Commit b4b14fb3 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #352 from jcarpent/devel

Solved bugs relative to 32bits handling
parents 5e5c4d36 09b6e817
......@@ -36,7 +36,7 @@ namespace se3
const Eigen::VectorXd & q,
const Eigen::VectorXd & v,
const Eigen::VectorXd & a,
const std::vector<Force> & fext)
const container::aligned_vector<Force> & fext)
{
return rnea(model,data,q,v,a,fext);
}
......
......@@ -56,7 +56,7 @@ namespace se3
const Eigen::VectorXd & q,
const Eigen::VectorXd & v,
const Eigen::VectorXd & a,
const std::vector<Force> & fext);
const container::aligned_vector<Force> & fext);
///
/// \brief Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the biais terms \f$ b(q,\dot{q}) \f$ of the Lagrangian dynamics:
......
......@@ -113,7 +113,7 @@ namespace se3
const Eigen::VectorXd & q,
const Eigen::VectorXd & v,
const Eigen::VectorXd & a,
const std::vector<Force> & fext)
const container::aligned_vector<Force> & fext)
{
assert(fext.size() == model.joints.size());
......
......@@ -18,6 +18,7 @@
#ifndef __se3_fcl_hpp__
#define __se3_fcl_hpp__
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/container/aligned-vector.hpp"
......
......@@ -146,7 +146,7 @@ BOOST_AUTO_TEST_CASE (test_rnea_with_fext)
VectorXd v (VectorXd::Random(model.nv));
VectorXd a (VectorXd::Random(model.nv));
std::vector<Force> fext(model.joints.size(), Force::Zero());
container::aligned_vector<Force> fext(model.joints.size(), Force::Zero());
JointIndex rf = model.getJointId("rleg6_joint"); Force Frf = Force::Random();
JointIndex lf = model.getJointId("lleg6_joint"); Force Flf = Force::Random();
......
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