public static void constraintMatrix6x3( DMatrixRMaj L_6x10 , DMatrixRMaj L_6x3 ) {

		int index = 0;
		for( int i = 0; i < 6; i++ ) {
			L_6x3.data[index++] = L_6x10.get(i,0);
			L_6x3.data[index++] = L_6x10.get(i,1);
			L_6x3.data[index++] = L_6x10.get(i,4);
		}
	}
public static void constraintMatrix6x3 ( DMatrixRMaj L_6x10 , DMatrixRMaj L_6x3 ) { int index = 0 ; for ( int i = 0 ; i < 6 ; i ++ ) { L_6x3 . data [ index ++ ] = L_6x10 . get ( i , 0 ) ; L_6x3 . data [ index ++ ] = L_6x10 . get ( i , 1 ) ; L_6x3 . data [ index ++ ] = L_6x10 . get ( i , 4 ) ; } }
Extracts the linear constraint matrix for case 2 from the full 6x10 constraint matrix.