Fix bug in Contact6d::setRegularizationTaskWeightVector

stack-of-tasks · Nov 25, 2020 · 71d10d1 · 71d10d1
1 parent d2d6618
commit 71d10d1
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/cmake b/cmake
diff --git a/src/contacts/contact-6d.cpp b/src/contacts/contact-6d.cpp
@@ -138,7 +138,7 @@ typedef Eigen::Matrix<double,6,6> Matrix6;
   Matrix6 A = Matrix6::Zero();
   A.diagonal() = m_weightForceRegTask;
   m_forceRegTask.setMatrix(A*m_forceGenMat);
-  m_forceRegTask.setVector(m_fRef);
+  m_forceRegTask.setVector(A*m_fRef);
 }
 
 void Contact6d:: updateForceGeneratorMatrix()
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