From 54ed4770d77b310c780497a7a4baab58ae6395c5 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 10 Jan 2018 08:42:22 +0100
Subject: [PATCH] [Core] Fix compatibility with version of Eigen lower than
3.3.x
---
src/ref.hpp | 36 +++++++++++++++++++++++++-----------
1 file changed, 25 insertions(+), 11 deletions(-)
diff --git a/src/ref.hpp b/src/ref.hpp
index ddeee580..641228e1 100644
--- a/src/ref.hpp
+++ b/src/ref.hpp
@@ -19,6 +19,12 @@
#include "eigenpy/fwd.hpp"
+// For old Eigen versions, EIGEN_DEVICE_FUNC is not defined.
+// We must define it just in the scope of this file.
+#if not EIGEN_VERSION_AT_LEAST(3,2,91)
+#define EIGEN_DEVICE_FUNC
+#endif
+
namespace eigenpy
{
template<typename MatType, int IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
@@ -49,17 +55,21 @@ namespace eigenpy
typedef typename Eigen::internal::traits<Base>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
- typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
- typedef typename Eigen::internal::ref_selector<Base>::type Nested; \
- typedef typename Eigen::internal::traits<Base>::StorageKind StorageKind; \
- typedef typename Eigen::internal::traits<Base>::StorageIndex StorageIndex; \
- enum { RowsAtCompileTime = Eigen::internal::traits<Base>::RowsAtCompileTime, \
- ColsAtCompileTime = Eigen::internal::traits<Base>::ColsAtCompileTime, \
- Flags = Eigen::internal::traits<Base>::Flags, \
- SizeAtCompileTime = Base::SizeAtCompileTime, \
- MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
- IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
- using Base::derived; \
+ typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */
+ typedef typename Eigen::internal::ref_selector<Base>::type Nested;
+ typedef typename Eigen::internal::traits<Base>::StorageKind StorageKind;
+#if EIGEN_VERSION_AT_LEAST(3,2,91)
+ typedef typename Eigen::internal::traits<Base>::StorageIndex StorageIndex;
+#else
+ typedef typename Eigen::internal::traits<Base>::Index StorageIndex;
+#endif
+ enum { RowsAtCompileTime = Eigen::internal::traits<Base>::RowsAtCompileTime,
+ ColsAtCompileTime = Eigen::internal::traits<Base>::ColsAtCompileTime,
+ Flags = Eigen::internal::traits<Base>::Flags,
+ SizeAtCompileTime = Base::SizeAtCompileTime,
+ MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime,
+ IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
+ using Base::derived;
using Base::const_cast_derived;
typedef typename Base::PacketScalar PacketScalar;
@@ -94,4 +104,8 @@ namespace eigenpy
}; // struct Ref<PlainObjectType>
}
+#if not EIGEN_VERSION_AT_LEAST(3,2,91)
+#undef EIGEN_DEVICE_FUNC
+#endif
+
#endif // ifndef __eigenpy_ref_hpp__
--
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