helixish: seems to be able to solve

Signed-off-by: Ian Jackson <ijackson@chiark.greenend.org.uk>

diff --git a/helixish.py b/helixish.py
index 51a681f1933264fda9b63aa2846b10a075e9acb4..77c311b34097692d8558208b243baa438ba46e0c 100644 (file)
--- 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,