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Gabriele Buondonno
pinocchio
Commits
779cdaf5
Commit
779cdaf5
authored
Mar 16, 2016
by
jcarpent
Browse files
[C++] Add static assert concerning input dimensions
parent
a8f17bf5
Changes
1
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Inline
Side-by-side
src/spatial/se3.hpp
View file @
779cdaf5
...
...
@@ -164,12 +164,15 @@ namespace se3
SE3Tpl
(
const
Eigen
::
MatrixBase
<
M3
>
&
R
,
const
Eigen
::
MatrixBase
<
v3
>
&
p
)
:
rot
(
R
),
trans
(
p
)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE
(
v3
,
3
)
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE
(
M3
,
3
,
3
)
}
template
<
typename
M4
>
SE3Tpl
(
const
Eigen
::
MatrixBase
<
M4
>
&
m
)
:
rot
(
m
.
template
block
<
3
,
3
>(
LINEAR
,
LINEAR
)),
trans
(
m
.
template
block
<
3
,
1
>(
LINEAR
,
ANGULAR
))
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE
(
M4
,
4
,
4
);
}
SE3Tpl
(
int
)
:
rot
(
Matrix3
::
Identity
()),
trans
(
Vector3
::
Zero
())
{}
...
...
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