Verified Commit dc4921ee authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joint: improve compatibillity with Eigen

parent 51d0061d
......@@ -269,7 +269,7 @@ namespace pinocchio
template<typename Scalar, int Options, int axis, typename ForceDerived>
struct ConstraintForceOp< ConstraintPrismaticTpl<Scalar,Options,axis>, ForceDerived>
{ typedef typename ForceDense<ForceDerived>::ConstLinearType::template ConstFixedBlockXpr<1,1>::Type ReturnType; };
{ typedef typename ForceDense<ForceDerived>::ConstLinearType::template ConstFixedSegmentReturnType<1>::Type ReturnType; };
template<typename Scalar, int Options, int axis, typename ForceSet>
struct ConstraintForceSetOp< ConstraintPrismaticTpl<Scalar,Options,axis>, ForceSet>
......
......@@ -323,7 +323,7 @@ namespace pinocchio
template<typename Scalar, int Options, int axis, typename ForceDerived>
struct ConstraintForceOp< ConstraintRevoluteTpl<Scalar,Options,axis>, ForceDerived>
{ typedef typename ForceDense<ForceDerived>::ConstAngularType::template ConstFixedBlockXpr<1,1>::Type ReturnType; };
{ typedef typename ForceDense<ForceDerived>::ConstAngularType::template ConstFixedSegmentReturnType<1>::Type ReturnType; };
template<typename Scalar, int Options, int axis, typename ForceSet>
struct ConstraintForceSetOp< ConstraintRevoluteTpl<Scalar,Options,axis>, ForceSet>
......
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