From e2be3766688c544d215bf31e96c2fc1a15b410e8 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 22 Mar 2023 13:17:28 +0100
Subject: [PATCH] fix: float / double
---
VirtualRobot/Manipulability/AbstractManipulability.cpp | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/VirtualRobot/Manipulability/AbstractManipulability.cpp b/VirtualRobot/Manipulability/AbstractManipulability.cpp
index fa39669db..a2a83e05e 100644
--- a/VirtualRobot/Manipulability/AbstractManipulability.cpp
+++ b/VirtualRobot/Manipulability/AbstractManipulability.cpp
@@ -112,7 +112,6 @@ void AbstractManipulability::getEllipsoidOrientationAndScale(const Eigen::Matrix
constexpr std::size_t POSITION_DIMS = 3;
constexpr std::size_t ORIENTATION_DIMS = 3;
- constexpr std::size_t POSE_DIMS = POSITION_DIMS + ORIENTATION_DIMS;
const Eigen::MatrixXd reduced_manipulability =
(mode != Mode::Orientation || manipulability.rows() == 3)
@@ -137,7 +136,7 @@ void AbstractManipulability::getEllipsoidOrientationAndScale(const Eigen::Matrix
rotationMatrix.col(1) = eigenVectors.col(1);
rotationMatrix.col(2) = rotationMatrix.col(0).cross(rotationMatrix.col(1));
- orientation = rotationMatrix;
+ orientation = rotationMatrix.cast<float>();
scale = eigenValues.reverse();
--
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