Verified Commit 5f7bd5d2 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/joint-configuration: use derived when possible

parent 95231bb9
......@@ -99,7 +99,7 @@ namespace pinocchio
const Scalar & u,
const Eigen::MatrixBase<ReturnType> & qout)
{
interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, q0, q1, u, qout);
interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, q0.derived(), q1.derived(), u, PINOCCHIO_EIGEN_CONST_CAST(ReturnType,qout));
}
/**
......@@ -144,7 +144,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & dvout)
{
difference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),dvout.derived());
difference<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),PINOCCHIO_EIGEN_CONST_CAST(ReturnType,dvout));
}
/**
......@@ -181,7 +181,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Eigen::MatrixBase<ReturnType> & out)
{
squaredDistance<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),out.derived());
squaredDistance<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model,q0.derived(),q1.derived(),PINOCCHIO_EIGEN_CONST_CAST(ReturnType,out));
}
/**
......@@ -226,7 +226,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorIn2> & upperLimits,
const Eigen::MatrixBase<ReturnType> & qout)
{
randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, lowerLimits.derived(), upperLimits.derived(), qout.derived());
randomConfiguration<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2,ReturnType>(model, lowerLimits.derived(), upperLimits.derived(), PINOCCHIO_EIGEN_CONST_CAST(ReturnType,qout));
}
/**
......@@ -310,7 +310,7 @@ namespace pinocchio
const Eigen::MatrixBase<JacobianMatrixType> & J,
const ArgumentPosition arg)
{
dIntegrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), J.derived(),arg);
dIntegrate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType,TangentVectorType,JacobianMatrixType>(model, q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrixType,J),arg);
}
/**
......@@ -409,7 +409,7 @@ namespace pinocchio
inline void normalize(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
const Eigen::MatrixBase<ConfigVectorType> & qout)
{
normalize<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,qout.derived());
normalize<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorType>(model,PINOCCHIO_EIGEN_CONST_CAST(ConfigVectorType,qout));
}
/**
......@@ -489,7 +489,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVector> & q,
const Eigen::MatrixBase<JacobianMatrix> & jacobian)
{
integrateCoeffWiseJacobian<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVector,JacobianMatrix>(model,q,jacobian);
integrateCoeffWiseJacobian<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVector,JacobianMatrix>(model,q.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianMatrix,jacobian));
}
/// \}
......@@ -572,7 +572,7 @@ namespace pinocchio
const Eigen::MatrixBase<ConfigVectorIn2> & q1,
const Scalar & u)
{
return interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0, q1, u);
return interpolate<LieGroupMap,Scalar,Options,JointCollectionTpl,ConfigVectorIn1,ConfigVectorIn2>(model, q0.derived(), q1.derived(), u);
}
/**
......
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