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[quadratic_program_motion_generator.cpp] Fixed smartpointer and removed unnecessary condition.

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This commit is contained in:
Juancho
2023-06-07 17:54:40 +09:00
parent 16a8946c02
commit b18be8435d
1 changed files with 3 additions and 3 deletions
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6
src/quadratic_program_motion_generator.cpp
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@@ -31,8 +31,8 @@ QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &s
QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor, const VectorXd &q_dot_initial, const VectorXd &q_dot_goal) QuadraticProgramMotionGenerator::QuadraticProgramMotionGenerator(const double &speed_factor, const VectorXd &q_dot_initial, const VectorXd &q_dot_goal)
{ {
n_links_ = _get_dimensions(q_dot_initial, q_dot_initial, q_dot_goal); n_links_ = _get_dimensions(q_dot_initial, q_dot_initial, q_dot_goal);
solver_ = std::make_unique<DQ_QPOASESSolver>(DQ_QPOASESSolver()); solver_ = std::make_unique<DQ_QPOASESSolver>();
constraints_manager_ = std::make_unique<ConstraintsManager>(ConstraintsManager(n_links_)); constraints_manager_ = std::make_unique<ConstraintsManager>(n_links_);
_check_gains(); _check_gains();
q_dot_ = q_dot_initial; q_dot_ = q_dot_initial;
@@ -94,7 +94,7 @@ void QuadraticProgramMotionGenerator::_check_sizes(const Eigen::VectorXd &q1,
const Eigen::VectorXd &q2, const Eigen::VectorXd &q2,
const Eigen::VectorXd &q3) const const Eigen::VectorXd &q3) const
{ {
if (q1.size() != q2.size() or q1.size() != q3.size() or q2.size() != q3.size()) if (q1.size() != q2.size() or q1.size() != q3.size())
{ {
throw std::runtime_error(std::string("Wrong sizes in vectors. ")); throw std::runtime_error(std::string("Wrong sizes in vectors. "));
} }