Commit cf2cdece authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Use RowMajor jacobians

parent 1a6056d7
......@@ -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>
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