From 6c81d0bfb9bcfdbdabdc35cdbe04e248d86b5dac Mon Sep 17 00:00:00 2001 From: ManifoldFR Date: Sun, 4 Feb 2024 23:57:36 +0100 Subject: [PATCH 1/2] Fix using 'template' when calling non-template overloaded member of Eigen object + creates a compile issue with Eigen 3.3.7 --- .../crocoddyl/multibody/actuations/floating-base-thrusters.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp b/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp index 09631df577..4524421051 100644 --- a/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp +++ b/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp @@ -174,7 +174,7 @@ class ActuationModelFloatingBaseThrustersTpl W_thrust_.setZero(); if (nu_ > n_thrusters_) { W_thrust_ - .template bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) + .bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) .diagonal() .setOnes(); } From 5b79c0773ea319851c7b13a3b52d5f0ea1e59888 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 5 Feb 2024 14:01:24 +0000 Subject: [PATCH 2/2] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- .../crocoddyl/multibody/actuations/floating-base-thrusters.hpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp b/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp index 4524421051..e0ab47b2fb 100644 --- a/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp +++ b/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp @@ -173,8 +173,7 @@ class ActuationModelFloatingBaseThrustersTpl // Update the joint actuation part W_thrust_.setZero(); if (nu_ > n_thrusters_) { - W_thrust_ - .bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) + W_thrust_.bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) .diagonal() .setOnes(); }