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Guilhem Saurel
pinocchio
Commits
f504dd7c
Commit
f504dd7c
authored
Feb 13, 2017
by
jcarpent
Browse files
[Spatial] Add missing const operator
parent
853abf8c
Changes
1
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Inline
Side-by-side
src/spatial/se3.hpp
View file @
f504dd7c
...
...
@@ -293,19 +293,19 @@ namespace se3
}
template
<
typename
EigenDerived
>
typename
EigenDerived
::
PlainObject
actOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
typename
EigenDerived
::
PlainObject
actOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
const
{
return
EigenDerived
::
PlainObject
(
rot
*
p
+
trans
);
}
template
<
typename
MapDerived
>
Vector3
actOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
Vector3
actOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
const
{
return
Vector3
(
rot
*
p
+
trans
);
}
template
<
typename
EigenDerived
>
typename
EigenDerived
::
PlainObject
actInvOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
typename
EigenDerived
::
PlainObject
actInvOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
const
{
return
EigenDerived
::
PlainObject
(
rot
.
transpose
()
*
(
p
-
trans
));
}
template
<
typename
MapDerived
>
Vector3
actInvOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
Vector3
actInvOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
const
{
return
Vector3
(
rot
.
transpose
()
*
(
p
-
trans
));
}
Vector3
act_impl
(
const
Vector3
&
p
)
const
{
return
Vector3
(
rot
*
p
+
trans
);
}
...
...
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