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Gabriele Buondonno
pinocchio
Commits
69d6a865
Commit
69d6a865
authored
Sep 24, 2017
by
jcarpent
Browse files
[Spatial] Fix bug in templated method
parent
7103d476
Changes
1
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Inline
Side-by-side
src/spatial/motion.hpp
View file @
69d6a865
...
...
@@ -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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