[isNormalized] Use ref for prec everywhere

src/multibody/liegroup/cartesian-product-variant.hpp

@@ -199,7 +199,7 @@ namespace pinocchio
 
     template <class Config_t>
     bool isNormalized_impl (const Eigen::MatrixBase<Config_t>& qout,
-                            const Scalar prec) const;
+                            const Scalar& prec) const;
 
     template <class Config_t>
     void random_impl (const Eigen::MatrixBase<Config_t>& qout) const;

src/multibody/liegroup/cartesian-product-variant.hxx

@@ -367,7 +367,7 @@ template<typename _Scalar, int _Options, template<typename,int> class LieGroupCo
 template <class Config_t>
 bool CartesianProductOperationVariantTpl<_Scalar,_Options,LieGroupCollectionTpl>::
 isNormalized_impl (const Eigen::MatrixBase<Config_t>& qin,
-                   const Scalar prec) const
+                   const Scalar& prec) const
 {
   Index id_q = 0;
   for(size_t k = 0; k < liegroups.size(); ++k)

src/multibody/liegroup/liegroup-algo.hxx

@@ -514,7 +514,7 @@ namespace pinocchio
   : public fusion::JointUnaryVisitorBase< IsNormalizedStep<LieGroup_t,ConfigVectorIn,Scalar> >
   {
     typedef boost::fusion::vector<const ConfigVectorIn &,
-                                  const Scalar,
+                                  const Scalar&,
                                   bool &> ArgsType;
     
     PINOCCHIO_DETAILS_VISITOR_METHOD_ALGO_3(IsNormalizedStepAlgo, IsNormalizedStep)
@@ -526,7 +526,7 @@ namespace pinocchio
     template<typename ConfigVectorIn>
     static void run(const JointModelBase<JointModel> & jmodel,
                     const Eigen::MatrixBase<ConfigVectorIn> & q,
-                    const typename ConfigVectorIn::Scalar prec,
+                    const typename ConfigVectorIn::Scalar& prec,
                     bool& res)
     {
       typedef typename Visitor::LieGroupMap LieGroupMap;

src/multibody/liegroup/liegroup-base.hpp

@@ -374,7 +374,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
      */
     template <class Config_t>
     bool isNormalized(const Eigen::MatrixBase<Config_t> & qin,
-                      const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision()) const;
+                      const Scalar& prec = Eigen::NumTraits<Scalar>::dummy_precision()) const;
 
     /**
      * @brief      Generate a random joint configuration, normalizing quaternions when necessary.

src/multibody/liegroup/liegroup-base.hxx

@@ -324,7 +324,7 @@ namespace pinocchio {
   template <class Derived>
   template <class Config_t>
   bool LieGroupBase<Derived>::isNormalized
-  (const Eigen::MatrixBase<Config_t> & qin, const Scalar prec) const
+  (const Eigen::MatrixBase<Config_t> & qin, const Scalar& prec) const
   {
     EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Config_t, ConfigVector_t);
     return derived().isNormalized_impl(qin, prec);

src/multibody/liegroup/liegroup-variant-visitors.hpp

@@ -78,7 +78,7 @@ namespace pinocchio
   template<typename LieGroupCollection, class Config_t>
   inline bool isNormalized(const LieGroupGenericTpl<LieGroupCollection> & lg,
                            const Eigen::MatrixBase<Config_t> & qin,
-                           const typename Config_t::Scalar prec = Eigen::NumTraits<typename Config_t::Scalar>::dummy_precision());
+                           const typename Config_t::Scalar& prec = Eigen::NumTraits<typename Config_t::Scalar>::dummy_precision());
 
   template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t>
   inline bool isSameConfiguration(const LieGroupGenericTpl<LieGroupCollection> & lg,

src/multibody/liegroup/liegroup-variant-visitors.hxx

@@ -196,13 +196,13 @@ namespace pinocchio
   : visitor::LieGroupVisitorBase< LieGroupIsNormalizedVisitor<Matrix_t> >
   {
     typedef boost::fusion::vector<const Eigen::MatrixBase<Matrix_t> &,
-                                  const typename Matrix_t::Scalar,
+                                  const typename Matrix_t::Scalar&,
                                   bool&> ArgsType;
     LIE_GROUP_VISITOR(LieGroupIsNormalizedVisitor);
     template<typename LieGroupDerived>
     static void algo(const LieGroupBase<LieGroupDerived> & lg,
                      const Eigen::MatrixBase<Matrix_t>& qin,
-                     const typename Matrix_t::Scalar prec,
+                     const typename Matrix_t::Scalar& prec,
                      bool& res)
     {
       res = lg.isNormalized(qin, prec);
@@ -212,7 +212,7 @@ namespace pinocchio
   template<typename LieGroupCollection, class Config_t>
   inline bool isNormalized(const LieGroupGenericTpl<LieGroupCollection> & lg,
                            const Eigen::MatrixBase<Config_t> & qin,
-                           const typename Config_t::Scalar prec)
+                           const typename Config_t::Scalar& prec)
   {
     PINOCCHIO_LG_CHECK_VECTOR_SIZE(Config_t, qin, nq(lg));
 

src/multibody/liegroup/vector-space.hpp

@@ -238,7 +238,7 @@ namespace pinocchio
     {}
 
     template <class Config_t>
-    static bool isNormalized_impl (const Eigen::MatrixBase<Config_t>& /*qout*/, const Scalar /*prec*/)
+    static bool isNormalized_impl (const Eigen::MatrixBase<Config_t>& /*qout*/, const Scalar& /*prec*/)
     {
       return true;
     }