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Commit 54033bd0 authored by jcarpent's avatar jcarpent
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[Spatial] Fix compatibility with 17.04

parent b8991a0d
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src/spatial/inertia.hpp
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......@@ -238,7 +238,7 @@ namespace se3
M.template block<3,3>(LINEAR, LINEAR ).diagonal ().fill (m);
M.template block<3,3>(ANGULAR,LINEAR ) = alphaSkew(m,c);
M.template block<3,3>(LINEAR, ANGULAR) = -M.template block<3,3> (ANGULAR, LINEAR);
M.template block<3,3>(ANGULAR,ANGULAR) = (typename Symmetric3::Matrix3)(I - AlphaSkewSquare(m,c));
M.template block<3,3>(ANGULAR,ANGULAR) = (I - AlphaSkewSquare(m,c)).matrix();
return M;
}
......@@ -320,7 +320,7 @@ namespace se3
res.template block<3,3>(ANGULAR,ANGULAR) = res.template block<3,3>(LINEAR,LINEAR) - res.template block<3,3>(LINEAR,LINEAR).transpose();
res.template block<3,3>(ANGULAR,ANGULAR) = -skewSquare(mv.linear(),c) - skewSquare(c,mv.linear());
res.template block<3,3>(LINEAR,LINEAR) = (typename Symmetric3::Matrix3)(I - AlphaSkewSquare(m,c));
res.template block<3,3>(LINEAR,LINEAR) = (I - AlphaSkewSquare(m,c)).matrix();
res.template block<3,3>(ANGULAR,ANGULAR) -= res.template block<3,3>(LINEAR,LINEAR) * skew(v.angular());
res.template block<3,3>(ANGULAR,ANGULAR) += cross(v.angular(),res.template block<3,3>(LINEAR,LINEAR));
......
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