Commit 17202073 authored by Nicolas Mansard's avatar Nicolas Mansard Committed by nmansard
Browse files

[Python] force the computations of all coefficient in the mass matrix, in the...

[Python] force the computations of all coefficient in the mass matrix, in the binding of computeAllTerms.
parent 893adf62
......@@ -134,7 +134,10 @@ namespace se3
const VectorXd_fx & q,
const VectorXd_fx & v)
{
data->M.fill(0);
computeAllTerms(*model,*data,q,v);
data->M.triangularView<Eigen::StrictlyLower>()
= data->M.transpose().triangularView<Eigen::StrictlyLower>();
}
static void jointLimits_proxy(const ModelHandler & model,
......
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