[C++][Minor] Use fixed size eigen vectors instead of dynamic size vectorxd

src/multibody/fcl.hpp

@@ -128,9 +128,9 @@ struct GeometryObject
                  const JointIndex parentJ,
                  const boost::shared_ptr<fcl::CollisionGeometry> & collision,
                  const SE3 & placement, const std::string & meshPath = "",
-                 const Eigen::Vector3d & meshScale = Eigen::VectorXd::Ones(3),
+                 const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
                  const bool overrideMaterial = false,
-                 const Eigen::Vector4d & meshColor = Eigen::VectorXd::Zero(4),
+                 const Eigen::Vector4d & meshColor = Eigen::Vector4d::Zero(),
                  const std::string & meshTexturePath = "")
                 : name(name)
                 , parentFrame(parentF)

src/parsers/urdf/geometry.cpp

@@ -165,15 +165,15 @@ namespace se3
       * @param[in]  package_dirs     A vector containing the different directories where to search for packages
       *
       */
-      template<typename T>
-      inline bool getVisualMaterial(const boost::shared_ptr< T > urdf_object,std::string& meshTexturePath,
+      template<typename urdfObject>
+      inline bool getVisualMaterial(const boost::shared_ptr< urdfObject > urdf_object,std::string& meshTexturePath,
 				    Eigen::Vector4d & meshColor, const std::vector<std::string> & package_dirs);
 
       template<>
       inline bool getVisualMaterial< ::urdf::Collision>(const boost::shared_ptr< ::urdf::Collision >, std::string& meshTexturePath,
 							Eigen::Vector4d & meshColor, const std::vector<std::string> &)
       {
-        meshColor = Eigen::VectorXd::Zero(4);
+        meshColor.setZero();
         meshTexturePath = "";
         return false;
       }
@@ -182,7 +182,7 @@ namespace se3
       inline bool getVisualMaterial< ::urdf::Visual>(const boost::shared_ptr< ::urdf::Visual > urdf_visual, std::string& meshTexturePath,
 						     Eigen::Vector4d & meshColor, const std::vector<std::string> & package_dirs)
       {
-        meshColor = Eigen::VectorXd::Zero(4);
+        meshColor.setZero();
         meshTexturePath = "";
         bool overrideMaterial = false;
         if(urdf_visual->material!=NULL) {