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Humanoid Path Planner
hpp-model
Commits
cf2cdece
Commit
cf2cdece
authored
Feb 09, 2016
by
Joseph Mirabel
Committed by
Joseph Mirabel
Feb 09, 2016
Browse files
Use RowMajor jacobians
parent
1a6056d7
Changes
1
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Inline
Side-by-side
include/hpp/model/fwd.hh
View file @
cf2cdece
...
...
@@ -60,8 +60,8 @@ namespace hpp {
typedef
matrix_t
::
Index
size_type
;
typedef
fcl
::
Matrix3f
matrix3_t
;
typedef
fcl
::
Vec3f
vector3_t
;
typedef
Eigen
::
Matrix
<
value_type
,
6
,
Eigen
::
Dynamic
>
JointJacobian_t
;
typedef
Eigen
::
Matrix
<
value_type
,
3
,
Eigen
::
Dynamic
>
ComJacobian_t
;
typedef
Eigen
::
Matrix
<
value_type
,
6
,
Eigen
::
Dynamic
,
Eigen
::
RowMajor
>
JointJacobian_t
;
typedef
Eigen
::
Matrix
<
value_type
,
3
,
Eigen
::
Dynamic
,
Eigen
::
RowMajor
>
ComJacobian_t
;
typedef
Eigen
::
Block
<
JointJacobian_t
,
3
,
Eigen
::
Dynamic
>
HalfJointJacobian_t
;
...
...
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