Verified Commit 9cd8d2cc authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/check: fix check of Hessian dimensions

Bug related to Eigen 3.2.92
parent a03a73f0
//
// Copyright (c) 2016-2019 CNRS INRIA
// Copyright (c) 2016-2020 CNRS INRIA
//
#ifndef __pinocchio_check_hxx__
......@@ -121,8 +121,13 @@ namespace pinocchio
//CHECK_DATA( data.impulse_c.size()== model.nv );
CHECK_DATA( data.kinematic_hessians.dimension(0) == 6);
#if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,2,93)
CHECK_DATA( data.kinematic_hessians.dimension(1) == std::max(1,model.nv));
CHECK_DATA( data.kinematic_hessians.dimension(2) == std::max(1,model.nv));
#else
CHECK_DATA( data.kinematic_hessians.dimension(1) == model.nv);
CHECK_DATA( data.kinematic_hessians.dimension(2) == model.nv);
#endif
CHECK_DATA( (int)data.oMf.size() == model.nframes );
......
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