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loco-3d
sl1m
Commits
785f14d5
Commit
785f14d5
authored
Feb 11, 2020
by
daeun
Browse files
remove strong fix sparsity
parent
69444c90
Changes
1
Hide whitespace changes
Inline
Side-by-side
fix_sparsity.py
View file @
785f14d5
...
...
@@ -89,7 +89,7 @@ def solveL1(pb, surfaces, draw_scene = None, plot = True):
c
=
pl1
.
slackSelectionMatrix
(
pbComb
)
try
:
res
=
qp
.
quadprog_solve_qp
(
C
,
c
,
A
,
b
,
E
,
e
)
if
pl1
.
isSparsityFixed
_strong
(
pbComb
,
res
):
if
pl1
.
isSparsityFixed
(
pbComb
,
res
):
coms
,
footpos
,
allfeetpos
=
pl1
.
retrieve_points_from_res
(
pbComb
,
res
)
pb
=
pbComb
ok
=
True
...
...
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