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supports slide joints in calcCMJacobian()

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fkanehiro committed Apr 3, 2016
1 parent b9b1b85 commit 7b674f88af1100ae0d85bdc6c45cb1f18ae648ea
Showing with 6 additions and 0 deletions.
  1. +6 −0 hrplib/hrpModel/Body.cpp
@@ -900,6 +900,12 @@ void Body::calcCMJacobian(Link *base, dmatrix &J)
J.col(j->jointId) = dp;
break;
}
case Link::SLIDE_JOINT:
{
Vector3 dp((j->subm/totalMass_)*sgn[j->jointId]*j->R*j->d);
J.col(j->jointId) = dp;
break;
}
default:
std::cerr << "calcCMJacobian() : unsupported jointType("
<< j->jointType << ")" << std::endl;

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