From b8d41668b25ee8d73d7a2414a63465d4ff2007ac Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 6 May 2020 17:40:29 +0200
Subject: [PATCH] Fix Lie group type used in
steeringMethod::EndEffectorTrajectory
---
src/steering-method/end-effector-trajectory.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/steering-method/end-effector-trajectory.cc b/src/steering-method/end-effector-trajectory.cc
index 3825b025..f452c392 100644
--- a/src/steering-method/end-effector-trajectory.cc
+++ b/src/steering-method/end-effector-trajectory.cc
@@ -41,7 +41,7 @@ namespace hpp {
{
public:
FunctionFromPath (const PathPtr_t& p)
- : DifferentiableFunction (1, 1, SE3 ? LiegroupSpace::SE3() : LiegroupSpace::Rn(p->outputSize())),
+ : DifferentiableFunction (1, 1, SE3 ? LiegroupSpace::R3xSO3() : LiegroupSpace::Rn(p->outputSize())),
path_ (p)
{
assert (!SE3 ||
--
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