Verified Commit 299532ed authored by Silvio Traversaro's avatar Silvio Traversaro Committed by Justin Carpentier
Browse files
parent d9123ddf
......@@ -28,10 +28,9 @@ namespace pinocchio
public:
Symmetric3Tpl(): m_data() {}
template<typename Sc,int N,int Opt>
explicit Symmetric3Tpl(const Eigen::Matrix<Sc,N,N,Opt> & I)
template<typename Sc,int Opt>
explicit Symmetric3Tpl(const Eigen::Matrix<Sc,3,3,Opt> & I)
{
EIGEN_STATIC_ASSERT(N==3,THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
assert( (I-I.transpose()).isMuchSmallerThan(I) );
m_data(0) = I(0,0);
m_data(1) = I(1,0); m_data(2) = I(1,1);
......
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