Fix MatrixView constructor when MatrixView<const T> is built from Mat…

…rixView<T> (#1044) Co-authored-by: Silvio Traversaro <silvio.traversaro@iit.it>
robotology · Jan 10, 2023 · 7ecf7b5 · 7ecf7b5
1 parent a7fdef0
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,9 +6,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased Major]
 
-
 ## [Unreleased]
 
+## [8.0.1] - 2023-01-10
+
+### Fix
+- Fix `MatrixView` constructor when `MatrixView<const T>` is built from `MatrixView<T>` (https://github.com/robotology/idyntree/pull/1044).
+
 ## [8.0.0] - 2022-12-14
 
 ### Added

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 8.0.0
+project(iDynTree VERSION 8.0.1
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used

diff --git a/src/core/include/iDynTree/Core/MatrixView.h b/src/core/include/iDynTree/Core/MatrixView.h
@@ -105,12 +105,14 @@ namespace iDynTree
         template <
             class OtherElementType,
             class = std::enable_if_t<
-                details::is_allowed_element_type_conversion<OtherElementType, element_type>::value>>
+                details::is_allowed_element_type_conversion<typename MatrixView<OtherElementType>::value_type,
+                                                            value_type>::value>>
         IDYNTREE_CONSTEXPR MatrixView(const MatrixView<OtherElementType>& other)
             : MatrixView(other.data(), other.rows(), other.cols(), other.storageOrder())
         {
         }
 
+
         template <
             class Container,
             std::enable_if_t<std::is_const<element_type>::value
@@ -160,7 +162,9 @@ namespace iDynTree
                   std::enable_if_t<
                       std::is_convertible<decltype(std::declval<Container>().data()), pointer>::value
                           && !MatrixViewInternal::has_IsRowMajor<Container>::value
-                          && !std::is_same<Container, MatrixView>::value,
+                          && !std::is_same<Container, MatrixView>::value
+                          && !std::is_same<Container,
+                                           MatrixView<std::remove_pointer_t<decltype(std::declval<Container>().data())>>>::value,
                       int> = 0>
         MatrixView(Container& matrix, const MatrixStorageOrdering& order = MatrixStorageOrdering::RowMajor)
             : MatrixView(matrix.data(), matrix.rows(), matrix.cols(), order)