Add Scalar template argument to UnalignedEquivalent struct.

aelkhour · aelkhour · commit 2aeb383825a6 · 2016-07-07T15:05:06.000+02:00
* It allows creating unaligned equivalent of Eigen matrix using a
  different scalar type. This can be useful when matrix types use
  single precision floats, whereas Numpy matrix types use double
  precision floats by default.
* Default template argument value is Matrix D scalar type to preserve
  backward-compatibility.
diff --git a/src/fwd.hpp b/src/fwd.hpp
@@ -22,11 +22,11 @@
 
 namespace eigenpy
 {
-  template<typename D>
+  template<typename D, typename Scalar = typename D::Scalar>
   struct UnalignedEquivalent
   {
     typedef Eigen::MatrixBase<D> MatType;
-    typedef Eigen::Matrix<typename D::Scalar,
+    typedef Eigen::Matrix<Scalar,
              D::RowsAtCompileTime,
              D::ColsAtCompileTime,
 #ifndef EIGENPY_ALIGNED

Original file line number	Diff line number	Diff line change
`@@ -22,11 +22,11 @@`
`22`	`22`
`23`	`23`	`namespace eigenpy`
`24`	`24`	`{`
`25`		`- template<typename D>`
	`25`	`+ template<typename D, typename Scalar = typename D::Scalar>`
`26`	`26`	`struct UnalignedEquivalent`
`27`	`27`	`{`
`28`	`28`	`typedef Eigen::MatrixBase<D> MatType;`
`29`		`- typedef Eigen::Matrix<typename D::Scalar,`
	`29`	`+ typedef Eigen::Matrix<Scalar,`
`30`	`30`	`D::RowsAtCompileTime,`
`31`	`31`	`D::ColsAtCompileTime,`
`32`	`32`	`#ifndef EIGENPY_ALIGNED`