Fix stop step

bit-bots · Oct 23, 2023 · c46b5f5 · c46b5f5
1 parent 7ca3873
commit c46b5f5
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/bitbots_quintic_walk/src/walk_engine.cpp b/bitbots_quintic_walk/src/walk_engine.cpp
@@ -365,7 +365,7 @@ void WalkEngine::reset(WalkState state,
       buildStartStepTrajectories();
     } else if (state == WalkState::STOP_MOVEMENT) {
       buildStopMovementTrajectories();
-    } else if (state == WalkState::START_STEP) {
+    } else if (state == WalkState::STOP_STEP) {
       buildStopStepTrajectories();
     } else if (state == WalkState::KICK) {
       buildKickTrajectories();
@@ -399,7 +399,7 @@ void WalkEngine::reset(WalkState state,
       buildStartStepTrajectories();
     } else if (state == WalkState::STOP_MOVEMENT) {
       buildStopMovementTrajectories();
-    } else if (state == WalkState::START_STEP) {
+    } else if (state == WalkState::STOP_STEP) {
       buildStopStepTrajectories();
     } else if (state == WalkState::KICK) {
       buildKickTrajectories();
@@ -1114,4 +1114,4 @@ tf2::Transform WalkEngine::getLeft() {
 tf2::Transform WalkEngine::getRight() {
   return right_in_world_;
 }
-} // namespace bitbots_quintic_walk
+} // namespace bitbots_quintic_walk