Verified Commit 3716c12a authored by Justin Carpentier's avatar Justin Carpentier
Browse files

liegroups: fix method signatures

parent 16cacc36
......@@ -92,7 +92,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
*
* @param[out] J the Jacobian of the Integrate operation w.r.t. the argument arg.
*/
template <ArgumentPosition arg, AssignmentOperatorType op = SETTO, class Config_t, class Tangent_t, class JacobianOut_t>
template <ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t, AssignmentOperatorType op = SETTO>
void dIntegrate(const Eigen::MatrixBase<Config_t > & q,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianOut_t> & J) const
......@@ -118,7 +118,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianOut_t> & J,
const ArgumentPosition arg,
const AssignmentOperatorType op) const;
const AssignmentOperatorType op = SETTO) const;
/**
* @brief Computes the Jacobian of a small variation of the configuration vector into tangent space at identity.
......@@ -135,7 +135,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
void dIntegrate_dq(const Eigen::MatrixBase<Config_t > & q,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianOut_t> & J,
const AssignmentOperatorType op=SETTO) const;
const AssignmentOperatorType op = SETTO) const;
/**
* @brief Computes the Jacobian of a small variation of the tangent vector into tangent space at identity.
......@@ -152,7 +152,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
void dIntegrate_dv(const Eigen::MatrixBase<Config_t > & q,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianOut_t> & J,
const AssignmentOperatorType op=SETTO) const;
const AssignmentOperatorType op = SETTO) const;
/**
......
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