From b973e385094a4e7b356a81274b047182fec6da1d Mon Sep 17 00:00:00 2001 From: Davide Date: Thu, 22 Aug 2024 16:39:17 +0200 Subject: [PATCH] fix comment --- src/IK/src/InverseKinematics.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/IK/src/InverseKinematics.cpp b/src/IK/src/InverseKinematics.cpp index 59fc2fe..2220529 100644 --- a/src/IK/src/InverseKinematics.cpp +++ b/src/IK/src/InverseKinematics.cpp @@ -199,7 +199,7 @@ bool HumanIK::updateGravityTask(const int node, const manif::SO3d& I_R_IMU) // W_R_link = W_R_WIMU * WIMU_R_IMU * IMU_R_link I_R_link = m_GravityTasks[node].calibrationMatrix * I_R_IMU * m_GravityTasks[node].IMU_R_link; - // set the set point of the gravity task choosing the z direction of the W_R_link rotation + // set the set point of the gravity task choosing the z direction of the link_R_W rotation // matrix return m_GravityTasks[node].task->setSetPoint((I_R_link.rotation().transpose().rightCols(1))); }