fix minor implementation bug.

src/multibody/liegroup/special-euclidean.hpp

@@ -416,8 +416,8 @@ namespace pinocchio
       //TODO: Remove aliasing
       Jout.template topRows<2>() = Jtmp6.template topLeftCorner<2,2>() * Jout.template topRows<2>();
       Jout.template topRows<2>().noalias() += Jtmp6.template topRightCorner<2,1>() * Jout.template bottomRows<1>();
-      Jout.template bottomRows<1>().noalias() = Jtmp6.template bottomLeftCorner<1,2>()* Jout.template topRows<2>();
-      Jout.template bottomRows<1>() += Jtmp6.template bottomRightCorner<1,1>() * Jout.template bottomRows<1>();
+      Jout.template bottomRows<1>() = Jtmp6.template bottomRightCorner<1,1>() * Jout.template bottomRows<1>();
+      Jout.template bottomRows<1>().noalias() += Jtmp6.template bottomLeftCorner<1,2>()* Jout.template topRows<2>();
     }
 
 

unittest/joint-configurations.cpp

@@ -300,10 +300,6 @@ BOOST_AUTO_TEST_CASE ( dIntegrate_assignementop_test )
   results[0].setZero();
   dIntegrate(model,qs,vs,results[0],ARG1,SETTO);
   dIntegrateTransportInPlace(model,qs,vs,J[1],ARG1);
-  std::cerr<<Eigen::MatrixXd(results[0].row(11))<<std::endl;
-  std::cerr<<Eigen::MatrixXd(J[0].row(11))<<std::endl;
-  std::cerr<<Eigen::MatrixXd(J[1].row(11))<<std::endl;
-  std::cerr<<J[1]-results[0] * J[0]<<std::endl;
   BOOST_CHECK(J[1].isApprox(results[0] * J[0]));  
 
 }