DataHandler fk using vel

earlaud · earlaud · commit ea1b7f1d9f7e · 2025-08-13T15:33:46.000+02:00
diff --git a/src/robot-handler.cpp b/src/robot-handler.cpp
@@ -111,7 +111,7 @@ namespace simple_mpc
   {
     x_ << q, v;
 
-    forwardKinematics(model_handler_.getModel(), data_, q);
+    forwardKinematics(model_handler_.getModel(), data_, q, v);
     updateFramePlacements(model_handler_.getModel(), data_);
     computeCentroidalMomentum(model_handler_.getModel(), data_, q, v);
 

Original file line number	Diff line number	Diff line change
`@@ -111,7 +111,7 @@ namespace simple_mpc`
`111`	`111`	`{`
`112`	`112`	`x_ << q, v;`
`113`	`113`
`114`		`- forwardKinematics(model_handler_.getModel(), data_, q);`
	`114`	`+ forwardKinematics(model_handler_.getModel(), data_, q, v);`
`115`	`115`	`updateFramePlacements(model_handler_.getModel(), data_);`
`116`	`116`	`computeCentroidalMomentum(model_handler_.getModel(), data_, q, v);`
`117`	`117`