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Proper implementation of sym3. RNEA=5.7us, CRBA=4.8us.
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- src/multibody/joint/joint-free-flyer.hpp 1 addition, 1 deletionsrc/multibody/joint/joint-free-flyer.hpp
- src/spatial/inertia.hpp 9 additions, 9 deletionssrc/spatial/inertia.hpp
- src/spatial/symmetric3.hpp 32 additions, 0 deletionssrc/spatial/symmetric3.hpp
- unittest/symmetric.cpp 10 additions, 0 deletionsunittest/symmetric.cpp
- unittest/tspatial.cpp 183 additions, 184 deletionsunittest/tspatial.cpp
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