Commit fadb592e authored by jcarpent's avatar jcarpent
Browse files

To merge with [Spatial] Overload actOnSet function with optional operator affectati…

parent 3d07a294
......@@ -197,13 +197,6 @@ namespace se3
assert(false && "Wrong Op requesed value");
break;
}
//
// Eigen::VectorBlock<const Mat,3> linear = iF.template head<3>();
// Eigen::VectorBlock<const Mat,3> angular = iF.template tail<3>();
//
// const_cast<Eigen::MatrixBase<MatRet> &>(jF).template head <3>() = m.rotation()*linear;
// const_cast<Eigen::MatrixBase<MatRet> &>(jF).template tail <3>() = (m.translation().cross(jF.template head<3>())
// + m.rotation()*angular);
}
};
......@@ -318,15 +311,6 @@ namespace se3
assert(false && "Wrong Op requesed value");
break;
}
// Eigen::VectorBlock<const Mat,3> linear = iF.template head<3>();
// Eigen::VectorBlock<const Mat,3> angular = iF.template tail<3>();
//
// const_cast<Eigen::MatrixBase<MatRet> &>(jF).template head <3>()
// = angular - m.translation().cross(linear); // use as temporary variable (TODO: check performance gains)
// const_cast<Eigen::MatrixBase<MatRet> &>(jF).template tail <3>()
// = m.rotation().transpose()* jF.template head <3>();
// const_cast<Eigen::MatrixBase<MatRet> &>(jF).template head <3>()
// = m.rotation().transpose()*linear;
}
};
......@@ -450,14 +434,6 @@ namespace se3
assert(false && "Wrong Op requesed value");
break;
}
// Eigen::VectorBlock<const Mat,3> linear = iV.template head<3>();
// Eigen::VectorBlock<const Mat,3> angular = iV.template tail<3>();
//
// /* ( R*v + px(Rw), Rw ) */
// const_cast<Eigen::MatrixBase<MatRet> &>(jV).template tail <3>()
// = m.rotation()*angular;
// const_cast<Eigen::MatrixBase<MatRet> &>(jV).template head <3>()
// = (m.translation().cross(jV.template tail<3>()) + m.rotation()*linear);
}
};
......@@ -583,17 +559,6 @@ namespace se3
assert(false && "Wrong Op requesed value");
break;
}
// Eigen::VectorBlock<const Mat,3> linear = iV.template head<3>();
// Eigen::VectorBlock<const Mat,3> angular = iV.template tail<3>();
//
// const_cast<Eigen::MatrixBase<MatRet> &>(jV).template tail <3>()
// = linear - m.translation().cross(angular); // use as temporary variable
// const_cast<Eigen::MatrixBase<MatRet> &>(jV).template head <3>()
// = m.rotation().transpose()*jV.template tail<3>();
// const_cast<Eigen::MatrixBase<MatRet> &>(jV).template tail <3>()
// = m.rotation().transpose()*angular;
}
};
......
......@@ -308,7 +308,7 @@ BOOST_AUTO_TEST_CASE ( test_Force )
BOOST_AUTO_TEST_CASE (test_force_ref)
{
using namespace se3;
typedef SE3::Matrix6 Matrix6;
typedef Force::Vector6 Vector6;
typedef ForceRef<Vector6> ForceV6;
......
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