Commit 69d6a865 authored by jcarpent's avatar jcarpent
Browse files

[Spatial] Fix bug in templated method

parent 7103d476
......@@ -154,9 +154,9 @@ namespace se3
ActionMatrix_t toActionMatrix_impl () const
{
ActionMatrix_t X;
X.block <3,3> (ANGULAR, ANGULAR) = X.block <3,3> (LINEAR, LINEAR) = skew (angular_impl());
X.block <3,3> (LINEAR, ANGULAR) = skew (linear_impl());
X.block <3,3> (ANGULAR, LINEAR).setZero ();
X.template block <3,3> (ANGULAR, ANGULAR) = X.template block <3,3> (LINEAR, LINEAR) = skew (angular_impl());
X.template block <3,3> (LINEAR, ANGULAR) = skew (linear_impl());
X.template block <3,3> (ANGULAR, LINEAR).setZero ();
return X;
}
......
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