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);