change printLineSearch false

mayataka · mayataka · commit a6e97e6cd4d3 · 2022-12-18T00:37:05.000+01:00
diff --git a/ocs2_robotic_examples/ocs2_legged_robot/src/LeggedRobotInterface.cpp b/ocs2_robotic_examples/ocs2_legged_robot/src/LeggedRobotInterface.cpp
@@ -329,7 +329,6 @@ std::unique_ptr<StateInputConstraint> LeggedRobotInterface::getFrictionConeConst
 /******************************************************************************************************/
 std::unique_ptr<StateInputCost> LeggedRobotInterface::getFrictionConeSoftConstraint(
     size_t contactPointIndex, scalar_t frictionCoefficient, const RelaxedBarrierPenalty::Config& barrierPenaltyConfig) {
-  auto penalty = std::make_unique<RelaxedBarrierPenalty>(barrierPenaltyConfig);
   return std::make_unique<StateInputSoftConstraint>(getFrictionConeConstraint(contactPointIndex, frictionCoefficient),
                                                     std::make_unique<RelaxedBarrierPenalty>(barrierPenaltyConfig));
 }

Original file line number	Diff line number	Diff line change
`@@ -329,7 +329,6 @@ std::unique_ptr<StateInputConstraint> LeggedRobotInterface::getFrictionConeConst`
`329`	`329`	`/******************************************************************************************************/`
`330`	`330`	`std::unique_ptr<StateInputCost> LeggedRobotInterface::getFrictionConeSoftConstraint(`
`331`	`331`	`size_t contactPointIndex, scalar_t frictionCoefficient, const RelaxedBarrierPenalty::Config& barrierPenaltyConfig) {`
`332`		`- auto penalty = std::make_unique<RelaxedBarrierPenalty>(barrierPenaltyConfig);`
`333`	`332`	`return std::make_unique<StateInputSoftConstraint>(getFrictionConeConstraint(contactPointIndex, frictionCoefficient),`
`334`	`333`	`std::make_unique<RelaxedBarrierPenalty>(barrierPenaltyConfig));`
`335`	`334`	`}`