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ihmcrobotics / ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
https://robots.ihmc.us
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fixed shift fraction - bug #289

Closed LaughingCommit closed 2 months ago

LaughingCommit commented 2 months ago

Checked the math in the CombineTwoShifts function, made tests to see if all values will pass the function.

rjgriffin42 commented 2 months ago

This is good work, but I think there's just a few more things that need to be done. SHould be pretty quick.