Commit 7a1c5682 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix wrong asserts.

parent 7d7b8fad
......@@ -110,9 +110,9 @@ namespace pinocchio {
PINOCCHIO_UNUSED_VARIABLE(self);
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t);
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t);
assert(Jin.cols() == nv());
assert(Jout.cols() == nv());
assert(Jout.rows() == Jin.rows());
assert(Jin.rows() == nv());
assert(Jout.rows() == nv());
assert(Jout.cols() == Jin.cols());
derived().dIntegrate_product_impl(
q.derived(), v.derived(),
Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout),
......@@ -171,9 +171,9 @@ namespace pinocchio {
PINOCCHIO_UNUSED_VARIABLE(self);
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t , ConfigVector_t);
EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Tangent_t , TangentVector_t);
assert(Jin.cols() == nv());
assert(Jout.cols() == nv());
assert(Jout.rows() == Jin.rows());
assert(Jin.rows() == nv());
assert(Jout.rows() == nv());
assert(Jout.cols() == Jin.cols());
derived().dIntegrate_product_impl(
q.derived(), v.derived(),
Jin.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout),
......
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