Merge pull request #349 from jcarpent/devel

Enable scalar template specialization

cmake @ 9296127f

-Subproject commit 4bf6c7fc970aa5ef35627f2c7cca79eb9275bec8
+Subproject commit 9296127f1fdfba0e34f3d0ecb6cb23ee220aa02a

docker/ubuntu/Dockerfile

+FROM ubuntu:22.04
+
+RUN apt-get update -y && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
+    build-essential \
+    cmake \
+    cmake-curses-gui \
+    vim \
+    gdb \
+    git \
+    libboost-all-dev \
+    libeigen3-dev \
+    liburdfdom-dev \
+    python3-numpy
+
+WORKDIR /src
+RUN git clone --recursive -j2 -b devel https://github.com/stack-of-tasks/eigenpy
+
+ENV CTEST_OUTPUT_ON_FAILURE=ON
+ENV CTEST_PROGRESS_OUTPUT=ON
+ENV CTEST_PARALLEL_LEVEL=2
+
+WORKDIR /src/eigenpy/build
+RUN cmake -DPYTHON_EXECUTABLE=$(which python3) -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=ON ..
+RUN make -sj2

include/eigenpy/details.hpp

@@ -19,11 +19,12 @@
 namespace eigenpy {
 
 template <typename EigenType,
-          typename BaseType = typename get_eigen_base_type<EigenType>::type>
+          typename BaseType = typename get_eigen_base_type<EigenType>::type,
+          typename Scalar = typename EigenType::Scalar>
 struct expose_eigen_type_impl;
 
-template <typename MatType>
-struct expose_eigen_type_impl<MatType, Eigen::MatrixBase<MatType> > {
+template <typename MatType, typename Scalar>
+struct expose_eigen_type_impl<MatType, Eigen::MatrixBase<MatType>, Scalar> {
   static void run() {
     if (check_registration<MatType>()) return;
 
@@ -40,8 +41,9 @@ struct expose_eigen_type_impl<MatType, Eigen::MatrixBase<MatType> > {
 };
 
 #ifdef EIGENPY_WITH_TENSOR_SUPPORT
-template <typename TensorType>
-struct expose_eigen_type_impl<TensorType, Eigen::TensorBase<TensorType> > {
+template <typename TensorType, typename Scalar>
+struct expose_eigen_type_impl<TensorType, Eigen::TensorBase<TensorType>,
+                              Scalar> {
   static void run() {
     if (check_registration<TensorType>()) return;