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BUG: Datatype Mismatch in ikinem.m  #135

@Lzshanshan

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@Lzshanshan

Hello,

The data types of below T and Tq are both SE3 that is conflict with dot operation.

dd = dot(T(1:3,opt.col), Tq(1:3,opt.col));

Regards,
Zhenshan

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