Remove unused RigidBodyTree<AutoDiffXd> instantiation (RobotLocomotio…

…n#8663)
Kun-Son · Apr 24, 2018 · a2a84f6 · a2a84f6
1 parent 628400a
commit a2a84f6
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/multibody/rigid_body_tree.cc b/multibody/rigid_body_tree.cc
@@ -3431,10 +3431,9 @@ template MatrixX<double> RigidBodyTree<double>::transformQDotMappingToVelocityMa
 template MatrixX<double> RigidBodyTree<double>::transformQDotMappingToVelocityMapping<Eigen::Map<MatrixXd      >>(const KinematicsCache<double>&, const Eigen::MatrixBase<Eigen::Map<MatrixXd      >>&);  // NOLINT
 
 // Explicit template instantiations for DoTransformPointsJacobian.
-template MatrixX<double    > RigidBodyTree<double    >::DoTransformPointsJacobian<double    , double    >(const KinematicsCache<double    >&, const Eigen::Ref<const Matrix3X<double    >>&, int, int, bool) const;  // NOLINT
-template MatrixX<AutoDiffXd> RigidBodyTree<double    >::DoTransformPointsJacobian<AutoDiffXd, double    >(const KinematicsCache<AutoDiffXd>&, const Eigen::Ref<const Matrix3X<double    >>&, int, int, bool) const;  // NOLINT
-template MatrixX<AutoDiffXd> RigidBodyTree<double    >::DoTransformPointsJacobian<AutoDiffXd, AutoDiffXd>(const KinematicsCache<AutoDiffXd>&, const Eigen::Ref<const Matrix3X<AutoDiffXd>>&, int, int, bool) const;  // NOLINT
-template MatrixX<AutoDiffXd> RigidBodyTree<AutoDiffXd>::DoTransformPointsJacobian<AutoDiffXd, AutoDiffXd>(const KinematicsCache<AutoDiffXd>&, const Eigen::Ref<const Matrix3X<AutoDiffXd>>&, int, int, bool) const;  // NOLINT
+template MatrixX<double    > RigidBodyTree<double>::DoTransformPointsJacobian<double    , double    >(const KinematicsCache<double    >&, const Eigen::Ref<const Matrix3X<double    >>&, int, int, bool) const;  // NOLINT
+template MatrixX<AutoDiffXd> RigidBodyTree<double>::DoTransformPointsJacobian<AutoDiffXd, double    >(const KinematicsCache<AutoDiffXd>&, const Eigen::Ref<const Matrix3X<double    >>&, int, int, bool) const;  // NOLINT
+template MatrixX<AutoDiffXd> RigidBodyTree<double>::DoTransformPointsJacobian<AutoDiffXd, AutoDiffXd>(const KinematicsCache<AutoDiffXd>&, const Eigen::Ref<const Matrix3X<AutoDiffXd>>&, int, int, bool) const;  // NOLINT
 
 // Explicit template instantiations for DoTransformPointsJacobianDotTimesV.
 template VectorX<AutoDiffXd>      RigidBodyTree<double>::DoTransformPointsJacobianDotTimesV<AutoDiffXd     >(const KinematicsCache<AutoDiffXd     >&, const Eigen::Ref<const Matrix3Xd>&, int, int) const;  // NOLINT