Commit 298af434 authored by jcarpent's avatar jcarpent
Browse files

[LieGroup] Use Scalar instead double

parent 9f82dafe
......@@ -172,7 +172,7 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @return The corresponding distance
*/
template <class ConfigL_t, class ConfigR_t>
static double squaredDistance(const Eigen::MatrixBase<ConfigL_t> & q0,
static Scalar squaredDistance(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1);
/**
......@@ -184,7 +184,7 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @return The corresponding distance
*/
template <class ConfigL_t, class ConfigR_t>
static double distance(const Eigen::MatrixBase<ConfigL_t> & q0,
static Scalar distance(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1);
/**
......@@ -237,7 +237,7 @@ SE3_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
static void normalize_impl(const Eigen::MatrixBase<Config_t> & qout);
template <class ConfigL_t, class ConfigR_t>
static double squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
static Scalar squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1);
template <class ConfigL_t, class ConfigR_t>
......
......@@ -140,7 +140,8 @@ namespace se3 {
template <class Derived>
template <class ConfigL_t, class ConfigR_t>
double LieGroupOperationBase<Derived>::squaredDistance(
typename LieGroupOperationBase<Derived>::Scalar
LieGroupOperationBase<Derived>::squaredDistance(
const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
{
......@@ -151,7 +152,8 @@ namespace se3 {
template <class Derived>
template <class ConfigL_t, class ConfigR_t>
double LieGroupOperationBase<Derived>::distance(
typename LieGroupOperationBase<Derived>::Scalar
LieGroupOperationBase<Derived>::distance(
const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
{
......@@ -244,7 +246,8 @@ namespace se3 {
template <class Derived>
template <class ConfigL_t, class ConfigR_t>
double LieGroupOperationBase<Derived>::squaredDistance_impl(
typename LieGroupOperationBase<Derived>::Scalar
LieGroupOperationBase<Derived>::squaredDistance_impl(
const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1)
{
......
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