From f3089a12bbef36ea2bf175302e1a6a51f351535c Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 8 Oct 2021 18:16:13 +0200
Subject: [PATCH] Add a todo
---
src/QPWBC.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/QPWBC.cpp b/src/QPWBC.cpp
index 0999029a..1ba10cc8 100644
--- a/src/QPWBC.cpp
+++ b/src/QPWBC.cpp
@@ -675,7 +675,7 @@ void WbcWrapper::compute(VectorN const &q, VectorN const &dq, VectorN const &f_c
// TODO: Check if we can save time by switching MatrixXd to defined sized vector since they are
// not called from python anymore
- // Retrieve feet jacobian
+ // Retrieve feet jacobian // TODO: Retrieve it in one go to avoid having Jc_ and Jc_u_
for (int i = 0; i < 4; i++) {
if (contacts(0, i)) {
Jc_.block(3 * i, 0, 3, 6) = invkin_->get_Jf().block(3 * i, 0, 3, 6);
--
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