Commit 10cd413b authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

fix minor implementation bug.

parent 314792e6
......@@ -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>();
}
......
......@@ -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]));
}
......
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