Commit a261b5b8 authored by jcarpent's avatar jcarpent
Browse files

[LieGroup] Fix some bugs

parent 2313552c
......@@ -28,8 +28,9 @@ namespace se3
#ifdef __clang__
#define SE3_LIE_GROUP_TYPEDEF_ARG(prefix) \
typedef prefix traits<LieGroupDerived>::Scalar Scalar; \
enum { \
typedef int Index; \
typedef prefix traits<LieGroupDerived>::Scalar Scalar; \
enum { \
NQ = traits<LieGroupDerived>::NQ, \
NV = traits<LieGroupDerived>::NV \
}; \
......
......@@ -162,7 +162,7 @@ namespace se3
template <class Config_t>
void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
{
R2crossSO2_t::random(qout);
R2crossSO2_t().random(qout);
}
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
......@@ -274,7 +274,7 @@ namespace se3
template <class Config_t>
void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
{
R3crossSO3_t::random(qout);
R3crossSO3_t().random(qout);
}
template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
......
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