[Eigen] Fix plain_matrix_type_row_major::type

This fix should be used until a PR in Eigen has been merged

src/macros.hpp

@@ -50,7 +50,7 @@ namespace se3
 #define EIGEN_PLAIN_COLUMN_MAJOR_TYPE(D) Eigen::internal::plain_matrix_type_column_major< typename se3::internal::argument_type<void(D)>::type >::type
 
 /// \brief Similar to macro EIGEN_PLAIN_TYPE but with guaranty to provite a row major type
-#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) Eigen::internal::plain_matrix_type_row_major< typename se3::internal::argument_type<void(D)>::type >::type
+#define EIGEN_PLAIN_ROW_MAJOR_TYPE(D) Eigen::internal::fix::plain_matrix_type_row_major< typename se3::internal::argument_type<void(D)>::type >::type
 
 /// \brief Macro giving access to the reference type of D
 #define EIGEN_REF_CONSTTYPE(D) Eigen::internal::ref_selector<D>::type

src/utils/eigen-fix.hpp

@@ -32,5 +32,32 @@ namespace se3
 }
 #endif
 
+namespace Eigen
+{
+  namespace internal
+  {
+    namespace fix
+    {
+      /* 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
+
 #endif // ifndef __se3_utils_eigen_fix_hpp__