Commit 2ae43781 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[SpecialEuclidean/isNormalized_impl] Fix input ref and alignment

parent 806bab7b
...@@ -432,7 +432,7 @@ namespace pinocchio ...@@ -432,7 +432,7 @@ namespace pinocchio
template <class Config_t> template <class Config_t>
static bool isNormalized_impl(const Eigen::MatrixBase<Config_t> & qin, static bool isNormalized_impl(const Eigen::MatrixBase<Config_t> & qin,
const Scalar prec) const Scalar& prec)
{ {
const Scalar norm = Scalar(qin.template tail<2>().norm()); const Scalar norm = Scalar(qin.template tail<2>().norm());
return (std::abs(norm - Scalar(1.0)) < prec ); return (std::abs(norm - Scalar(1.0)) < prec );
...@@ -793,7 +793,7 @@ namespace pinocchio ...@@ -793,7 +793,7 @@ namespace pinocchio
template <class Config_t> template <class Config_t>
static bool isNormalized_impl(const Eigen::MatrixBase<Config_t>& qin, static bool isNormalized_impl(const Eigen::MatrixBase<Config_t>& qin,
const Scalar prec) const Scalar& prec)
{ {
Scalar norm = Scalar(qin.template tail<4>().norm()); Scalar norm = Scalar(qin.template tail<4>().norm());
return (std::abs(norm - Scalar(1.0)) < prec ); return (std::abs(norm - Scalar(1.0)) < prec );
......
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