From 84b2942596d7f953b68d2e7c03d3d74fdf8cf3cd Mon Sep 17 00:00:00 2001
From: Pierre Gergondet <pierre.gergondet@gmail.com>
Date: Wed, 10 Nov 2010 14:26:53 +0900
Subject: [PATCH] Resize target matrix before passing it to
 getJacobianCenterOfMass

---
 src/dynamic.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index ba29c7a..37adae2 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -664,6 +664,7 @@ computeJcom( ml::Matrix& Jcom,int time )
   newtonEulerSINTERN(time);
 
   matrixNxP jacobian;
+  jacobian.resize(3, m_HDR->numberDof());
   m_HDR->getJacobianCenterOfMass(*m_HDR->rootJoint(), jacobian);
 
   Jcom.initFromMotherLib(jacobian);
-- 
GitLab