[Math/AutoDiff] use correct pow functions

src/math/fwd.hpp

@@ -57,10 +57,14 @@ namespace se3
   {
     using std::fabs;
     using std::sqrt;
+    using std::acos;
+    using std::pow;
     
 #ifdef PINOCCHIO_WITH_CPPAD_SUPPORT
     using CppAD::fabs;
     using CppAD::sqrt;
+    using CppAD::acos;
+    using CppAD::pow;
 #endif
   }
 }

src/math/quaternion.hpp

@@ -96,7 +96,7 @@ namespace se3
     const Scalar alpha = ((Scalar)3 - N2) / Scalar(2);
     const_cast <Eigen::QuaternionBase<D> &> (q).coeffs() *= alpha;
 #ifndef NDEBUG
-    const Scalar M = Scalar(3) * std::pow(Scalar(1)-epsilon, ((Scalar)-Scalar(5))/Scalar(2)) / Scalar(4);
+    const Scalar M = Scalar(3) * math::pow(Scalar(1)-epsilon, ((Scalar)-Scalar(5))/Scalar(2)) / Scalar(4);
     assert(math::fabs(q.norm() - Scalar(1)) <=
         std::max(M * sqrt(N2) * (N2 - Scalar(1))*(N2 - Scalar(1)) / Scalar(2), Eigen::NumTraits<Scalar>::dummy_precision()));
 #endif