Seem input parameter wrong with [insertModeSequenceTemplate finalTime in GaitReceiver::preSolverRun function]

leggedrobotics / ocs2

Optimal Control for Switched Systems

https://leggedrobotics.github.io/ocs2

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Seem input parameter wrong with [insertModeSequenceTemplate finalTime in GaitReceiver::preSolverRun function] #104

Open liyingzhi opened 4 months ago

liyingzhi commented 4 months ago

This line: https://github.com/leggedrobotics/ocs2/blob/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_legged_robot_ros/src/gait/GaitReceiver.cpp#L56

I think the third parameter of gaitSchedulePtr_->insertModeSequenceTemplate() shold be (finalTime + timeHorizon) instead of (timeHorizon)? Is it right?