Commit f0a2816f authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

liegroup/vector: transport in place

parent 8b1491fb
......@@ -169,6 +169,18 @@ namespace pinocchio
PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,Jout) = Jin;
}
template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransportInPlace_dq_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<Jacobian_t> & /*J*/) const {}
template <class Config_t, class Tangent_t, class Jacobian_t>
void dIntegrateTransportInPlace_dv_impl(const Eigen::MatrixBase<Config_t > & /*q*/,
const Eigen::MatrixBase<Tangent_t> & /*v*/,
const Eigen::MatrixBase<Jacobian_t> & J) const {}
// template <class ConfigL_t, class ConfigR_t>
// static double squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
// const Eigen::MatrixBase<ConfigR_t> & q1)
......
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