fix reachability - Githubissues

humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."

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Closed pFernbach closed 4 years ago

pFernbach commented 4 years ago

Correctly forward the 'acc' argument of isReachable to all the methods required
computeStabilityConstraints 'acc' argument is not optional anymore
computeContactConeForState increase num_cdd_try from 100 to 1000 ~~stability.cc::setupLibrary if cdd fails, introduce a small perturbation in the normal values~~

pFernbach commented 4 years ago

Agree, I reverted this changes. I will take a look at how to add them in hpp-centroidal-dynamics.