Commit 779cdaf5 authored by jcarpent's avatar jcarpent
Browse files

[C++] Add static assert concerning input dimensions

parent a8f17bf5
...@@ -164,12 +164,15 @@ namespace se3 ...@@ -164,12 +164,15 @@ namespace se3
SE3Tpl(const Eigen::MatrixBase<M3> & R, const Eigen::MatrixBase<v3> & p) SE3Tpl(const Eigen::MatrixBase<M3> & R, const Eigen::MatrixBase<v3> & p)
: rot(R), trans(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> template<typename M4>
SE3Tpl(const Eigen::MatrixBase<M4> & m) SE3Tpl(const Eigen::MatrixBase<M4> & m)
: rot(m.template block<3,3>(LINEAR,LINEAR)), trans(m.template block<3,1>(LINEAR,ANGULAR)) : 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()) {} SE3Tpl(int) : rot(Matrix3::Identity()), trans(Vector3::Zero()) {}
......
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