Commit 0e22da60 authored by jcarpent's avatar jcarpent
Browse files

[Joints] Add missing operator Ydense*S for Spherical Joint

parent eba8cb8a
......@@ -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<>
......
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