diff options
| author | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:54:06 +0400 |
|---|---|---|
| committer | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:54:06 +0400 |
| commit | c49cdf5eec1ec70008c12f7b6cbfdad75dde3b16 (patch) | |
| tree | 2bfb462aac626a4e9bfd868b046722a14cdb959d /intern/itasc/ConstraintSet.cpp | |
| parent | 8a6a3dbb547bc87759fda875ad2fdd85bb32835c (diff) | |
Another set of UI messages fixes and tweaks! No functional changes.
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 74926df3092..e21cd36e4c8 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.cwise().abs().maxCoeff(); + e_scalar maxChidot = m_chidot.array().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=(m_V*m_B).lazy(); + m_Jf_inv.noalias()=m_V*m_B; - m_chi+=(m_Jf_inv*m_tdelta).lazy(); + m_chi.noalias()+=m_Jf_inv*m_tdelta; updateJacobian(); // m_externalPose-m_internalPose in end effector frame // this is just to compare the pose, a different formula would work too |