6DFoot to QuadFoot

Author: earlaud

include/simple-mpc/robot-handler.hpp

@@ -156,7 +156,7 @@ namespace simple_mpc
       return feet_types_[i];
     }
 
-    const ContactPointsMatrix & get6DFootContactPoints(size_t i) const
+    const ContactPointsMatrix & getQuadFootContactPoints(size_t i) const
     {
       return feet_contact_points_.at(i);
     }

src/inverse-dynamics.cpp

@@ -39,7 +39,7 @@ KinodynamicsID::KinodynamicsID(const RobotModelHandler & model_handler, double c
     }
     case RobotModelHandler::FootType::QUAD: {
       auto contact_6D = std::make_shared<tsid::contacts::Contact6d>(
-        frame_name, robot_, frame_name, model_handler_.get6DFootContactPoints(i).transpose(), normal,
+        frame_name, robot_, frame_name, model_handler_.getQuadFootContactPoints(i).transpose(), normal,
         settings_.friction_coefficient, min_f, max_f);
       contact_6D->Kp(settings_.kp_contact * Eigen::VectorXd::Ones(6));
       contact_6D->Kd(2.0 * contact_6D->Kp().cwiseSqrt());