Task op ops acceleration control looks fishy

[Kenji Hata]

Shouldn't it be ddx_goal_ - ddx_ instead of just goal?

    //Obtain force to be applied to a unit mass floating about
    //in space (ie. A dynamically decoupled mass).
    data_->ddx_ = data_->ka_.array() * data_->ddx_goal_.array();
    data_->ddx_ += tmp2 + tmp1;

[Samir Menon]

Correct.

[Samir Menon]

Fixed as of 6e12a7012e0c87335963fee9e3d3dc90f38d2ba1

[Samir Menon]

Fixed