Commit 21600f58 authored by jcarpent's avatar jcarpent
Browse files

[Spatial] Add additionnal insight to a serious BUG on Inertia::vxi operation

parent 86fb541d
Pipeline #643 failed with stage
in 31 minutes and 43 seconds
...@@ -407,8 +407,12 @@ namespace se3 ...@@ -407,8 +407,12 @@ namespace se3
//// Block 2,2 //// Block 2,2
skewSquare(-v.linear(),mc,Iout_.template block<3,3>(ANGULAR,ANGULAR)); skewSquare(-v.linear(),mc,Iout_.template block<3,3>(ANGULAR,ANGULAR));
// typename Symmetric3::AlphaSkewSquare mcxcx(I.mass(),I.lever());
// const Symmetric3 I_mcxcx(I.inertia() - mcxcx); // TODO: I do not why, but depending on the CPU, these three lines can give
// wrong output.
// typename Symmetric3::AlphaSkewSquare mcxcx(I.mass(),I.lever());
// const Symmetric3 I_mcxcx(I.inertia() - mcxcx);
// Iout_.template block<3,3>(ANGULAR,ANGULAR) += I_mcxcx.vxs(v.angular());
Symmetric3 mcxcx(typename Symmetric3::AlphaSkewSquare(I.mass(),I.lever())); Symmetric3 mcxcx(typename Symmetric3::AlphaSkewSquare(I.mass(),I.lever()));
Iout_.template block<3,3>(ANGULAR,ANGULAR) += I.inertia().vxs(v.angular()); Iout_.template block<3,3>(ANGULAR,ANGULAR) += I.inertia().vxs(v.angular());
Iout_.template block<3,3>(ANGULAR,ANGULAR) -= mcxcx.vxs(v.angular()); Iout_.template block<3,3>(ANGULAR,ANGULAR) -= mcxcx.vxs(v.angular());
......
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