Commit 5def5b5c authored by Joseph Mirabel's avatar Joseph Mirabel

[Minor] Fix compilation when using row major matrices.

parent 6b5c0f07
......@@ -465,7 +465,7 @@ namespace pinocchio
// value is decomposed as following:
// value = [ A, B;
// C, D ]
typedef Eigen::Block<Matrix6Like,3,3,Matrix6Like::IsRowMajor> Block33;
typedef Eigen::Block<Matrix6Like,3,3> Block33;
Block33 A = value.template topLeftCorner<3,3>();
Block33 B = value.template topRightCorner<3,3>();
Block33 C = value.template bottomLeftCorner<3,3>();
......@@ -335,7 +335,7 @@ BOOST_AUTO_TEST_CASE(Jexplog6)
Motion v(Motion::Random());
SE3 M (exp6(v));
SE3::Matrix6 Jexp, Jlog;
Eigen::Matrix<double, 6, 6, Eigen::RowMajor> Jexp, Jlog;
Jexp6 (v, Jexp);
Jlog6 (M, Jlog);
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