Commit f55a5e11 by Rohan Budhiraja

### liegroup/cartesian-product: transportinplace

parent 40920203
 ... @@ -202,6 +202,27 @@ namespace pinocchio ... @@ -202,6 +202,27 @@ namespace pinocchio lg2_.dIntegrateTransport_dv(Q2(q), V2(v), Jin.template bottomRows(),Jout.template bottomRows()); lg2_.dIntegrateTransport_dv(Q2(q), V2(v), Jin.template bottomRows(),Jout.template bottomRows()); } } template void dIntegrateTransportInPlace_dq_impl(const Eigen::MatrixBase & q, const Eigen::MatrixBase & v, const Eigen::MatrixBase & Jin) const { Jacobian_t& J = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,Jin); lg1_.dIntegrateTransport_dq(Q1(q), V1(v), J.template topRows()); lg2_.dIntegrateTransport_dq(Q2(q), V2(v), J.template bottomRows()); } template void dIntegrateTransportInPlace_dv_impl(const Eigen::MatrixBase & q, const Eigen::MatrixBase & v, const Eigen::MatrixBase & Jin) const { Jacobian_t& J = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,Jin); lg1_.dIntegrateTransport_dv(Q1(q), V1(v), J.template topRows()); lg2_.dIntegrateTransport_dv(Q2(q), V2(v), J.template bottomRows()); } template template Scalar squaredDistance_impl(const Eigen::MatrixBase & q0, Scalar squaredDistance_impl(const Eigen::MatrixBase & q0, const Eigen::MatrixBase & q1) const const Eigen::MatrixBase & q1) const ... ...
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