<commit_before>#include <Eigen/Core>       // Cholesky decomposition + solving
#include <Eigen/Cholesky>   // of system of linear equations.

#include "nao_igm.h"
#include "maple_functions.h"



/**
 * @brief Get feet positions.
 *
 * @param[out] left_foot_expected 3x1 expected position vector
 * @param[out] right_foot_expected 3x1 expected position vector
 * @param[out] left_foot_computed 3x1 position vector determined using sensor data
 * @param[out] right_foot_computed 3x1 position vector determined using sensor data
 *
 * @note Support foot position is assumed to be correct and there is no difference
 * between the expected and 'real' positions.
 *
 * @note swing_foot_posture member is updated.
 */
void nao_igm::getFeetPositions (
        double *left_foot_expected,
        double *right_foot_expected,
        double *left_foot_computed,
        double *right_foot_computed)
{
    if (support_foot == IGM_SUPPORT_LEFT)
    {
        Vector3d::Map(left_foot_expected) = Vector3d::Map(left_foot_computed) = left_foot_posture.translation();
        Vector3d::Map(right_foot_expected) = right_foot_posture.translation();
        getSwingFootPosition (state_sensor, right_foot_computed);
    }
    else
    {
        Vector3d::Map(right_foot_expected) = Vector3d::Map(right_foot_computed) = right_foot_posture.translation();
        Vector3d::Map(left_foot_expected) = right_foot_posture.translation();<commit_msg>Fixed wrong position of the left foot in getFeetPositions().<commit_after>#include <Eigen/Core>       // Cholesky decomposition + solving
#include <Eigen/Cholesky>   // of system of linear equations.

#include "nao_igm.h"
#include "maple_functions.h"



/**
 * @brief Get feet positions.
 *
 * @param[out] left_foot_expected 3x1 expected position vector
 * @param[out] right_foot_expected 3x1 expected position vector
 * @param[out] left_foot_computed 3x1 position vector determined using sensor data
 * @param[out] right_foot_computed 3x1 position vector determined using sensor data
 *
 * @note Support foot position is assumed to be correct and there is no difference
 * between the expected and 'real' positions.
 *
 * @note swing_foot_posture member is updated.
 */
void nao_igm::getFeetPositions (
        double *left_foot_expected,
        double *right_foot_expected,
        double *left_foot_computed,
        double *right_foot_computed)
{
    if (support_foot == IGM_SUPPORT_LEFT)
    {
        Vector3d::Map(left_foot_expected) = Vector3d::Map(left_foot_computed) = left_foot_posture.translation();
        Vector3d::Map(right_foot_expected) = right_foot_posture.translation();
        getSwingFootPosition (state_sensor, right_foot_computed);
    }
    else
    {
        Vector3d::Map(right_foot_expected) = Vector3d::Map(right_foot_computed) = right_foot_posture.translation();
        Vector3d::Map(left_foot_expected) = left_foot_posture.translation();
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