Skip to content
GitLab
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
2313552c
Commit
2313552c
authored
Sep 26, 2017
by
jcarpent
Browse files
[Algo] Improve Motion cross operation
parent
69d6a865
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/algorithm/jacobian.hxx
View file @
2313552c
...
...
@@ -183,7 +183,13 @@ namespace se3
// Spatial velocity of joint i expressed in the global frame o
const
Motion
ov
(
oMi
.
act
(
vJ
));
jmodel
.
jointCols
(
data
.
dJ
)
=
(
ov
.
toActionMatrix
()
*
jmodel
.
jointCols
(
data
.
J
));
typedef
typename
SizeDepType
<
JointModel
::
NV
>::
template
ColsReturn
<
Data
::
Matrix6x
>
::
Type
ColsBlock
;
ColsBlock
dJcols
=
jmodel
.
jointCols
(
data
.
dJ
);
ColsBlock
Jcols
=
jmodel
.
jointCols
(
data
.
J
);
for
(
int
k
=
0
;
k
<
jmodel
.
nv
();
++
k
)
dJcols
.
col
(
k
)
=
ov
.
cross
(
Motion
(
Jcols
.
col
(
k
))).
toVector
();
}
};
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new 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