Commit 9fe4cbcb authored by jcarpent's avatar jcarpent
Browse files

[C++] Change output type of force selector

parent 0ca9211d
......@@ -163,8 +163,8 @@ namespace se3
const ConstraintPrismatic & ref;
TransposeConst(const ConstraintPrismatic<axis> & ref) : ref(ref) {}
typename Force::Vector3::template ConstFixedSegmentReturnType<1>::Type
operator*( const Force& f ) const
typename Force::ConstLinear_t::template FixedSegmentReturnType<1>::Type
operator* (const Force & f) const
{ return f.linear().template segment<1>(axis); }
/* [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block) */
......
......@@ -163,8 +163,8 @@ namespace se3
const ConstraintRevolute<axis> & ref;
TransposeConst(const ConstraintRevolute<axis> & ref) : ref(ref) {}
typename Force::Vector3::template ConstFixedSegmentReturnType<1>::Type
operator*( const Force& f ) const
typename Force::ConstAngular_t::template FixedSegmentReturnType<1>::Type
operator* (const Force & f) const
{ return f.angular().template segment<1>(axis); }
/// [CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)
......
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