5 #ifndef __pinocchio_utils_eigen_fix_hpp__ 6 #define __pinocchio_utils_eigen_fix_hpp__ 8 #if EIGEN_VERSION_AT_LEAST(3,2,90) && !EIGEN_VERSION_AT_LEAST(3,3,0) 14 template<
typename XprType>
struct size_of_xpr_at_compile_time
16 enum { ret = Eigen::internal::size_at_compile_time<Eigen::internal::traits<XprType>::RowsAtCompileTime,Eigen::internal::traits<XprType>::ColsAtCompileTime>::ret };
30 template<
typename T>
struct plain_matrix_type_row_major
32 enum { Rows = traits<T>::RowsAtCompileTime,
33 Cols = traits<T>::ColsAtCompileTime,
34 MaxRows = traits<T>::MaxRowsAtCompileTime,
35 MaxCols = traits<T>::MaxColsAtCompileTime
37 typedef Matrix<typename traits<T>::Scalar,
40 (MaxCols==1&&MaxRows!=1) ? ColMajor : RowMajor,
49 #endif // ifndef __pinocchio_utils_eigen_fix_hpp__ Source from #include <cppad/example/cppad_eigen.hpp>
Main pinocchio namespace.