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Commit 7c28e5e1 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
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Fix compilation for Eigen version below 3.2.1

parent 5bb191d4
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src/multibody/liegroup/cartesian-product.hpp
+ 19
− 9
View file @ 7c28e5e1
......@@ -188,20 +188,30 @@ namespace se3
LieGroup1 lg1_;
LieGroup2 lg2_;
template <typename Config > typename Config ::template ConstFixedSegmentReturnType<LieGroup1::NQ>::Type Q1 (const Eigen::MatrixBase<Config >& q) const { return q.derived().template head<LieGroup1::NQ>(lg1_.nq()); }
template <typename Config > typename Config ::template ConstFixedSegmentReturnType<LieGroup2::NQ>::Type Q2 (const Eigen::MatrixBase<Config >& q) const { return q.derived().template tail<LieGroup2::NQ>(lg2_.nq()); }
template <typename Tangent> typename Tangent::template ConstFixedSegmentReturnType<LieGroup1::NV>::Type V1 (const Eigen::MatrixBase<Tangent>& v) const { return v.derived().template head<LieGroup1::NV>(lg1_.nv()); }
template <typename Tangent> typename Tangent::template ConstFixedSegmentReturnType<LieGroup2::NV>::Type V2 (const Eigen::MatrixBase<Tangent>& v) const { return v.derived().template tail<LieGroup2::NV>(lg2_.nv()); }
template <typename Config > typename Config ::template FixedSegmentReturnType<LieGroup1::NQ>::Type Qo1 (const Eigen::MatrixBase<Config >& q) const { return const_cast<Config &>(q.derived()).template head<LieGroup1::NQ>(lg1_.nq()); }
template <typename Config > typename Config ::template FixedSegmentReturnType<LieGroup2::NQ>::Type Qo2 (const Eigen::MatrixBase<Config >& q) const { return const_cast<Config &>(q.derived()).template tail<LieGroup2::NQ>(lg2_.nq()); }
template <typename Tangent> typename Tangent::template FixedSegmentReturnType<LieGroup1::NV>::Type Vo1 (const Eigen::MatrixBase<Tangent>& v) const { return const_cast<Tangent&>(v.derived()).template head<LieGroup1::NV>(lg1_.nv()); }
template <typename Tangent> typename Tangent::template FixedSegmentReturnType<LieGroup2::NV>::Type Vo2 (const Eigen::MatrixBase<Tangent>& v) const { return const_cast<Tangent&>(v.derived()).template tail<LieGroup2::NV>(lg2_.nv()); }
// VectorSpaceOperation<-1> within CartesianProductOperation will not work
// if Eigen version is lower than 3.2.1
#if EIGEN_VERSION_AT_LEAST(3,2,1)
# define REMOVE_IF_EIGEN_TOO_LOW(x) x
#else
# define REMOVE_IF_EIGEN_TOO_LOW(x)
#endif
template <typename Config > typename Config ::template ConstFixedSegmentReturnType<LieGroup1::NQ>::Type Q1 (const Eigen::MatrixBase<Config >& q) const { return q.derived().template head<LieGroup1::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg1_.nq())); }
template <typename Config > typename Config ::template ConstFixedSegmentReturnType<LieGroup2::NQ>::Type Q2 (const Eigen::MatrixBase<Config >& q) const { return q.derived().template tail<LieGroup2::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg2_.nq())); }
template <typename Tangent> typename Tangent::template ConstFixedSegmentReturnType<LieGroup1::NV>::Type V1 (const Eigen::MatrixBase<Tangent>& v) const { return v.derived().template head<LieGroup1::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg1_.nv())); }
template <typename Tangent> typename Tangent::template ConstFixedSegmentReturnType<LieGroup2::NV>::Type V2 (const Eigen::MatrixBase<Tangent>& v) const { return v.derived().template tail<LieGroup2::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg2_.nv())); }
template <typename Config > typename Config ::template FixedSegmentReturnType<LieGroup1::NQ>::Type Qo1 (const Eigen::MatrixBase<Config >& q) const { return const_cast<Config &>(q.derived()).template head<LieGroup1::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg1_.nq())); }
template <typename Config > typename Config ::template FixedSegmentReturnType<LieGroup2::NQ>::Type Qo2 (const Eigen::MatrixBase<Config >& q) const { return const_cast<Config &>(q.derived()).template tail<LieGroup2::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg2_.nq())); }
template <typename Tangent> typename Tangent::template FixedSegmentReturnType<LieGroup1::NV>::Type Vo1 (const Eigen::MatrixBase<Tangent>& v) const { return const_cast<Tangent&>(v.derived()).template head<LieGroup1::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg1_.nv())); }
template <typename Tangent> typename Tangent::template FixedSegmentReturnType<LieGroup2::NV>::Type Vo2 (const Eigen::MatrixBase<Tangent>& v) const { return const_cast<Tangent&>(v.derived()).template tail<LieGroup2::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg2_.nv())); }
template <typename Jac> Eigen::Block<Jac, LieGroup1::NV, LieGroup1::NV> J11 (const Eigen::MatrixBase<Jac>& J) const { return const_cast<Jac&>(J.derived()).template topLeftCorner<LieGroup1::NV, LieGroup1::NV>(lg1_.nv(),lg1_.nv()); }
template <typename Jac> Eigen::Block<Jac, LieGroup1::NV, LieGroup2::NV> J12 (const Eigen::MatrixBase<Jac>& J) const { return const_cast<Jac&>(J.derived()).template topRightCorner<LieGroup1::NV, LieGroup2::NV>(lg1_.nv(),lg2_.nv()); }
template <typename Jac> Eigen::Block<Jac, LieGroup2::NV, LieGroup1::NV> J21 (const Eigen::MatrixBase<Jac>& J) const { return const_cast<Jac&>(J.derived()).template bottomLeftCorner<LieGroup2::NV, LieGroup1::NV>(lg2_.nv(),lg1_.nv()); }
template <typename Jac> Eigen::Block<Jac, LieGroup2::NV, LieGroup2::NV> J22 (const Eigen::MatrixBase<Jac>& J) const { return const_cast<Jac&>(J.derived()).template bottomRightCorner<LieGroup2::NV, LieGroup2::NV>(lg2_.nv(),lg2_.nv()); }
#undef REMOVE_IF_EIGEN_TOO_LOW
}; // struct CartesianProductOperation
} // namespace se3
......
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