| 20 | |
| 21 | template<typename MatrixType> |
| 22 | void solveInPlace(const Eigen::MatrixBase<MatrixType> & mat) const |
| 23 | { |
| 24 | typename PINOCCHIO_EIGEN_PLAIN_TYPE(MatrixType) res(mat); |
| 25 | res = this->solve(mat); |
| 26 | mat.const_cast_derived() = res; |
| 27 | } |
| 28 | |
| 29 | }; // struct SolveInPlaceWrapper |
| 30 |