Commit e78c0a86 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

cast hardcoded numbers as scalars

parent a5ce89eb
......@@ -215,7 +215,7 @@ namespace pinocchio
Jout.diagonal().array() += Scalar(0.5) * (2 - theta*theta / Scalar(6));
// Jlog += r_{\times}/2
addSkew(0.5 * log, Jlog);
addSkew(Scalar(0.5) * log, Jlog);
}
else
{
......@@ -229,7 +229,7 @@ namespace pinocchio
Jout.diagonal().array() += Scalar(0.5) * (theta*st_1mct);
// Jlog += r_{\times}/2
addSkew(0.5 * log, Jlog);
addSkew(Scalar(0.5) * log, Jlog);
}
}
......@@ -373,7 +373,7 @@ namespace pinocchio
beta = Scalar(1)/t2 - st/(Scalar(2)*t*(Scalar(1)-ct));
}
return Motion(alpha * p - 0.5 * w.cross(p) + beta * w.dot(p) * w,
return Motion(alpha * p - Scalar(0.5) * w.cross(p) + beta * w.dot(p) * w,
w);
}
......@@ -523,7 +523,7 @@ namespace pinocchio
C.noalias() = v3_tmp * w.transpose();
C.noalias() += beta * w * p.transpose();
C.diagonal().array() += wTp * beta;
addSkew(.5*p,C);
addSkew(Scalar(.5)*p,C);
B.noalias() = C * A;
C.setZero();
......
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