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Verified Commit 2678f868 authored by Justin Carpentier's avatar Justin Carpentier
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doc/spatial: fix

parent dc2a6a69
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1 merge request!1merge request for simplification
...@@ -104,7 +104,7 @@ namespace pinocchio ...@@ -104,7 +104,7 @@ namespace pinocchio
/// \f[ /// \f[
/// \frac{\sin{||r||}}{||r||} I_3 /// \frac{\sin{||r||}}{||r||} I_3
/// - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x /// - \frac{1-\cos{||r||}}{||r||^2} \left[ r \right]_x
/// + \frac{1}{||n||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T /// + \frac{1}{||r||^2} (1-\frac{\sin{||r||}}{||r||}) r r^T
/// \f] /// \f]
/// ///
template<AssignmentOperatorType op, typename Vector3Like, typename Matrix3Like> template<AssignmentOperatorType op, typename Vector3Like, typename Matrix3Like>
...@@ -134,7 +134,7 @@ namespace pinocchio ...@@ -134,7 +134,7 @@ namespace pinocchio
n2_inv * (1 - a)); n2_inv * (1 - a));
switch(op) switch(op)
{ {
case SETTO: case SETTO:
Jout.diagonal().setConstant(a); Jout.diagonal().setConstant(a);
Jout(0,1) = -b*r[2]; Jout(1,0) = -Jout(0,1); Jout(0,1) = -b*r[2]; Jout(1,0) = -Jout(0,1);
...@@ -159,7 +159,7 @@ namespace pinocchio ...@@ -159,7 +159,7 @@ namespace pinocchio
default: default:
assert(false && "Wrong Op requesed value"); assert(false && "Wrong Op requesed value");
break; break;
} }
} }
/// ///
...@@ -376,7 +376,7 @@ namespace pinocchio ...@@ -376,7 +376,7 @@ namespace pinocchio
-Scalar(2)*t2inv*t2inv + (Scalar(1) + st*tinv) * t2inv * inv_2_2ct); -Scalar(2)*t2inv*t2inv + (Scalar(1) + st*tinv) * t2inv * inv_2_2ct);
switch(op) switch(op)
{ {
case SETTO: case SETTO:
{ {
Jexp3<SETTO>(w, Jout.template bottomRightCorner<3,3>()); Jexp3<SETTO>(w, Jout.template bottomRightCorner<3,3>());
......
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