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[pre-commit.ci] auto fixes from pre-commit.com hooks
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pre-commit-ci[bot] committed Oct 7, 2024
1 parent 2f7b474 commit 9281ae2
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion src/RBDyn/ZMP.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ Eigen::Vector3d computeCentroidalZMPComplete(MultiBodyConfig & mbc,
denom = mass * g - wr_external.force()(2);
zmp(0) = com(0) - ((com(2) - altitude) * comA(0) * (mass * g / denom)) / (comA(2)) + wr_external.couple()(1) / denom
+ com(2) * wr_external.force()(0) / denom;
zmp(1) = com(1) - ((com(2) - altitude) * comA(1) * (mass * g / denom)) / (comA(2)) - wr_external.couple()(0) / denom
zmp(1) = com(1) - ((com(2) - altitude) * comA(1) * (mass * g / denom)) / (comA(2))-wr_external.couple()(0) / denom
+ com(2) * wr_external.force()(1) / denom;
zmp(2) = altitude;
return zmp;
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