spatial/force: add specialization of ForceRef<const Vector6ArgType>

src/spatial/force-ref.hpp

@@ -96,6 +96,33 @@ namespace pinocchio
     DataRefType m_ref;
     
   }; // class ForceRef<Vector6Like>
+
+  template<typename Vector6ArgType>
+  struct traits< ForceRef<const Vector6ArgType> >
+  {
+    typedef typename Vector6ArgType::Scalar Scalar;
+    typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6ArgType) Vector6;
+    enum {
+      LINEAR = 0,
+      ANGULAR = 3,
+      Options = Vector6::Options
+    };
+    typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
+    typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
+    typedef Matrix6 ActionMatrixType;
+    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstLinearType;
+    typedef typename Vector6ArgType::template ConstFixedSegmentReturnType<3>::Type ConstAngularType;
+    typedef ConstLinearType LinearType;
+    typedef ConstAngularType AngularType;
+    typedef ForceTpl<Scalar,Options> ForcePlain;
+    typedef ForcePlain PlainReturnType;
+    typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6ArgType) ConstDataRefType;
+    typedef ConstDataRefType ToVectorConstReturnType;
+    typedef ConstDataRefType DataRefType;
+    typedef DataRefType ToVectorReturnType;
+    typedef ForceRef<const Vector6ArgType> ForceRefType;
+    
+  }; // traits ForceRef<const Vector6ArgType>
   
   template<typename Vector6ArgType>
   class ForceRef<const Vector6ArgType>