Add joint velocity limit constraint support (#1407)

dartsim · Aug 29, 2019 · 54d413a · 54d413a
1 parent 8cf7f5c
commit 54d413a
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Showing 14 changed files with 376 additions and 172 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,7 @@
 
   * Fixed friction and restitution of individual shapes in a body: [#1369](https://github.com/dartsim/dart/pull/1369)
   * Fixed soft body simulation when command input is not resetted: [#1372](https://github.com/dartsim/dart/pull/1372)
+  * Added joint velocity limit constraint support: [#1407](https://github.com/dartsim/dart/pull/1407)
 
 * GUI
 

diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
@@ -569,7 +569,7 @@ void ConstraintSolver::updateConstraints()
         }
       }
 
-      if (joint->isPositionLimitEnforced())
+      if (joint->areLimitsEnforced())
       {
         mJointLimitConstraints.push_back(
             std::make_shared<JointLimitConstraint>(joint));