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