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Fix CentroidalMPC documentation #691

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Jun 23, 2023
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ class CentroidalMPC : public System::Source<CentroidalMPCOutput>
* | `is_warm_start_enabled` | `bool` | True if the user wants to warm start the CoM, angular momentum, and contact location with the nominal value (Default `false`) | No |
* | `is_cse_enabled` | `bool` | True if the Common subexpression elimination casadi option is enabled. This option is supported only by casadi 3.6.0 https://github.com/casadi/casadi/releases/tag/3.6.3 (Default `false` ) | No |
*
* Moreover for each contact \f$i\f$ where $\f 0\le \le i \le \f$ `number_of_maximum_contacts-1` it is required to define a group `CONTACT_<i>` that contains the following parameters
* Moreover for each contact \f$i\f$ where \f$ 0 \le i \le \f$ `number_of_maximum_contacts-1` it is required to define a group `CONTACT_<i>` that contains the following parameters
* | Parameter Name | Type | Description | Mandatory |
* |:--------------------------:|:----------------:|:--------------------------------------------------------------------------------------------------------------------------------:|:---------:|
* | `contact_name` | `string` | Name associated to the contact. | Yes |
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