core: fix operator!= for JointData types

src/multibody/joint/joint-data-base.hpp

@@ -120,13 +120,14 @@ namespace pinocchio
       return os;
     }
     
-    bool operator==(const JointDataBase<Derived> & other) const
+    template<typename OtherDerived>
+    bool operator==(const JointDataBase<OtherDerived> & other) const
     {
       return derived().isEqual(other.derived());
     }
     
     /// \brief Default operator== implementation
-    bool isEqual(const JointDataBase<Derived> & other) const
+    bool isEqual(const JointDataBase & other) const
     {
       return S() == other.S()
           && M() == other.M()
@@ -138,6 +139,14 @@ namespace pinocchio
       ;
     }
     
+    /// \brief Default operator== implementation
+    template<typename OtherDerived>
+    bool isEqual(const JointDataBase<OtherDerived> & /*other*/) const
+    {
+      return false;
+      ;
+    }
+    
     bool operator!=(const JointDataBase<Derived> & other) const
     {
       return derived().isNotEqual(other.derived());

src/multibody/joint/joint-mimic.hpp

 //
-// Copyright (c) 2019 INRIA
+// Copyright (c) 2019-2021 INRIA
 //
 
-#ifndef __pinocchio_joint_mimic_hpp__
-#define __pinocchio_joint_mimic_hpp__
+#ifndef __pinocchio_multibody_joint_mimic_hpp__
+#define __pinocchio_multibody_joint_mimic_hpp__
 
 #include "pinocchio/macros.hpp"
 #include "pinocchio/multibody/joint/joint-base.hpp"
@@ -316,6 +316,7 @@ namespace pinocchio
       return *this;
     }
     
+    using Base::isEqual;
     bool isEqual(const JointDataMimic & other) const
     {
       return Base::isEqual(other)
@@ -635,4 +636,4 @@ namespace pinocchio
   
 } // namespace pinocchio
 
-#endif // ifndef __pinocchio_joint_mimic_hpp__
+#endif // ifndef __pinocchio_multibody_joint_mimic_hpp__