Class SolveInPlaceWrapper

include/simple/math/qr.hpp:17–29

  {
    template<typename _SolverType>
    struct SolveInPlaceWrapper : _SolverType
    {
      typedef _SolverType SolverType;

      template<typename MatrixType>
      void solveInPlace(const Eigen::MatrixBase<MatrixType> & mat) const
      {
        typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixType) res(mat);
        res = this->solve(mat);
        mat.const_cast_derived() = res;
      }

    }; // struct SolveInPlaceWrapper

    template<typename _MatrixType>
    struct SolveInPlaceWrapper<Eigen::HouseholderQR<_MatrixType>> : Eigen::HouseholderQR<_MatrixType>