Verified Commit 9d3433be authored by Justin Carpentier's avatar Justin Carpentier
Browse files

multibody/joint: add BlockReturn to SizeDepType helper

parent 0ff4170e
......@@ -154,18 +154,27 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
typedef typename Mat::template FixedSegmentReturnType<NV>::Type Type;
typedef typename Mat::template ConstFixedSegmentReturnType<NV>::Type ConstType;
};
template<class Mat>
struct ColsReturn
{
typedef typename Mat::template NColsBlockXpr<NV>::Type Type;
typedef typename Mat::template ConstNColsBlockXpr<NV>::Type ConstType;
};
template<class Mat>
struct RowsReturn
{
typedef typename Mat::template NRowsBlockXpr<NV>::Type Type;
typedef typename Mat::template ConstNRowsBlockXpr<NV>::Type ConstType;
};
template<class Mat>
struct BlockReturn
{
typedef Eigen::Block<Mat, NV, NV> Type;
typedef const Eigen::Block<const Mat, NV, NV> ConstType;
};
};
template<>
......@@ -177,18 +186,27 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
typedef typename Mat::SegmentReturnType Type;
typedef typename Mat::ConstSegmentReturnType ConstType;
};
template<class Mat>
struct ColsReturn
{
typedef typename Mat::ColsBlockXpr Type;
typedef typename Mat::ConstColsBlockXpr ConstType;
};
template<class Mat>
struct RowsReturn
{
typedef typename Mat::RowsBlockXpr Type;
typedef typename Mat::ConstRowsBlockXpr ConstType;
};
template<class Mat>
struct BlockReturn
{
typedef Eigen::Block<Mat> Type;
typedef const Eigen::Block<const Mat> ConstType;
};
};
template<typename Derived>
......
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