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Gabriele Buondonno
pinocchio
Commits
df380d70
Commit
df380d70
authored
Sep 18, 2017
by
Justin Carpentier
Committed by
GitHub
Sep 18, 2017
Browse files
Merge pull request #400 from florent-lamiraux/fix-assertion
In exp3, modify assertion
parents
6b43b692
e729e656
Changes
1
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Side-by-side
src/spatial/explog.hpp
View file @
df380d70
...
...
@@ -40,7 +40,9 @@ namespace se3
template
<
typename
D
>
Eigen
::
Matrix
<
typename
D
::
Scalar
,
3
,
3
,
Eigen
::
internal
::
traits
<
D
>::
Options
>
exp3
(
const
Eigen
::
MatrixBase
<
D
>
&
v
)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE
(
D
,
3
);
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE
(
Eigen
::
MatrixBase
<
D
>
,
Eigen
::
Vector3f
);
assert
(
v
.
size
()
==
3
);
typename
D
::
Scalar
nv
=
v
.
norm
();
if
(
nv
>
1e-14
)
return
Eigen
::
AngleAxis
<
typename
D
::
Scalar
>
(
nv
,
v
/
nv
).
matrix
();
...
...
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