4b2b55477f93ece30e273f4339868c3eafb54836,CommonWalkingControlModules/src/us/ihmc/commonWalkingControlModules/instantaneousCapturePoint/SmartCMPProjector.java,SmartCMPProjector,projectCMP,#,129
Before Change
icpToCandidateVector.sub(candidate, capturePoint);
// make sure the ICP is pushed in the right direction
double angle = finalICPToICPVector.angle(icpToCandidateVector);
if (angle < 1.0e-7)
{
projectedCMP.setIncludingFrame(candidate);
After Change
icpToCandidateVector.sub(candidate, capturePoint);
// make sure the ICP is pushed in the right direction
double angle = Math.abs(finalICPToICPVector.angle(icpToCandidateVector));
if (angle < 1.0e-7)
{
projectedCMP.setIncludingFrame(candidate);