Verified Commit 74f10b90 authored by Justin Carpentier's avatar Justin Carpentier Committed by Justin Carpentier
Browse files

[Joint/Unaligned] Fix JointData constructor

parent a3d9bd41
......@@ -396,12 +396,13 @@ namespace se3
{ typedef JointPrismaticUnalignedTpl<Scalar,Options> JointDerived; };
template<typename _Scalar, int _Options>
struct JointDataPrismaticUnalignedTpl : public JointDataBase< JointDataPrismaticUnalignedTpl<_Scalar,_Options> >
struct JointDataPrismaticUnalignedTpl
: public JointDataBase< JointDataPrismaticUnalignedTpl<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointPrismaticUnalignedTpl<_Scalar,_Options> JointDerived;
SE3_JOINT_TYPEDEF_TEMPLATE;
Transformation_t M;
Constraint_t S;
Motion_t v;
......@@ -416,7 +417,7 @@ namespace se3
JointDataPrismaticUnalignedTpl()
: M(Transformation_t::LinearType::Constant(NAN))
, S(Motion_t::Vector3::Constant(NAN))
, S(Constraint_t::Vector3::Constant(NAN))
, v(Motion_t::Vector3::Constant(NAN),NAN)
, U(), Dinv(), UDinv()
{}
......
......@@ -415,7 +415,8 @@ namespace se3
{ typedef JointRevoluteUnalignedTpl<Scalar,Options> JointDerived; };
template<typename _Scalar, int _Options>
struct JointDataRevoluteUnalignedTpl : public JointDataBase< JointDataRevoluteUnalignedTpl<_Scalar,_Options> >
struct JointDataRevoluteUnalignedTpl
: public JointDataBase< JointDataRevoluteUnalignedTpl<_Scalar,_Options> >
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointRevoluteUnalignedTpl<_Scalar,_Options> JointDerived;
......@@ -434,13 +435,16 @@ namespace se3
UD_t UDinv;
JointDataRevoluteUnalignedTpl()
: M(1),S(Eigen::Vector3d::Constant(NAN)),v(Eigen::Vector3d::Constant(NAN),NAN)
, U(), Dinv(), UDinv()
: M(1)
, S(Constraint_t::Vector3::Constant(NAN))
, v(Motion_t::Vector3::Constant(NAN),NAN)
, U(), Dinv(), UDinv()
{}
JointDataRevoluteUnalignedTpl(const Motion::Vector3 & axis)
: M(1),S(axis),v(axis,NAN)
, U(), Dinv(), UDinv()
template<typename Vector3Like>
JointDataRevoluteUnalignedTpl(const Eigen::MatrixBase<Vector3Like> & axis)
: M(1),S(axis),v(axis,NAN)
, U(), Dinv(), UDinv()
{}
}; // struct JointDataRevoluteUnalignedTpl
......
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