se3-tpl.hpp

//
// Copyright (c) 2020 INRIA
//
 
#ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__
#define __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__
 
#include "pinocchio/spatial/fwd.hpp"
 
namespace pinocchio
{
  namespace internal
  {
    template<typename Scalar, int Options, typename NewScalar>
    struct cast_call_normalize_method<
      SE3Tpl<::casadi::Matrix<Scalar>, Options>,
      NewScalar,
      ::casadi::Matrix<Scalar>>
    {
      template<typename T>
      static void run(T &)
      {
        // do nothing
      }
    };
 
    template<typename Scalar, int Options, typename NewScalar>
    struct cast_call_normalize_method<SE3Tpl<Scalar, Options>, ::casadi::Matrix<NewScalar>, Scalar>
    {
      template<typename T>
      static void run(T &)
      {
        // do nothing
      }
    };
 
  } // namespace internal
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_autodiff_casadi_spatial_se3_tpl_hpp__