Commit 4de5e1a4 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Implement VectorSpaceOperationTpl::dIntegrate_product_impl

parent a212763e
......@@ -150,6 +150,30 @@ namespace pinocchio
}
}
template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrate_product_impl(const Config_t &,
const Tangent_t &,
const JacobianIn_t & Jin,
JacobianOut_t & Jout,
bool,
const ArgumentPosition,
const AssignmentOperatorType op) const
{
switch(op) {
case SETTO:
Jout = Jin;
break;
case ADDTO:
Jout += Jin;
break;
case RMTO:
Jout -= Jin;
break;
default:
assert(false && "Wrong Op requesed value");
break;
}
}
template <class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void dIntegrateTransport_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
......
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