Merge branch 'release-3.0' of github.com:dartsim/dart into release-3.0

dartsim · Jan 10, 2014 · ed15686 · ed15686
2 parents 82291dd + cb073fb
commit ed15686
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/src/dynamics/BodyNode.cpp b/src/dynamics/BodyNode.cpp
@@ -229,9 +229,13 @@ const Eigen::Vector6d&BodyNode::getBodyAcceleration() const
 Eigen::Vector6d BodyNode::getWorldAcceleration(
         const Eigen::Vector3d& _offset) const
 {
-    Eigen::Isometry3d T = mW;
-    T.translation() = -_offset;
-    return math::AdT(T, mdV);
+  Eigen::Isometry3d T = mW;
+  T.translation() = -_offset;
+
+  Eigen::Vector6d dV = mdV;
+  dV.tail<3>() += mV.head<3>().cross(mV.tail<3>());
+
+  return math::AdT(T, dV);
 }
 
 const math::Jacobian&BodyNode::getBodyJacobian() const

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
@@ -29,7 +29,7 @@ if(NOT WIN32)
     add_library(gtest /usr/local/share/gtest/src/gtest-all.cc ${gtest_hdrs})
   endif()
 
-  target_link_libraries(gtest)
+  target_link_libraries(gtest pthread)
   set_target_properties (gtest PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 endif()
 
@@ -47,10 +47,6 @@ foreach(test ${tests})
 		target_link_libraries(${base} dart gtest)
 	endif()
 
-	# Link to pthread if necessary
-	if(APPLE OR UNIX)
-		target_link_libraries(${base} pthread)
-	endif()
 	set_target_properties(${base} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/tests")
 
 	# Add the executable if not to be ignored