Commit 6ff39326 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub

Merge pull request #51 from nim65s/topic/eigen32

use Eigen::DenseIndex to fix build on eigen3.2, fix #50
parents 584c525d d7d07c25
......@@ -340,7 +340,7 @@ compute_xff_dotSOUT( dynamicgraph::Vector& res,
const dynamicgraph::Matrix & J = jacobianSIN( time );
const dynamicgraph::Vector & dq = qdotSIN( time );
const Eigen::Index nr=J.rows(), nc=J.cols()-6;
const Eigen::DenseIndex nr=J.rows(), nc=J.cols()-6;
assert( nr==6 );
dynamicgraph::Matrix Ja( nr,nc ); dynamicgraph::Vector dqa(nc);
for( int j=0;j<nc;++j )
......@@ -367,7 +367,7 @@ compute_qdotSOUT( dynamicgraph::Vector& res,
assert( dx.size()==6 );
const Eigen::Index nr=dq.size();
const Eigen::DenseIndex nr=dq.size();
res.resize( nr ); res=dq;
for( int i=0;i<6;++i ) res(i)=dx(i);
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