diff options
author | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:39:20 +0400 |
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committer | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:39:20 +0400 |
commit | 8a6a3dbb547bc87759fda875ad2fdd85bb32835c (patch) | |
tree | 8f9be67a532db092c26bb9f3eb91ea9309b94b8f /intern/itasc/ConstraintSet.cpp | |
parent | 82c84f4b58e0d836361a2cadc9ce2941a3d4ff39 (diff) |
Fix for commit 41227 (Some opening comment tags (/*) were lost!).
Diffstat (limited to 'intern/itasc/ConstraintSet.cpp')
-rw-r--r-- | intern/itasc/ConstraintSet.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp index e21cd36e4c8..74926df3092 100644 --- a/intern/itasc/ConstraintSet.cpp +++ b/intern/itasc/ConstraintSet.cpp @@ -80,7 +80,7 @@ void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp double ConstraintSet::getMaxTimestep(double& timestep) { - e_scalar maxChidot = m_chidot.array().abs().maxCoeff(); + e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff(); if (timestep*maxChidot > m_maxDeltaChi) { timestep = m_maxDeltaChi/maxChidot; } @@ -162,9 +162,9 @@ bool ConstraintSet::closeLoop(){ }else m_B.row(i) = m_U.col(i)/m_S(i); - m_Jf_inv.noalias()=m_V*m_B; + m_Jf_inv=(m_V*m_B).lazy(); - m_chi.noalias()+=m_Jf_inv*m_tdelta; + m_chi+=(m_Jf_inv*m_tdelta).lazy(); updateJacobian(); // m_externalPose-m_internalPose in end effector frame // this is just to compare the pose, a different formula would work too |