Verified Commit 8f52b6ad authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/joint-config: minor fix

parent fa24c342
......@@ -415,10 +415,10 @@ namespace pinocchio
*/
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg);
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg);
/**
*
......@@ -438,12 +438,12 @@ namespace pinocchio
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType, typename JacobianMatrixType>
void dIntegrateTransport(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg)
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v,
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg)
{
dIntegrateTransportInPlace<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
dIntegrateTransport<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
}
/**
......
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