Commit e2387344 authored by jcarpent's avatar jcarpent
Browse files

[Python] Fix symmetrization of data.M

parent 5555d371
......@@ -28,6 +28,9 @@ namespace se3
const Eigen::VectorXd & a)
{
computeRNEADerivatives(model,data,q,v,a);
// Symmetrize M
data.M.triangularView<Eigen::StrictlyLower>()
= data.M.transpose().triangularView<Eigen::StrictlyLower>();
}
void exposeRNEADerivatives()
......
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