fix number of constraints

autowarefoundation · Apr 20, 2022 · cc067d5 · cc067d5
1 parent e11fda7
commit cc067d5
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/obstacle_velocity_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/obstacle_velocity_planner/src/optimization_based_planner/velocity_optimizer.cpp
@@ -68,8 +68,7 @@ VelocityOptimizer::OptimizationResult VelocityOptimizer::optimize(const Optimiza
   const int IDX_OVER_A0 = 7 * N;
   const int IDX_OVER_J0 = 8 * N;
   const int l_variables = 9 * N;
-  // const int l_constraints = 5 * N + 3* (N - 1) + 3;
-  const int l_constraints = 5 * N + 4 * (N - 1) + 3;
+  const int l_constraints = 6 * N + 3 * (N - 1) + 3;
 
   // the matrix size depends on constraint numbers.
   Eigen::MatrixXd A = Eigen::MatrixXd::Zero(l_constraints, l_variables);