Merge pull request #1310 from sugikazu75/PR/thrust_direction

[actuation] fixed thrust direction for calculation of thrust jacobian
loco-3d · Nov 28, 2024 · 8a6743b · 8a6743b
2 parents ecdefdd + 67f3e4e
commit 8a6743b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp b/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp
@@ -288,7 +288,7 @@ class ActuationModelFloatingBaseThrustersTpl
       const Vector3s& f_z = p.pose.rotation() * Vector3s::UnitZ();
       W_thrust_.template topRows<3>().col(i) += f_z;
       W_thrust_.template middleRows<3>(3).col(i).noalias() +=
-          p.pose.translation().cross(Vector3s::UnitZ());
+          p.pose.translation().cross(f_z);
       switch (p.type) {
         case CW:
           W_thrust_.template middleRows<3>(3).col(i) += p.ctorque * f_z;