[AutoBalancer/AutoBalancer.cpp] fix typo : get_default_step_height ->…

… get_toe_angle / get_heel_angle
snozawa · Aug 28, 2015 · 073b572 · 073b572
1 parent 78c21b1
commit 073b572
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/rtc/AutoBalancer/AutoBalancer.cpp b/rtc/AutoBalancer/AutoBalancer.cpp
@@ -1040,8 +1040,8 @@ bool AutoBalancer::setFootSteps(const OpenHRP::AutoBalancerService::FootstepsSeq
  for (size_t j = 0; j < spss[i].sps.length(); j++) {
  spss[i].sps[j].step_height = ((!gg_is_walking && i==0) ? 0.0 : gg->get_default_step_height());
  spss[i].sps[j].step_time = gg->get_default_step_time();
- spss[i].sps[j].toe_angle = ((!gg_is_walking && i==0) ? 0.0 : gg->get_default_step_height());
- spss[i].sps[j].heel_angle = ((!gg_is_walking && i==0) ? 0.0 : gg->get_default_step_height());
+ spss[i].sps[j].toe_angle = ((!gg_is_walking && i==0) ? 0.0 : gg->get_toe_angle());
+ spss[i].sps[j].heel_angle = ((!gg_is_walking && i==0) ? 0.0 : gg->get_heel_angle());
  }
  }
  setFootStepsWithParam(fss, spss, overwrite_fs_idx);