Commit 100b4084 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[algo/isNormalized] use ref for prec

parent eae7000a
...@@ -623,7 +623,7 @@ namespace pinocchio ...@@ -623,7 +623,7 @@ namespace pinocchio
template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType> template<typename LieGroup_t, typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model, inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q, const Eigen::MatrixBase<ConfigVectorType> & q,
const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()); const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision());
/** /**
* *
...@@ -638,7 +638,7 @@ namespace pinocchio ...@@ -638,7 +638,7 @@ namespace pinocchio
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType> template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model, inline bool isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & q, const Eigen::MatrixBase<ConfigVectorType> & q,
const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()) const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision())
{ {
return isNormalized<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,q,prec); return isNormalized<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,q,prec);
} }
......
...@@ -296,7 +296,7 @@ namespace pinocchio ...@@ -296,7 +296,7 @@ namespace pinocchio
inline bool inline bool
isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model, isNormalized(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorIn> & q, const Eigen::MatrixBase<ConfigVectorIn> & q,
const Scalar prec) const Scalar& prec)
{ {
PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of the right size"); PINOCCHIO_CHECK_ARGUMENT_SIZE(q.size(), model.nq, "The configuration vector is not of the right size");
PINOCCHIO_CHECK_INPUT_ARGUMENT(prec >= 0, "The precision should be positive"); PINOCCHIO_CHECK_INPUT_ARGUMENT(prec >= 0, "The precision should be positive");
......
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