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Commit 37268129 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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fix cast

parent 522e82c7
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1 merge request!149Constraint abs
...@@ -68,7 +68,7 @@ inline bool ConstraintQuaternionAbsolute::operator ()(const T* const _o, T* _res ...@@ -68,7 +68,7 @@ inline bool ConstraintQuaternionAbsolute::operator ()(const T* const _o, T* _res
*/ */
Eigen::Matrix<T, 3, 1> er; Eigen::Matrix<T, 3, 1> er;
er = log_q( q2.cast<T> * q1.conjugate() ); er = log_q( q2.cast<T>() * q1.conjugate() );
// residual // residual
Eigen::Map<Eigen::Matrix<T, 3, 1>> res(_residuals); Eigen::Map<Eigen::Matrix<T, 3, 1>> res(_residuals);
......
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