From 3cf48ae1b7d784adfc6d219d043556bbbe08e994 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 10 Oct 2019 01:37:23 +0200
Subject: [PATCH] Use Eigen::Map
---
include/IMU/math/IMU_tools_Lie.h | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/include/IMU/math/IMU_tools_Lie.h b/include/IMU/math/IMU_tools_Lie.h
index 7ef243757..6ea135922 100644
--- a/include/IMU/math/IMU_tools_Lie.h
+++ b/include/IMU/math/IMU_tools_Lie.h
@@ -190,11 +190,11 @@ inline void adjoint(const MatrixBase<D1>& d, MatrixBase<D2>& adjd)
MatrixSizeCheck<10, 10>::check(adjd);
// Adjoint matrix associated to the adjoint operator
- Matrix<typename D1::Scalar, 3, 1> dp ( & d( 0 ) );
- Quaternion<typename D1::Scalar> dq ( &d(3) );
- Matrix<typename D1::Scalar, 3, 3> dR = q2R(dq);
- Matrix<typename D1::Scalar, 3, 1> dv ( & d( 7 ) );
- const typename D1::Scalar& dt = d(10);
+ Map<const Matrix<typename D1::Scalar, 3, 1> > dp ( & d( 0 ) );
+ Map<const Quaternion<typename D1::Scalar> > dq ( &d(3) );
+ Matrix<typename D1::Scalar, 3, 3> dR = q2R(dq);
+ Map<const Matrix<typename D1::Scalar, 3, 1> > dv ( & d( 7 ) );
+ const typename D1::Scalar& dt = d(10);
// pqvt impl
adjd.setIdentity();
--
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