Commit 363dbf75 authored by jcarpent's avatar jcarpent
Browse files

[Quaternion] Use the right type from QuaternionBase

parent 80f4f53a
...@@ -45,11 +45,11 @@ namespace eigenpy ...@@ -45,11 +45,11 @@ namespace eigenpy
typedef typename QuaternionBase::Scalar Scalar; typedef typename QuaternionBase::Scalar Scalar;
typedef typename Quaternion::Coefficients Coefficients; typedef typename Quaternion::Coefficients Coefficients;
typedef Eigen::Matrix<Scalar,3,1> Vector3; typedef typename QuaternionBase::Vector3 Vector3;
typedef Eigen::Matrix<Scalar,4,1> Vector4; typedef typename Eigen::Matrix<Scalar,4,1> Vector4;
typedef Eigen::Matrix<Scalar,3,3> Matrix3; typedef typename QuaternionBase::Matrix3 Matrix3;
typedef Eigen::AngleAxis<Scalar> AngleAxis; typedef typename QuaternionBase::AngleAxisType AngleAxis;
public: public:
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