From 343e98a4ebbdf7599333f97e0e1e22a0c2532b9a Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 9 Aug 2016 13:21:00 +0200
Subject: [PATCH] [Joints] Fix bug - handle alignment issue with vector of
 joints

---
 src/multibody/joint/joint-variant.hpp | 9 +--------
 src/multibody/joint/joint.hpp         | 2 ++
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/multibody/joint/joint-variant.hpp b/src/multibody/joint/joint-variant.hpp
index e13a0f110..c748da181 100644
--- a/src/multibody/joint/joint-variant.hpp
+++ b/src/multibody/joint/joint-variant.hpp
@@ -40,14 +40,7 @@ namespace se3
 
   typedef boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelDense<-1,-1>, JointModelRUBX, JointModelRUBY, JointModelRUBZ > JointModelVariant;
   typedef boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataFreeFlyer, JointDataPlanar, JointDataTranslation, JointDataDense<-1,-1>, JointDataRUBX, JointDataRUBY, JointDataRUBZ > JointDataVariant;
-
-  typedef std::vector<JointModelVariant> JointModelVariantVector;
-  typedef std::vector<JointDataVariant> JointDataVariantVector;
-
-
+  
 } // namespace se3
 
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointModelVariant)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointDataVariant)
-
 #endif // ifndef __se3_joint_variant_hpp__
diff --git a/src/multibody/joint/joint.hpp b/src/multibody/joint/joint.hpp
index 551436b4f..d56d9e98f 100644
--- a/src/multibody/joint/joint.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -167,5 +167,7 @@ namespace se3
 
 } // namespace se3
 
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointModel)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointData)
 
 #endif // ifndef __se3_joint_model_hpp__
-- 
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