From ce8ec9304f1886c80d7c42bcde028b498d118ffb Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Mon, 1 Aug 2016 10:51:11 +0200
Subject: [PATCH] [C++] Add missing include
---
bindings/python/eigen_container.hpp | 3 ++-
src/spatial/force.hpp | 3 ++-
src/spatial/motion.hpp | 3 ++-
3 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/bindings/python/eigen_container.hpp b/bindings/python/eigen_container.hpp
index 53abee0d6..301853693 100644
--- a/bindings/python/eigen_container.hpp
+++ b/bindings/python/eigen_container.hpp
@@ -1,5 +1,5 @@
//
-// Copyright (c) 2015 CNRS
+// Copyright (c) 2015-2016 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
@@ -21,6 +21,7 @@
#include <eigenpy/exception.hpp>
#include <eigenpy/eigenpy.hpp>
+#include <vector>
#include <boost/shared_ptr.hpp>
#include <boost/python/return_internal_reference.hpp>
diff --git a/src/spatial/force.hpp b/src/spatial/force.hpp
index 0b7fd37ad..2763537c7 100644
--- a/src/spatial/force.hpp
+++ b/src/spatial/force.hpp
@@ -22,6 +22,7 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
namespace se3
@@ -156,7 +157,7 @@ namespace se3
/// af = aXb.act(bf)
ForceTpl se3Action_impl(const SE3 & m) const
{
- Vector3 Rf (static_cast<Vector3>( (m.rotation()) * linear_impl() ) );
+ Vector3 Rf (m.rotation()*linear_impl());
return ForceTpl(Rf,m.translation().cross(Rf)+m.rotation()*angular_impl());
}
diff --git a/src/spatial/motion.hpp b/src/spatial/motion.hpp
index e18e34252..a01f584cc 100644
--- a/src/spatial/motion.hpp
+++ b/src/spatial/motion.hpp
@@ -22,6 +22,7 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "pinocchio/spatial/fwd.hpp"
+#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/spatial/force.hpp"
namespace se3
@@ -213,7 +214,7 @@ namespace se3
MotionTpl se3Action_impl(const SE3 & m) const
{
- Vector3 Rw (static_cast<Vector3>(m.rotation() * angular_impl()));
+ Vector3 Rw (m.rotation()*angular_impl());
return MotionTpl( m.rotation()*linear_impl() + m.translation().cross(Rw),
Rw);
}
--
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