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Gabriele Buondonno
pinocchio
Commits
50fcc77f
Commit
50fcc77f
authored
Sep 27, 2017
by
jcarpent
Browse files
[Joint] Expose missing operator Ydense * S
parent
a50e7131
Changes
1
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src/multibody/joint/joint-spherical-ZYX.hpp
View file @
50fcc77f
...
...
@@ -259,6 +259,13 @@ namespace se3
{
return
Y
.
template
block
<
6
,
3
>
(
0
,
Inertia
::
ANGULAR
,
0
,
3
)
*
S
.
S_minimal
;
}
inline
Eigen
::
Matrix
<
double
,
6
,
3
>
operator
*
(
const
Inertia
::
Matrix6
&
Y
,
const
JointSphericalZYX
::
ConstraintRotationalSubspace
&
S
)
{
return
Y
.
block
<
6
,
3
>
(
0
,
Inertia
::
ANGULAR
,
0
,
3
)
*
S
.
S_minimal
;
}
namespace
internal
{
...
...
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