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leggedrobotics / free_gait

An Architecture for the Versatile Control of Legged Robots
BSD 3-Clause "New" or "Revised" License
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[PoseOptimizationQP] Extending inequality Jacobian to Z dimension. #56

Closed FGiraldez closed 6 years ago

FGiraldez commented 6 years ago

Fixes the failed assertion in numopt when optimizing for base position, due to the Jacobian having different columns than the Hessian.

pfankhauser commented 6 years ago

Gracias!