Update to use CBA in MBP::CalcTamsiResults() (RobotLocomotion#12838)

* Update to use CBA in MBP::CalcTamsiResults()
Slumon · Mar 9, 2020 · 3809514 · 3809514
1 parent 7875b8b
commit 3809514
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/multibody/plant/multibody_plant.cc b/multibody/plant/multibody_plant.cc
@@ -1821,7 +1821,7 @@ void MultibodyPlant<T>::CalcTamsiResults(
 
   // Mass matrix and its factorization.
   MatrixX<T> M0(nv, nv);
-  internal_tree().CalcMassMatrixViaInverseDynamics(context0, &M0);
+  internal_tree().CalcMassMatrix(context0, &M0);
   auto M0_ldlt = M0.ldlt();
 
   // Forces at the previous time step.