diff --git a/include/bodydynamics/factor/factor_angular_momentum.h b/include/bodydynamics/factor/factor_angular_momentum.h index 7a28b1204a11cfad3decbae3e87a75eb32a0ed8a..9d209bf5c7abbb13c1133fcd964ab7df2e7f5f5b 100644 --- a/include/bodydynamics/factor/factor_angular_momentum.h +++ b/include/bodydynamics/factor/factor_angular_momentum.h @@ -128,7 +128,7 @@ inline bool FactorAngularMomentum::residual(const MatrixBase<D1>& _L, typedef typename D4::Scalar T; - auto w_real = measurement_ang_vel_ - _I.segment<3>(3); + Matrix<T, 3, 1> w_real = measurement_ang_vel_ - _I.template segment<3>(3); const auto& Lx = _L(0); const auto& Ly = _L(1); const auto& Lz = _L(2);