fixed constraint ominwheel working on local velocity

ADVRHumanoids · Sep 27, 2024 · 7c92b15 · 7c92b15
1 parent 2ca4ef2
commit 7c92b15
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/constraints/velocity/OmniWheels4X.cpp b/src/constraints/velocity/OmniWheels4X.cpp
@@ -71,6 +71,8 @@ void OmniWheels4X::update()
 {
     // _robot.getPose(_base_link, _w_T_b);
     // _Aineq.rightCols(_x_size-6).noalias() = _w_T_b.linear() * _J.rightCols(_x_size-6);
+
+    //todo: here we assumes velocity of the floating base are in local frame!
     _Aineq.rightCols(_x_size-6).noalias() = _J.rightCols(_x_size-6);
 }