From af87fa1a54a3839a8cb427b6a5ed354626b658d3 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Sat, 26 Nov 2022 15:40:59 +0100
Subject: [PATCH] quaternion: fix constructors taking const Eigen::Ref
* should take Eigen::Ref of const (to dispatch to proper EigenAllocator)
---
include/eigenpy/quaternion.hpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 61ee052a..88f899db 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -294,8 +294,8 @@ class QuaternionVisitor
return q;
}
- static Quaternion* FromTwoVectors(const Eigen::Ref<Vector3> u,
- const Eigen::Ref<Vector3> v) {
+ static Quaternion* FromTwoVectors(const Eigen::Ref<const Vector3> u,
+ const Eigen::Ref<const Vector3> v) {
Quaternion* q(new Quaternion);
q->setFromTwoVectors(u, v);
return q;
@@ -308,12 +308,12 @@ class QuaternionVisitor
static Quaternion* DefaultConstructor() { return new Quaternion; }
- static Quaternion* FromOneVector(const Eigen::Ref<Vector4> v) {
+ static Quaternion* FromOneVector(const Eigen::Ref<const Vector4> v) {
Quaternion* q(new Quaternion(v[3], v[0], v[1], v[2]));
return q;
}
- static Quaternion* FromRotationMatrix(const Eigen::Ref<Matrix3> R) {
+ static Quaternion* FromRotationMatrix(const Eigen::Ref<const Matrix3> R) {
Quaternion* q(new Quaternion(R));
return q;
}
--
GitLab