Commit b08ed9ef authored by jcarpent's avatar jcarpent
Browse files

[Joint] Return the right type

parent 8ed8a4cb
//
// Copyright (c) 2015-2017 CNRS
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -322,7 +322,7 @@ namespace se3
/* [ABA] operator* (Inertia Y,Constraint S) */
template<int axis>
inline const Eigen::MatrixBase<const Inertia::Matrix6>::ColXpr
inline const Inertia::Matrix6::ConstColXpr
operator*(const Inertia::Matrix6 & Y, const ConstraintPrismatic<axis> & )
{
return Y.col(Inertia::LINEAR + axis);
......
//
// Copyright (c) 2015-2016 CNRS
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -362,14 +362,14 @@ namespace se3
/* [ABA] I*S operator (Inertia Y,Constraint S) */
template<int axis>
inline const Eigen::MatrixBase<const Inertia::Matrix6>::ColXpr
inline const Inertia::Matrix6::ConstColXpr
operator*(const Inertia::Matrix6 & Y,const ConstraintRevolute<axis> & )
{
return Y.col(Inertia::ANGULAR + axis);
}
template<int axis>
inline Eigen::MatrixBase<Inertia::Matrix6>::ColXpr
inline Inertia::Matrix6::ColXpr
operator*(Inertia::Matrix6 & Y,const ConstraintRevolute<axis> & )
{
return Y.col(Inertia::ANGULAR + axis);
......
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