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Unverified Commit bf8a08f0 authored by Fernbach Pierre's avatar Fernbach Pierre Committed by GitHub
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Merge pull request #5 from stonneau/devel 

clarified documentation on CWW
parents 901c09f7 4f94c70a
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include/hpp/centroidal-dynamics/centroidal_dynamics.hh
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...@@ -297,7 +297,9 @@ public: ...@@ -297,7 +297,9 @@ public:
/** /**
* @brief Retrieve the inequalities that define the admissible wrenchs * @brief Retrieve the inequalities that define the admissible wrenchs
* for the current contact set. * for the current contact set. WARNING. The H and h matrices are defined
* in such a way that H w >= h is verified if w is an admissible wrench. This is different
* from the ICRA 15 paper from Del Prete et al., where the negative matrices are used.
* @param H reference to the H matrix to initialize * @param H reference to the H matrix to initialize
* @param h reference to the h vector to initialize * @param h reference to the h vector to initialize
* @return The status of the inequalities. If the inequalities are not defined * @return The status of the inequalities. If the inequalities are not defined
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