Currently, the floating point scalar type is given by the FloatType typedef.
It would be much better to define FloatType as a template argument to the robot class, and to all spatial algebra type.
I would also rename FloatType into Scalar, to follow the Eigen convention.
(it is more an enhancement than an issue.)
Currently, the floating point scalar type is given by the FloatType typedef. It would be much better to define FloatType as a template argument to the robot class, and to all spatial algebra type.
I would also rename FloatType into Scalar, to follow the Eigen convention.