Hello,

I would like to wrap the Eigen::Block into my own struct with the typedef (so to have some abstraction, that I dont want to use directly Eigen stuff in my code). But I dont know how to write this with templates, because I dont know how to access the template parameter (-1 or any integer) for Row and COL? So there must be a way of getting to the underlying type of this integer. The class DynamicBlock works, but how do I write StaticBlock?

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template<typename MatrixType>
struct StaticBlock{
   typedef Block< MatrixType , MatrixType::Row ,  MatrixType::Col > type;
   typedef Block<MatrixType , MatrixType::Row ,  MatrixType::Col > const_type;
};

struct DynamicBlock{
   typedef Block< MatrixType , Eigen::Dynamic ,  Eigen::Dynamic > type;
   typedef Block<MatrixType , Eigen::Dynamic ,  Eigen::Dynamic > const_type;
};


I would like to write

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StaticBlock<Eigen::Matrix<double,4,1>::type

which then is a correct static Block ?
How do I do this?

THanks alot!!

Are you looking for MatrixType::RowsAtCompileTime and MatrixType::ColsAtCompileTime ?

Yes, I think this is it ?

Is this the correct template parameter? Or how do we call these?

Yes you can use it as template parameter

I have found the solution to wrap the eigen type:

like

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struct MyMatrix {
   typedef Eigen::Matrix<double,7,1> VectorQObj;
   typedef Eigen::Matrix<double,6,1> VectorUObj;
   typedef Eigen::Matrix<double,4,1> Quaternion;

};


template<typename MatrixType,int M=Eigen::Dynamic, int N=Eigen::Dynamic>
struct MatrixBlock{
   typedef Block< MatrixType ,M, N > type;
   typedef Block< const MatrixType , M, N> const_type;
};

lets me write stuff like this:

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MatrixBlock<MyMatrix::VectorQObj,4,1>::const_type  getQuaternion() const {
      cout << "Const called" <<endl;
      return MatrixBlock<MyMatrix::VectorQObj,4,1>::const_type(q,0,0);
   }

    MatrixBlock<MyMatrix::VectorQObj,4,1>::type  getQuaternion(){
      cout << "Normal called" <<endl;
      return MatrixBlock<MyMatrix::VectorQObj,4,1>::type(q,3,0);
   }

Can somebody tell me if this make sense to use like this or if there are some disadantages?

Thanks!!

That sounds overkill, why not directly using VectorBlock<MyMatrix::VectorQObj,4> and VectorBlock<const MyMatrix::VectorQObj,4> ??