Commit f504dd7c authored by jcarpent's avatar jcarpent
Browse files

[Spatial] Add missing const operator

parent 853abf8c
......@@ -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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