Merge branch 'templatize' into issue122

flexible-collision-library · Aug 13, 2016 · aa916ea · aa916ea
2 parents e11a842 + 8147545
commit aa916ea
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/include/fcl/traversal/collision/mesh_collision_traversal_node.h b/include/fcl/traversal/collision/mesh_collision_traversal_node.h
@@ -107,8 +107,8 @@ class MeshCollisionTraversalNodeOBB : public MeshCollisionTraversalNode<OBB<S>>
 
   void leafTesting(int b1, int b2, const Transform3<S>& tf) const;
 
-  Matrix3d R;
-  Vector3d T;
+  Matrix3<S> R;
+  Vector3<S> T;
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
@@ -148,8 +148,8 @@ class MeshCollisionTraversalNodeRSS : public MeshCollisionTraversalNode<RSS<S>>
 
   void leafTesting(int b1, int b2, const Transform3<S>& tf) const;
 
-  Matrix3d R;
-  Vector3d T;
+  Matrix3<S> R;
+  Vector3<S> T;
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
@@ -179,8 +179,8 @@ class MeshCollisionTraversalNodekIOS : public MeshCollisionTraversalNode<kIOS<S>
 
   void leafTesting(int b1, int b2) const;
 
-  Matrix3d R;
-  Vector3d T;
+  Matrix3<S> R;
+  Vector3<S> T;
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
@@ -211,8 +211,8 @@ class MeshCollisionTraversalNodeOBBRSS : public MeshCollisionTraversalNode<OBBRS
 
   void leafTesting(int b1, int b2) const;
 
-  Matrix3d R;
-  Vector3d T;
+  Matrix3<S> R;
+  Vector3<S> T;
 
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };