From f75852b460fb70d0ea68d79b6b4df85e6d61e98f Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Tue, 3 Aug 2021 10:30:25 +0200
Subject: [PATCH] Remove Todos

---
 src/QPWBC.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/QPWBC.cpp b/src/QPWBC.cpp
index ba9b0760..b2126d35 100644
--- a/src/QPWBC.cpp
+++ b/src/QPWBC.cpp
@@ -622,12 +622,6 @@ void WbcWrapper::compute(VectorN const& q, VectorN const& dq, MatrixN const& f_c
   invkin_->run_InvKin(q.tail(12), dq.tail(12), contacts, pgoals.transpose(), vgoals.transpose(), agoals.transpose());
   ddq_cmd_.tail(12) = invkin_->get_ddq_cmd();
 
-  // TODO: Adapt logging of feet_pos, feet_err, feet_vel
-
-  // TODO: Check if needed because crbaMinimal may allow to directly get the jacobian
-  // TODO: Check if possible to use the model of InvKin to avoid computations
-  // pinocchio::computeJointJacobians(model_, data_, q);
-
   // TODO: Check if we can save time by switching MatrixXd to defined sized vector since they are
   // not called from python anymore
 
-- 
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