template using typename

jmeidow · jmeidow · commit 30f22c037ab3 · 2026-03-31T07:58:54.000+02:00
diff --git a/src/adjustment.h b/src/adjustment.h
@@ -60,10 +60,10 @@ class AdjustmentFramework
                             Eigen::Array<Attribute,Eigen::Dynamic,1> & status,
                             Eigen::Array<bool,Eigen::Dynamic,1> & enforced);
 
-    //! Get s-th entity represented by vector of length N and covariance matrix
-    template <int N>
-    std::pair< Eigen::Vector<double,N>, Eigen::Matrix<double,N,N> >
-    getEntity( Eigen::Index s) const;
+    //! Get i-th uncertain entity represented by N-vector and covariance matrix
+    template<typename T,int N>
+    std::pair< Eigen::Vector<T,N>, Eigen::Matrix<T,N,N> >
+    getEntity( Eigen::Index i) const;
 
 private:
     [[nodiscard]] static int nIterMax() { return nIterMax_; }
@@ -110,18 +110,17 @@ class AdjustmentFramework
 };
 
 
-//! Get s-th entity represented by vector of length N and covariance matrix
-template <int N>
-std::pair< Eigen::Vector<double,N>, Eigen::Matrix<double,N,N> >
-AdjustmentFramework::getEntity( const Eigen::Index s) const
+//! Get i-th uncertain entity represented by N-vector and covariance matrix
+template<typename T,int N>
+std::pair< Eigen::Vector<T,N>, Eigen::Matrix<T,N,N> >
+AdjustmentFramework::getEntity( const Eigen::Index i) const
 {
-    const Eigen::Index offset = N*s;
-    const Eigen::Matrix<double,N,N> RR = Geometry::Rot_ab<double,N>(
-        l_.segment(offset,N),
-        l0_.segment(offset,N) );
+    const Eigen::Index offset = N*i;  // start position
+    const Eigen::Matrix<T,N,N> RR = Geometry::Rot_ab<T,N>(
+        l_.segment<N>(offset), l0_.segment<N>(offset) );
 
-    return { l0_.segment(offset,N),
-             RR*Sigma_ll_.block(offset,offset,N,N)*RR.transpose() };
+    return {l0_.segment<N>(offset),
+            RR*Sigma_ll_.block(offset,offset,N,N)*RR.transpose()};
 }
 
 
diff --git a/src/state.cpp b/src/state.cpp
@@ -825,7 +825,7 @@ void impl::update_segments( const ArrayXi & maps_,
 {
     for ( Index s=0; s<maps_.size(); s++ ) {
         //  straight line:  s-th 3-vector
-        const std::pair<Vector3d,Matrix3d> p = a.getEntity<3>(s);
+        const std::pair<Vector3d,Matrix3d> p = a.getEntity<double,3>(s);
         const uStraightLine ul( p.first, p.second );
 
         const uPoint ux = m_segm.at( maps_(s) )->ux();

Original file line number	Diff line number	Diff line change
`@@ -825,7 +825,7 @@ void impl::update_segments( const ArrayXi & maps_,`
`825`	`825`	`{`
`826`	`826`	`for ( Index s=0; s<maps_.size(); s++ ) {`
`827`	`827`	`// straight line: s-th 3-vector`
`828`		`- const std::pair<Vector3d,Matrix3d> p = a.getEntity<3>(s);`
	`828`	`+ const std::pair<Vector3d,Matrix3d> p = a.getEntity<double,3>(s);`
`829`	`829`	`const uStraightLine ul( p.first, p.second );`
`830`	`830`
`831`	`831`	`const uPoint ux = m_segm.at( maps_(s) )->ux();`