[KDL] chainjnttojacsolver

Submitted by Baris Akgun on Wed, 2010-04-14 14:20

Hi all,

I have a question regarding the chainjnttojacsolver.cpp

Should the statement on line 52,

if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_==jac.columns())

be like the following

if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns())
?

Regards,
Baris

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Ruben Smits's picture

[KDL] chainjnttojacsolver

Submitted by Ruben Smits on Wed, 2010-04-14 14:24.

On Wednesday 14 April 2010 16:16:38 Baris wrote:
> Hi all,
>
> I have a question regarding the chainjnttojacsolver.cpp
>
> Should the statement on line 52,
>
> if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_==jac.columns(
> ))
>
>
> be like the following
>
> if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns(
> )) ?

Yep, thanks for reporting

> Regards,
> Baris

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