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humanoid-path-planner / hpp-constraints

Definition of basic geometric constraints for motion planning
BSD 2-Clause "Simplified" License
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[HierarchicalIterative] Fix staturation::Bounds computation. #182

Closed florent-lamiraux closed 1 year ago

florent-lamiraux commented 1 year ago

saturation vector is of same size as velocity. Therefore, we need to use a mapping from configuration indices to velocity indices. A constructor taking such an object has been added. For backward compatibility, the default constructor builds a trivial mapping.

nim65s commented 1 year ago

@florent-lamiraux @jmirabel Sorry, I merged this by mistake. This looks good to me, but maybe another review would say otherwise.