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Commit 935de1db authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix formula of matrix Q

parent 3cf48ae1
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...@@ -431,7 +431,7 @@ inline void QandPmat(const MatrixBase<D1>& th, MatrixBase<D2>& Q, MatrixBase<D3> ...@@ -431,7 +431,7 @@ inline void QandPmat(const MatrixBase<D1>& th, MatrixBase<D2>& Q, MatrixBase<D3>
Q = Id Q = Id
+ ((1 - cos_thn)/thn)*ux + ((1 - cos_thn)/thn)*ux
+ ((thn - sin_thn)/thn2)*(ux2); + ((thn - sin_thn)/thn)*(ux2);
P = 0.5*Id P = 0.5*Id
+ ((thn - sin_thn)/thn2)*ux + ((thn - sin_thn)/thn2)*ux
......
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