diff options
| author | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:39:20 +0400 |
|---|---|---|
| committer | Bastien Montagne <montagne29@wanadoo.fr> | 2011-10-23 23:39:20 +0400 |
| commit | 8a6a3dbb547bc87759fda875ad2fdd85bb32835c (patch) | |
| tree | 8f9be67a532db092c26bb9f3eb91ea9309b94b8f /intern/itasc/WDLSSolver.cpp | |
| parent | 82c84f4b58e0d836361a2cadc9ce2941a3d4ff39 (diff) | |
Fix for commit 41227 (Some opening comment tags (/*) were lost!).
Diffstat (limited to 'intern/itasc/WDLSSolver.cpp')
| -rw-r--r-- | intern/itasc/WDLSSolver.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/intern/itasc/WDLSSolver.cpp b/intern/itasc/WDLSSolver.cpp index d03c38396c7..a4146149d30 100644 --- a/intern/itasc/WDLSSolver.cpp +++ b/intern/itasc/WDLSSolver.cpp @@ -65,10 +65,10 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd if(ret<0) return false; - m_WqV.noalias() = Wq*m_V; + m_WqV = (Wq*m_V).lazy(); //Wy*ydot - m_Wy_ydot = Wy.array() * ydot.array(); + m_Wy_ydot = Wy.cwise() * ydot; //S^-1*U'*Wy*ydot e_scalar maxDeltaS = e_scalar(0.0); e_scalar prevS = e_scalar(0.0); @@ -85,7 +85,7 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd } lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0); alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda); - vmax = m_WqV.col(i).array().abs().maxCoeff(); + vmax = m_WqV.col(i).cwise().abs().maxCoeff(); norm = fabs(alpha*vmax); if (norm > m_qmax) { qdot += m_WqV.col(i)*(alpha*m_qmax/norm); |