Commit ae65de7f authored by Justin Carpentier's avatar Justin Carpentier
Browse files

[Joints] Fix warning.

I don't know why, but for some old compiler, they cannot guess right template arguments.
Should be fixed later.
parent 58d2874e
...@@ -241,30 +241,30 @@ namespace se3 ...@@ -241,30 +241,30 @@ namespace se3
} }
/* [ABA] Y*S operator (Inertia Y,Constraint S) */ /* [ABA] Y*S operator (Inertia Y,Constraint S) */
// inline Eigen::Matrix<double,6,3> // template <typename _Scalar, int _Options>
template <typename _Scalar, int _Options> // inline Eigen::Matrix<_Scalar,6,3,_Options>
#ifdef EIGEN3_FUTURE //#ifdef EIGEN3_FUTURE
const typename Eigen::Product< // const typename Eigen::Product<
const Eigen::Block<const Inertia::Matrix6,6,3>, // const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3 // const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
> // >
#else //#else
const typename Eigen::ProductReturnType< // const typename Eigen::ProductReturnType<
const Eigen::Block<const Inertia::Matrix6,6,3>, // const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3 // const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
>::Type // >::Type
#endif //#endif
operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y, // operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S) // const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S)
{ // {
return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal; // return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal;
} // }
inline Eigen::Matrix<double,6,3> inline Eigen::Matrix<double,6,3>
operator*(const Inertia::Matrix6 & Y, operator*(const Inertia::Matrix6 & Y,
const JointSphericalZYX::ConstraintRotationalSubspace & S) const JointSphericalZYX::ConstraintRotationalSubspace & S)
{ {
return Y.middleCols<3>(Inertia::ANGULAR) * S.S_minimal; return (Y.middleCols<3>(Inertia::ANGULAR) * S.S_minimal).eval();
} }
namespace internal namespace internal
......
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