[C++] Handle std vector specialisation of Frame directly in the frame file

src/multibody/model.hpp

@@ -19,7 +19,6 @@
 #ifndef __se3_model_hpp__
 #define __se3_model_hpp__
 
-
 #include "pinocchio/spatial/fwd.hpp"
 #include "pinocchio/spatial/se3.hpp"
 #include "pinocchio/spatial/force.hpp"
@@ -36,13 +35,11 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Force)
 EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Motion)
 EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix<double,6,Eigen::Dynamic>)
 EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3::Vector3)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Frame)
 
 namespace se3
 {
   class Model;
   class Data;
-  
 
   class Model
   {

src/spatial/frame.hpp

@@ -24,6 +24,8 @@
 #include "pinocchio/spatial/motion.hpp"
 #include "pinocchio/spatial/inertia.hpp"
 #include "pinocchio/tools/string-generator.hpp"
+
+#include <Eigen/StdVector>
 #include <iostream>
 
 namespace se3
@@ -53,6 +55,7 @@ struct Frame
   Index parent_id;
   SE3 frame_placement;
 };
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Frame)
 
 }
 #endif // ifndef __se3_frame_hpp__