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Adds M-frame algorithms through inverse dynamics
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math/cross_product.h

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,11 @@ drake::Matrix3<typename Derived::Scalar> VectorToSkewSymmetric(
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Eigen::MatrixBase<Derived>, 3);
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drake::Matrix3<typename Derived::Scalar> ret;
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ret << 0.0, -p(2), p(1), p(2), 0.0, -p(0), -p(1), p(0), 0.0;
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// clang-format off
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ret << 0.0, -p(2), p(1),
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p(2), 0.0, -p(0),
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-p(1), p(0), 0.0;
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// clang-format on
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return ret;
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}
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