Commit 8014c691 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub

Merge pull request #863 from jcarpent/devel

Fix issue #862
parents 8075e2e2 cb1d8e2e
......@@ -6,6 +6,7 @@
#define __pinocchio_spatial_explog_quaternion_hpp__
#include "pinocchio/math/quaternion.hpp"
#include "pinocchio/spatial/explog.hpp"
#include "pinocchio/utils/static-if.hpp"
namespace pinocchio
......@@ -188,7 +189,7 @@ namespace pinocchio
Scalar t;
Vector3 w(log3(quat,t));
pinocchio::Jlog3(t,w,Jlog);
pinocchio::Jlog3(t,w,PINOCCHIO_EIGEN_CONST_CAST(Matrix3Like,Jlog));
}
} // namespace quaternion
}
......
......@@ -233,7 +233,7 @@ namespace pinocchio
Scalar t;
Vector3 w(log3(R,t));
Jlog3(t,w,Jlog);
Jlog3(t,w,PINOCCHIO_EIGEN_CONST_CAST(Matrix3Like2,Jlog));
}
///
......
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