From e3461271edb53f00d9204aac3a67a219024670f1 Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Sun, 31 Dec 2017 01:28:45 +0000 Subject: [PATCH] helixish: seems to be able to solve Signed-off-by: Ian Jackson --- helixish.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/helixish.py b/helixish.py index 51a681f..77c311b 100644 --- a/helixish.py +++ b/helixish.py @@ -208,7 +208,7 @@ class HelixishCurve(): vdbg().arrow(findcurve_basis[0:3,3], findcurve_basis[0:3,ax]) q_findcurve = augmatmultiply(findcurve_into, q) - dq_findcurve = augmatmultiply(findcurve_into, dq, augwith=0) + dq_findcurve = -augmatmultiply(findcurve_into, dq, augwith=0) findcurve_target = np.hstack((q_findcurve, dq_findcurve)) findcurve_start = (sqrt(start_s), sqrt(start_t), start_la, -- 2.30.2