diff options
Diffstat (limited to 'intern/itasc/ConstraintSet.cpp')
| -rw-r--r-- | intern/itasc/ConstraintSet.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp index b07dc5bb983..e21cd36e4c8 100644 --- a/intern/itasc/ConstraintSet.cpp +++ b/intern/itasc/ConstraintSet.cpp @@ -1,7 +1,7 @@ /** \file itasc/ConstraintSet.cpp * \ingroup itasc */ -/* $Id$ +/* * ConstraintSet.cpp * * Created on: Jan 5, 2009 @@ -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 |