Merge pull request fkanehiro#922 from eisoku9618/patch-1

[Stabilizer.cpp] fix typo of https://github.com/fkanehiro/hrpsys-base…
snozawa · Dec 23, 2015 · 05e5eba · 05e5eba
2 parents 580c46f + 1db27ed
commit 05e5eba
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/rtc/Stabilizer/Stabilizer.cpp b/rtc/Stabilizer/Stabilizer.cpp
@@ -878,8 +878,6 @@ void Stabilizer::getActualParameters ()
  }
  // Actual ee frame =>
  ikp.ee_d_foot_rpy = (target->R * ikp.localR).transpose() * (foot_origin_rot * ikp.d_foot_rpy);
- // Convert actual world frame => actual foot_origin frame for debug data port
- ikp.ref_moment = foot_origin_rot.transpose() * ikp.ref_moment;
  }
 
  if (eefm_use_force_difference_control) {