Commit 86fb541d authored by jcarpent's avatar jcarpent
Browse files

[Spatial] Fix bug related to 16.04 & 17.10

parent cce07756
......@@ -407,10 +407,11 @@ namespace se3
//// Block 2,2
skewSquare(-v.linear(),mc,Iout_.template block<3,3>(ANGULAR,ANGULAR));
typename Symmetric3::AlphaSkewSquare mcxcx(I.mass(),I.lever());
// typename Symmetric3::AlphaSkewSquare mcxcx(I.mass(),I.lever());
// const Symmetric3 I_mcxcx(I.inertia() - mcxcx);
Symmetric3 I_mcxcx(I.inertia()); I_mcxcx -= mcxcx;
Iout_.template block<3,3>(ANGULAR,ANGULAR) += I_mcxcx.vxs(v.angular());
Symmetric3 mcxcx(typename Symmetric3::AlphaSkewSquare(I.mass(),I.lever()));
Iout_.template block<3,3>(ANGULAR,ANGULAR) += I.inertia().vxs(v.angular());
Iout_.template block<3,3>(ANGULAR,ANGULAR) -= mcxcx.vxs(v.angular());
}
......
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