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robotology-legacy / mex-wholebodymodel

Matlab MEX interface to the iWholeBodyModel interface.
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Matrix ordering #21

Closed francesco-romano closed 9 years ago

francesco-romano commented 9 years ago

Matlab serialises matrices in Column Major ordering while wbi uses the Row major ordering.

Functions must take this issue in consideration (currently I think only the Jacobian computation is affected).

DanielePucci commented 9 years ago

Hi guys, did we fix this?

DanielePucci commented 9 years ago

I verified it after some debugging: we did not.

naveenoid commented 9 years ago

Sorry missed this issue..fixing it by tonight.

Naveen Kuppuswamy, PhD Post-doctoral Fellow, Cognitive Humanoids Lab, Department of Robotics, Brain and Cognitive Sciences (RBCS), Istituto Italiano di Tecnologia, Genova, Italy

On Tue, May 26, 2015 at 3:05 PM, Daniele notifications@github.com wrote:

I verify after some debugging: we did not.

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/mex-wholebodymodel/issues/21#issuecomment-105519559 .

naveenoid commented 9 years ago

Would a temporary workaround in the wrapper wbm_jacobian using reshape()' be sufficient for now? I can push a C++ solution properly.

naveenoid commented 9 years ago

8d884f32b84bac3d01b245397bdbd9cef55e874b