fix python bindings

artivis · Mar 21, 2024 · a7b890b · a7b890b
1 parent 191a5ba
commit a7b890b
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/include/manif/impl/sgal3/SGal3Tangent_base.h b/include/manif/impl/sgal3/SGal3Tangent_base.h
@@ -211,7 +211,9 @@ template <typename _Derived>
 typename SGal3TangentBase<_Derived>::Jacobian
 SGal3TangentBase<_Derived>::ljac() const {
   using ConstRef33 = const Eigen::Ref<const Eigen::Matrix<Scalar, 3, 3>>;
-  using Ref61 = Eigen::Ref<Eigen::Matrix<Scalar, 6, 1>>;
+  // The Python binding requires RowMajor
+  using Ref61 = Eigen::Ref<Eigen::Matrix<Scalar, 6, 1, Jacobian::IsRowMajor? 1 : 0>>;
+
   using Diag = typename Eigen::DiagonalMatrix<Scalar, 3>;
   auto I33 = [](const Scalar d){ return Diag(d, d, d).toDenseMatrix(); };