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Another set of UI messages fixes and tweaks! No functional changes.

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This commit is contained in:
Bastien Montagne
2011-10-23 19:54:06 +00:00
parent 8a6a3dbb54
commit c49cdf5eec
8 changed files with 25 additions and 24 deletions
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6
intern/itasc/ConstraintSet.cpp
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@@ -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