Commit 50fcc77f authored by jcarpent's avatar jcarpent
Browse files

[Joint] Expose missing operator Ydense * S

parent a50e7131
......@@ -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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