From 427b15682087a54c182c6293e481b7ec7a9fcd07 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Sun, 31 Mar 2019 14:22:25 +0200
Subject: [PATCH] Fix GraspQualityMeasureWrenchSpaceNotNormalized
---
.../GraspQualityMeasureWrenchSpaceNotNormalized.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
index c9e9b30ea..ddcf65c6d 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
@@ -63,7 +63,9 @@ namespace GraspStudio
if (contactPointsM.empty())
{
if (verbose && printAll)
+ {
printf("Contact points not set.\n");
+ }
return;
}
@@ -294,7 +296,7 @@ namespace GraspStudio
nWrongFacets++;
continue;
}
- fRes = std::max(fRes, -dist);
+ fRes = std::min(fRes, -dist);
}
if (nWrongFacets > 0)
--
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