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Stack Of Tasks
pinocchio
Commits
c4021755
Verified
Commit
c4021755
authored
Nov 20, 2020
by
Justin Carpentier
Browse files
core: fix compatibility with Eigen >= 3.3.9
parent
a1c41943
Pipeline
#12348
passed with stage
in 155 minutes and 50 seconds
Changes
2
Pipelines
1
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Inline
Side-by-side
src/eigen-macros.hpp
View file @
c4021755
...
...
@@ -15,7 +15,7 @@
#define PINOCCHIO_EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) pinocchio::helper::handle_return_type_without_typename<D,Eigen::internal::plain_matrix_type_column_major>::type
/// \brief Similar to macro PINOCCHIO_EIGEN_PLAIN_TYPE but with guaranty to provite a row major type
#define PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE(D) pinocchio::helper::handle_return_type_without_typename<D,Eigen::internal::
fix::
plain_matrix_type_row_major>::type
#define PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE(D) pinocchio::helper::handle_return_type_without_typename<D,
::pinocchio::fix::
Eigen::internal::plain_matrix_type_row_major>::type
/// \brief Macro giving access to the reference type of D
#define PINOCCHIO_EIGEN_REF_CONST_TYPE(D) Eigen::internal::ref_selector<D>::type
...
...
src/utils/eigen-fix.hpp
View file @
c4021755
...
...
@@ -19,32 +19,31 @@ namespace pinocchio
}
#endif
namespace
Eigen
namespace
pinocchio
{
namespace
internal
{
namespace
fix
namespace
fix
{
namespace
Eigen
{
namespace
internal
{
/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
*/
template
<
typename
T
>
struct
plain_matrix_type_row_major
{
/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
*/
template
<
typename
T
>
struct
plain_matrix_type_row_major
{
enum
{
Rows
=
traits
<
T
>::
RowsAtCompileTime
,
Cols
=
traits
<
T
>::
ColsAtCompileTime
,
MaxRows
=
traits
<
T
>::
MaxRowsAtCompileTime
,
MaxCols
=
traits
<
T
>::
MaxColsAtCompileTime
};
typedef
Matrix
<
typename
traits
<
T
>::
Scalar
,
Rows
,
Cols
,
(
MaxCols
==
1
&&
MaxRows
!=
1
)
?
ColMajor
:
RowMajor
,
MaxRows
,
MaxCols
>
type
;
};
}
}
}
// namespace fix
enum
{
Rows
=
::
Eigen
::
internal
::
traits
<
T
>::
RowsAtCompileTime
,
Cols
=
::
Eigen
::
internal
::
traits
<
T
>::
ColsAtCompileTime
,
MaxRows
=
::
Eigen
::
internal
::
traits
<
T
>::
MaxRowsAtCompileTime
,
MaxCols
=
::
Eigen
::
internal
::
traits
<
T
>::
MaxColsAtCompileTime
};
typedef
::
Eigen
::
Matrix
<
typename
::
Eigen
::
internal
::
traits
<
T
>::
Scalar
,
Rows
,
Cols
,
(
MaxCols
==
1
&&
MaxRows
!=
1
)
?
::
Eigen
::
ColMajor
:
::
Eigen
::
RowMajor
,
MaxRows
,
MaxCols
>
type
;
};
}
}
}
// namespace fix::Eigen::internal
}
// namespace pinocchio
#endif // ifndef __pinocchio_utils_eigen_fix_hpp__
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