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Guilhem Saurel
pinocchio
Commits
f7a67855
Commit
f7a67855
authored
Apr 10, 2017
by
jcarpent
Browse files
[Spatial] Force evaluation of expressions
parent
d3634144
Changes
1
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Inline
Side-by-side
src/spatial/se3.hpp
View file @
f7a67855
...
...
@@ -294,7 +294,7 @@ namespace se3
template
<
typename
EigenDerived
>
typename
EigenDerived
::
PlainObject
actOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
const
{
return
EigenDerived
::
PlainObject
(
rot
*
p
+
trans
);
}
{
return
(
rot
*
p
+
trans
)
.
eval
()
;
}
template
<
typename
MapDerived
>
Vector3
actOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
const
...
...
@@ -302,7 +302,7 @@ namespace se3
template
<
typename
EigenDerived
>
typename
EigenDerived
::
PlainObject
actInvOnEigenObject
(
const
Eigen
::
MatrixBase
<
EigenDerived
>
&
p
)
const
{
return
EigenDerived
::
PlainObject
(
rot
.
transpose
()
*
(
p
-
trans
));
}
{
return
(
rot
.
transpose
()
*
(
p
-
trans
))
.
eval
()
;
}
template
<
typename
MapDerived
>
Vector3
actInvOnEigenObject
(
const
Eigen
::
MapBase
<
MapDerived
>
&
p
)
const
...
...
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