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Stack Of Tasks
pinocchio
Commits
e1e2eeff
Verified
Commit
e1e2eeff
authored
Dec 17, 2019
by
Justin Carpentier
Browse files
joints: fix operations
parent
50b407b6
Changes
1
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Inline
Side-by-side
src/multibody/joint/joint-prismatic-unaligned.hpp
View file @
e1e2eeff
...
...
@@ -65,8 +65,8 @@ namespace pinocchio
template
<
typename
Vector3Like
,
typename
S2
>
MotionPrismaticUnalignedTpl
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
axis
,
const
S2
&
m_
v
)
:
m_axis
(
axis
),
m_v
(
m_
v
)
const
S2
&
v
)
:
m_axis
(
axis
),
m_v
(
v
)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE
(
Vector3Like
,
3
);
}
inline
PlainReturnType
plain
()
const
...
...
@@ -168,7 +168,7 @@ namespace pinocchio
operator
+
(
const
MotionPrismaticUnalignedTpl
<
Scalar
,
Options
>
&
m1
,
const
MotionDense
<
MotionDerived
>
&
m2
)
{
typedef
typename
MotionDerived
::
MotionPlain
ReturnType
;
return
ReturnType
(
m1
.
m_v
*
m1
.
axis
+
m2
.
linear
(),
m2
.
angular
());
return
ReturnType
(
m1
.
linearRate
()
*
m1
.
axis
()
+
m2
.
linear
(),
m2
.
angular
());
}
template
<
typename
MotionDerived
,
typename
S2
,
int
O2
>
...
...
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