[Joint] Fix return type of Eigen::Product

src/multibody/joint/joint-revolute-unaligned.hpp

@@ -270,13 +270,13 @@ namespace se3
   inline
 #if EIGEN_VERSION_AT_LEAST(3,2,90)
   const typename Eigen::Product<
-  const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType,
-  const typename ConstraintRevoluteUnalignedTpl<S2,O2>::Vector3
+  typename Eigen::internal::remove_const<typename SizeDepType<3>::ColsReturn<M6Like>::ConstType>::type,
+  typename ConstraintRevoluteUnalignedTpl<S2,O2>::Vector3
   >
 #else
   const typename Eigen::ProductReturnType<
-  const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType,
-  const typename ConstraintRevoluteUnalignedTpl<S2,O2>::Vector3
+  typename Eigen::internal::remove_const<typename SizeDepType<3>::ColsReturn<M6Like>::ConstType>::type,
+  typename ConstraintRevoluteUnalignedTpl<S2,O2>::Vector3
   >::Type
 #endif
   operator*(const Eigen::MatrixBase<M6Like> & Y, const ConstraintRevoluteUnalignedTpl<S2,O2> & cru)

src/multibody/joint/joint-spherical-ZYX.hpp

@@ -355,13 +355,13 @@ namespace se3
   template<typename Matrix6Like, typename S2, int O2>
 #if EIGEN_VERSION_AT_LEAST(3,2,90)
   const typename Eigen::Product<
-  typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType,
-  const typename ConstraintSphericalZYXTpl<S2,O2>::Matrix3
+  typename Eigen::internal::remove_const<typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType>::type,
+  typename ConstraintSphericalZYXTpl<S2,O2>::Matrix3
   >
 #else
   const typename Eigen::ProductReturnType<
-  typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType,
-  const typename ConstraintSphericalZYXTpl<S2,O2>::Matrix3
+  typename Eigen::internal::remove_const<typename SizeDepType<3>::ColsReturn<Matrix6Like>::ConstType>::type,
+  typename ConstraintSphericalZYXTpl<S2,O2>::Matrix3
   >::Type
 #endif
   operator*(const Eigen::MatrixBase<Matrix6Like> & Y,

src/multibody/joint/joint-spherical.hpp

@@ -217,7 +217,7 @@ namespace se3
 
   /* [ABA] Y*S operator*/
   template<typename M6Like, typename S2, int O2>
-  inline const typename SizeDepType<3>::ColsReturn<M6Like>::ConstType
+  inline typename SizeDepType<3>::ColsReturn<M6Like>::ConstType
   operator*(const Eigen::MatrixBase<M6Like> & Y,
             const ConstraintSphericalTpl<S2,O2> &)
   {