Verified Commit 38b77074 authored by Justin Carpentier's avatar Justin Carpentier Committed by Justin Carpentier
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[Joint] Use right typedef

parent e7105eaa
......@@ -311,10 +311,11 @@ namespace se3
const ConstraintSphericalTpl<S2,O2> &)
{
typedef InertiaTpl<S1,O1> Inertia;
typedef typename Inertia::Symmetric3 Symmetric3;
Eigen::Matrix<S2,6,3,O2> M;
// M.block <3,3> (Inertia::LINEAR, 0) = - Y.mass () * skew(Y.lever ());
M.template block<3,3>(Inertia::LINEAR,0) = alphaSkew(-Y.mass(), Y.lever());
M.template block<3,3>(Inertia::ANGULAR,0) = (Y.inertia() - Symmetric3::AlphaSkewSquare(Y.mass(), Y.lever())).matrix();
M.template block<3,3>(Inertia::ANGULAR,0) = (Y.inertia() - typename Symmetric3::AlphaSkewSquare(Y.mass(), Y.lever())).matrix();
return M;
}
......
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