From 4ec0d828c1d8f6a08a4e66b4e5deb1f389fe442c Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 1 Sep 2011 14:49:44 +0200
Subject: [PATCH] Corrected a bug in signal refresh.
---
src/solver-dyn-reduced.cpp | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/src/solver-dyn-reduced.cpp b/src/solver-dyn-reduced.cpp
index 230df1e..0523042 100644
--- a/src/solver-dyn-reduced.cpp
+++ b/src/solver-dyn-reduced.cpp
@@ -20,7 +20,10 @@
#ifdef VP_DEBUG
class solver_op_space__INIT
{
-public:solver_op_space__INIT( void ) { dynamicgraph::sot::DebugTrace::openFile("/tmp/dynred.txt"); }
+public:solver_op_space__INIT( void )
+ {
+ // dynamicgraph::sot::DebugTrace::openFile("/tmp/dynred.txt");
+ }
};
solver_op_space__INIT solver_op_space_initiator;
#endif //#ifdef VP_DEBUG
@@ -92,7 +95,7 @@ namespace dynamicgraph
,CONSTRUCT_SIGNAL_OUT(freeMotionBase,ml::Matrix,
JcSOUT << inertiaSqrootInvSIN)
,CONSTRUCT_SIGNAL_OUT(freeForceBase,ml::Matrix,
- forceGeneratorSOUT)
+ forceGeneratorSOUT << JcSOUT)
,CONSTRUCT_SIGNAL_OUT(driftContact,ml::Vector,
freeMotionBaseSOUT<<JcSOUT )
@@ -569,6 +572,9 @@ namespace dynamicgraph
int& SolverDynReduced::
precomputeSOUT_function( int& dummy, int t )
{
+ if( t==1000 )
+ dynamicgraph::sot::DebugTrace::openFile("/tmp/dynred1000.txt");
+
/* Precompute the dynamic data. */
inertiaSqrootInvSIN.recompute(t);
inertiaSqrootSIN.recompute(t);
--
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