Verified Commit 3e03a613 authored by Justin Carpentier's avatar Justin Carpentier Committed by Justin Carpentier
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[Joint/freeflyer] Return Identity matrix expression for ConstraintFreeFlyer::matrix()

parent aa080a5a
......@@ -60,8 +60,8 @@ namespace se3
typedef Eigen::Matrix<Scalar,6,1,Options> JointMotion;
typedef Eigen::Matrix<Scalar,6,1,Options> JointForce;
typedef Eigen::Matrix<Scalar,6,6,Options> DenseBase;
typedef const DenseBase ConstMatrixReturnType;
typedef DenseBase MatrixReturnType;
typedef typename Matrix6::IdentityReturnType ConstMatrixReturnType;
typedef typename Matrix6::IdentityReturnType MatrixReturnType;
}; // traits ConstraintRevolute
......@@ -74,6 +74,7 @@ namespace se3
typedef typename traits<ConstraintIdentityTpl>::JointMotion JointMotion;
typedef typename traits<ConstraintIdentityTpl>::JointForce JointForce;
typedef typename traits<ConstraintIdentityTpl>::DenseBase DenseBase;
typedef typename traits<ConstraintIdentityTpl>::MatrixReturnType MatrixReturnType;
template<typename S1, int O1>
typename SE3::ActionMatrixType se3Action(const SE3Tpl<S1,O1> & m) const
......@@ -98,7 +99,7 @@ namespace se3
TransposeConst transpose() const { return TransposeConst(); }
DenseBase matrix_impl() const { return DenseBase::Identity(); }
MatrixReturnType matrix_impl() const { return DenseBase::Identity(); }
template<typename MotionDerived>
typename MotionDerived::ActionMatrixType
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