fix python bindings

artivis · Mar 21, 2024 · 5008a86 · 5008a86
1 parent a7b890b
commit 5008a86
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/include/manif/impl/sgal3/SGal3Tangent_base.h b/include/manif/impl/sgal3/SGal3Tangent_base.h
@@ -211,8 +211,7 @@ template <typename _Derived>
 typename SGal3TangentBase<_Derived>::Jacobian
 SGal3TangentBase<_Derived>::ljac() const {
  using ConstRef33 = const Eigen::Ref<const Eigen::Matrix<Scalar, 3, 3>>;
- // The Python binding requires RowMajor
- using Ref61 = Eigen::Ref<Eigen::Matrix<Scalar, 6, 1, Jacobian::IsRowMajor? 1 : 0>>;
+ using ConstRef61 = const Eigen::Ref<const Eigen::Matrix<Scalar, 6, 1>>;
 
  using Diag = typename Eigen::DiagonalMatrix<Scalar, 3>;
  auto I33 = [](const Scalar d){ return Diag(d, d, d).toDenseMatrix(); };
@@ -323,8 +322,8 @@ SGal3TangentBase<_Derived>::ljac() const {
  );
 
  // Block N1, part of N. N1 = Q(rho, theta)
- Ref61 rho_theta = Jl.template block<6, 1>(3, 9);
- rho_theta << lin(), ang();
+ Jl.template block<6, 1>(3, 9) << lin(), ang();
+ ConstRef61 rho_theta = Jl.template block<6, 1>(3, 9);
  // block N1 = Q(rho,theta)
  SE3Tangent<Scalar>::fillQ(Jl.template block<3, 3>(0, 6), rho_theta);