Commit 96e4cbb0 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 a8cf03ae
Pipeline #901 failed with stages
in 11 seconds
......@@ -241,30 +241,30 @@ namespace se3
}
/* [ABA] Y*S operator (Inertia Y,Constraint S) */
// inline Eigen::Matrix<double,6,3>
template <typename _Scalar, int _Options>
#ifdef EIGEN3_FUTURE
const typename Eigen::Product<
const Eigen::Block<const Inertia::Matrix6,6,3>,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
>
#else
const typename Eigen::ProductReturnType<
const Eigen::Block<const Inertia::Matrix6,6,3>,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
>::Type
#endif
operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y,
const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S)
{
return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal;
}
// template <typename _Scalar, int _Options>
// inline Eigen::Matrix<_Scalar,6,3,_Options>
//#ifdef EIGEN3_FUTURE
// const typename Eigen::Product<
// const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
// const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
// >
//#else
// const typename Eigen::ProductReturnType<
// const Eigen::template Block<const typename InertiaTpl<_Scalar,_Options>::Matrix6,6,3>,
// const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace::Matrix3
// >::Type
//#endif
// operator*(const typename InertiaTpl<_Scalar,_Options>::Matrix6 & Y,
// const typename JointSphericalZYXTpl<_Scalar,_Options>::ConstraintRotationalSubspace & S)
// {
// return Y.template middleCols<3>(Inertia::ANGULAR) * S.S_minimal;
// }
inline Eigen::Matrix<double,6,3>
operator*(const Inertia::Matrix6 & Y,
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
......
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