From 8092604ab55339d882ba7ae436e9974c3db6a564 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 17 Oct 2017 21:38:13 +0200
Subject: [PATCH] =?UTF-8?q?[Geometry]=C2=A0Make=20Quaternion=20with=20newe?=
=?UTF-8?q?st=20versions=20of=20Eigen?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
src/quaternion.hpp | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/src/quaternion.hpp b/src/quaternion.hpp
index 811bb50d..b35a7672 100644
--- a/src/quaternion.hpp
+++ b/src/quaternion.hpp
@@ -71,16 +71,16 @@ namespace eigenpy
"The [] operator numbers them differently, 0...4 for *x* *y* *z* *w*!"))
.add_property("x",
- (Scalar (Quaternion::*)()const)&Quaternion::x,
+ &QuaternionVisitor::getCoeff<0>,
&QuaternionVisitor::setCoeff<0>,"The x coefficient.")
.add_property("y",
- (Scalar (Quaternion::*)()const)&Quaternion::y,
+ &QuaternionVisitor::getCoeff<1>,
&QuaternionVisitor::setCoeff<1>,"The y coefficient.")
.add_property("z",
- (Scalar (Quaternion::*)()const)&Quaternion::z,
+ &QuaternionVisitor::getCoeff<2>,
&QuaternionVisitor::setCoeff<2>,"The z coefficient.")
.add_property("w",
- (Scalar (Quaternion::*)()const)&Quaternion::w,
+ &QuaternionVisitor::getCoeff<3>,
&QuaternionVisitor::setCoeff<3>,"The w coefficient.")
// .def("isApprox",(bool (Quaternion::*)(const Quaternion &))&Quaternion::template isApprox<Quaternion>,
@@ -151,6 +151,9 @@ namespace eigenpy
template<int i>
static void setCoeff(Quaternion & self, Scalar value) { self.coeffs()[i] = value; }
+ template<int i>
+ static Scalar getCoeff(Quaternion & self) { return self.coeffs()[i]; }
+
static Quaternion & setFromTwoVectors(Quaternion & self, const Vector3 & a, const Vector3 & b)
{ return self.setFromTwoVectors(a,b); }
--
GitLab