Andrea Del Prete

You are right @paulinejmaurice ! Thanks for spotting this. Can you do a PR to fix this?

This has been fixed with #159

Hi @Sabotm . To generate the date file you could use the other scripts in the same folder: - [ex_4_plan_LIPM_romeo.py](https://github.com/stack-of-tasks/tsid/blob/master/exercizes/ex_4_plan_LIPM_romeo.py) - [ex_4_LIPM_to_TSID.py](https://github.com/stack-of-tasks/tsid/blob/master/exercizes/ex_4_LIPM_to_TSID.py) The first script uses [this Python library](https://github.com/ahmadgazar/LMPC_walking) to...

This issue is inactive since a while, so I close it, but feel free to reopen it if you need.

Thanks @nim65s for this fix! I see the PR is still a work in progress so I don't merge it.

Any update on this PR @nim65s ?

I have nothing against switching to C++17

Thanks for spotting this issue! My guess is that taking the tail of `q` is not necessary, as `q` and `m_ref_q_augmented` should have the same size already, so it would...

> @andreadelprete, if quadprog++ is a viable implementation, endorsed by Gael Guennebaud himself, why not using this version directly? What are the advantages of using a version of our own?...

Also the ankle-pitch limits are significantly different. For the left-ankle pitch icub.sdf has: ``` -0.4490658504 0.8679448709 ``` whereas iCubGenova03.sdf has: ``` -0.733038 0.366519 ```