From e195818540fb05348435191379bec93c4cc9b068 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 1 Apr 2016 18:50:00 +0200
Subject: [PATCH] Avoid returning nest FclOp. Fix infinite loop in
FcpOp::isZero
---
include/hpp/fcl/eigen/vec_3fx.h | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/hpp/fcl/eigen/vec_3fx.h b/include/hpp/fcl/eigen/vec_3fx.h
index f6bf9772..4d50c6e9 100644
--- a/include/hpp/fcl/eigen/vec_3fx.h
+++ b/include/hpp/fcl/eigen/vec_3fx.h
@@ -55,17 +55,17 @@
#define FCL_EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
template <typename OtherDerived> \
- EIGEN_STRONG_INLINE const FclOp<const CwiseBinaryOp<FUNCTOR<Scalar>, const FCL_EIGEN_CURRENT_CLASS, const OtherDerived> > \
+ EIGEN_STRONG_INLINE const FclOp<const CwiseBinaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived> > \
(METHOD) (const MatrixBase<OtherDerived>& other) const \
{ \
- return FclOp <const CwiseBinaryOp<FUNCTOR<Scalar>, const FCL_EIGEN_CURRENT_CLASS, const OtherDerived> > (*this, other.derived()); \
+ return FclOp <const CwiseBinaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base, const OtherDerived> > (*this, other.derived()); \
}
#define FCL_EIGEN_MAKE_CWISE_UNARY_OP(METHOD,FUNCTOR) \
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<FUNCTOR<Scalar>, const FCL_EIGEN_CURRENT_CLASS> > \
+ EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base> > \
(METHOD) (const Scalar& scalar) const \
{ \
- return FclOp <const CwiseUnaryOp<FUNCTOR<Scalar>, const FCL_EIGEN_CURRENT_CLASS> > (*this, FUNCTOR<Scalar>(scalar)); \
+ return FclOp <const CwiseUnaryOp<FUNCTOR<Scalar>, const typename FCL_EIGEN_CURRENT_CLASS::Base> > (*this, FUNCTOR<Scalar>(scalar)); \
}
#define FCL_EIGEN_RENAME_PARENT_METHOD(OLD,NEW,RETTYPE) \
@@ -120,7 +120,7 @@
#define FCL_EIGEN_MAKE_CROSS() \
template<typename OtherDerived> \
- EIGEN_STRONG_INLINE typename BinaryReturnType<FCL_EIGEN_CURRENT_CLASS,OtherDerived>::Cross \
+ EIGEN_STRONG_INLINE typename BinaryReturnType<FCL_EIGEN_CURRENT_CLASS::Base,OtherDerived>::Cross \
cross (const MatrixBase<OtherDerived>& other) const { return this->Base::cross (other); }
#define FCL_EIGEN_MAKE_DOT() \
@@ -528,10 +528,10 @@ public:
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator+,internal::scalar_add_op)
// This operator cannot be implement with the macro
// FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator-,internal::scalar_difference_op)
- EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const FclOp> >
+ EIGEN_STRONG_INLINE const FclOp<const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> >
operator- (const Scalar& scalar) const
{
- return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const FclOp> > (*this, internal::scalar_add_op<Scalar>(-scalar));
+ return FclOp <const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Base> > (*this, internal::scalar_add_op<Scalar>(-scalar));
}
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator*,internal::scalar_multiple_op)
FCL_EIGEN_MAKE_CWISE_UNARY_OP(operator/,internal::scalar_quotient1_op)
@@ -601,7 +601,7 @@ public:
bool isZero() const
{
- return this->isZero ();
+ return this->Base::isZero ();
}
const FclOp<Transpose<const FclOp> > transpose () const {
--
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