Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Gabriele Buondonno
pinocchio
Commits
0e22da60
Commit
0e22da60
authored
Jul 28, 2017
by
jcarpent
Browse files
[Joints] Add missing operator Ydense*S for Spherical Joint
parent
eba8cb8a
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/multibody/joint/joint-spherical.hpp
View file @
0e22da60
...
...
@@ -199,6 +199,12 @@ namespace se3
return
M
;
}
/* [ABA] Y*S operator*/
inline
SizeDepType
<
3
>::
ColsReturn
<
Inertia
::
Matrix6
>::
ConstType
operator
*
(
const
Inertia
::
Matrix6
&
Y
,
const
ConstraintRotationalSubspace
&
)
{
return
Y
.
middleCols
<
3
>
(
Inertia
::
ANGULAR
);
}
namespace
internal
{
template
<
>
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment