-5;
- settings->eps_rel = (float)1e-5;
+ // settings->eps_abs = (float)1e-5;
+ // settings->eps_rel = (float)1e-5;
/*settings->eps_prim_inf = 1e-4f;
settings->eps_dual_inf = 1e-4f;
settings->alpha = 1.6f;
--
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