Comments (6)
You're right, that's a mistake! Probably nobody noticed before because typically the reference force is zero. It should be
m_forceRegTask.setVector(A*m_fRef);
Could you fix that? Otherwise I can try to do it tomorrow.
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m_forceRegTask.setVector(m_fRef * m_weightForceRegTask);
right?
I'll PR the fix. Thanks !
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m_forceRegTask.setVector(m_fRef * m_weightForceRegTask);
right?
Not sure about this. I am sure it'd work using the matrix A
, because it's a classic matrix-vector product, where A
is a diagonal matrix, whose diagonal is m_weightForceRegTask
.
If instead you multiply m_weightForceRegTask * m_fRef
you're multiplying two vectors of the same size, and I'm afraid it's gonna compute their dot product.
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Hi @thomasfla
any news on this issue? If it's solved, could you close it?
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Thanks @paLeziart
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Thanks guys!
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