Commit 995d2fed authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Fix HolonomicConstraint::computeProjector

parent d529bffa
......@@ -103,8 +103,9 @@ namespace dynamicgraph {
Matrix& HolonomicConstraint::computeProjector (Matrix& projector, const int& )
{
projector.resize(6, dim_ - 6);
projector.setZero();
projector.resize(6, dim_);
projector.leftCols<6>().setIdentity();
projector.rightCols(dim_-6).setZero();
return projector;
}
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment