Update the FeasibleContactWrenchTask

ami-iit · Jul 21, 2021 · 1277a62 · 1277a62
1 parent d461e09
commit 1277a62
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/TSID/tests/FeasibleContactWrenchTaskTest.cpp b/src/TSID/tests/FeasibleContactWrenchTaskTest.cpp
@@ -131,7 +131,8 @@ TEST_CASE("Joints and Base dynamics tasks")
             REQUIRE(b.isApprox(coneWithNormalForceB));
 
             // disable the task
-            task.disable();
+            const bool isActive = false;
+            task.setContactActive(isActive);
             coneWithNormalForceB.tail(1)(0) = 0;
             REQUIRE(b.isApprox(coneWithNormalForceB));