Merge pull request #75 from orsoromeo/fix-stance-duration

[TotalDurationConstraint::GetBounds] change variable type definition
ethz-adrl · Jun 17, 2020 · e125b35 · e125b35
2 parents b97571c + 82e768c
commit e125b35
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/towr/src/total_duration_constraint.cc b/towr/src/total_duration_constraint.cc
@@ -59,7 +59,7 @@ TotalDurationConstraint::GetBounds () const
 {
   // TODO hacky and should be fixed
   // since last phase is not optimized over these hardcoded numbers go here
-  int min_duration_last_phase = 0.2;
+  double min_duration_last_phase = 0.2;
   return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));
 }