Commit 5e943355 authored by jcarpent's avatar jcarpent
Browse files

[Joints] Correc return of S.transpose()*f operations

parent dd04582e
......@@ -157,7 +157,9 @@ namespace se3
typedef Eigen::Matrix<
typename EIGEN_DOT_PRODUCT_RETURN_TYPE(Vector3,typename ForceDense<Derived>::ConstLinearType),
1,1> ReturnType;
return ReturnType(ref.axis.dot(f.linear()));
ReturnType res; res[0] = ref.axis.dot(f.linear());
return res;
}
/* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
......
......@@ -159,7 +159,9 @@ namespace se3
typedef Eigen::Matrix<
typename EIGEN_DOT_PRODUCT_RETURN_TYPE(Vector3,typename ForceDense<Derived>::ConstAngularType),
1,1> ReturnType;
return ReturnType(ref.axis.dot(f.angular()));
ReturnType res; res[0] = ref.axis.dot(f.angular());
return res;
}
/* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
......
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