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e3b613af

Commit e3b613af authored 10 years ago by Nicolas Mansard Committed by Valenza Florian 10 years ago

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Proper implementation of sym3. RNEA=5.7us, CRBA=4.8us.

parent f3667f3f

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src/multibody/joint/joint-free-flyer.hpp 1 addition, 1 deletion

src/multibody/joint/joint-free-flyer.hpp
src/spatial/inertia.hpp 9 additions, 9 deletions

src/spatial/inertia.hpp
src/spatial/symmetric3.hpp 32 additions, 0 deletions

src/spatial/symmetric3.hpp
unittest/symmetric.cpp 10 additions, 0 deletions

unittest/symmetric.cpp
unittest/tspatial.cpp 183 additions, 184 deletions

unittest/tspatial.cpp

with 235 additions and 194 deletions

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