Fixes to SDFKP

yk-ren · Nov 13, 2014 · 7f1f3e8 · 7f1f3e8
1 parent bff5574
commit 7f1f3e8
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/solvers/trajectoryOptimization/SimpleDynamicsFullKinematicsPlanner.m b/solvers/trajectoryOptimization/SimpleDynamicsFullKinematicsPlanner.m
@@ -208,9 +208,9 @@
             end
             obj.qsc_weight_inds{time_index{j}} = obj.num_vars+(1:constraint.num_pts)';
             obj = obj.addDecisionVariable(constraint.num_pts,qsc_weight_names);
-            obj = obj.addDifferentiableConstraint(cnstr{1},{obj.q_inds(:,time_index{j});obj.qsc_weight_inds{time_index{j}}},obj.kinsol_dataind(time_index{j}));
-            obj = obj.addLinearConstraint(cnstr{2},obj.qsc_weight_inds{time_index{j}});
-            obj = obj.addBoundingBoxConstraint(cnstr{3},obj.qsc_weight_inds{time_index{j}});
+            obj = obj.addConstraint(cnstr{1},{obj.q_inds(:,time_index{j});obj.qsc_weight_inds{time_index{j}}},obj.kinsol_dataind(time_index{j}));
+            obj = obj.addConstraint(cnstr{2},obj.qsc_weight_inds{time_index{j}});
+            obj = obj.addConstraint(cnstr{3},obj.qsc_weight_inds{time_index{j}});
           end
         elseif isa(constraint,'SingleTimeLinearPostureConstraint')
           cnstr = constraint.generateConstraint();