switch to F major
@@ -70,16 +70,16 @@ class BaseET:
if self.eta is None:
if T is None:
self._joint = True
- self._T = eye(4)
+ self._T = eye(4).copy(order="F")
if axis_func is None:
raise TypeError("For a variable joint, axis_func must be specified")
else:
self._joint = False
- self._T = T
+ self._T = T.copy(order="F")
else:
self._joint = False
if axis_func is not None:
- self._T = axis_func(self.eta)
+ self._T = axis_func(self.eta).copy(order="F")
else:
raise TypeError(
"For a static joint either both `eta` and `axis_func` "
@@ -472,9 +472,9 @@ class BaseET:
if inv.isjoint:
inv._flip ^= True
elif not inv.iselementary:
- inv._T = npinv(inv._T)
+ inv._T = npinv(inv._T).copy(order="F")
elif inv._eta is not None:
- inv._T = npinv(inv._T)
+ inv._T = npinv(inv._T).copy(order="F")
inv._eta = -inv._eta
inv.__update_c()
