Fix compilation errors with Eigen 3.3.5 (#452)

* Add @jslee02's fix for Eigen 3.3.5 bug. * Update CHANGELOG.md.
personalrobotics · Jul 31, 2018 · 0df30e1 · 0df30e1
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -60,6 +60,7 @@
 
   * Fixed Eigen memory alignment issues on 32bit Ubuntu: [#368](https://github.com/personalrobotics/aikido/pull/368)
   * Defined optional dependencies: [#376](https://github.com/personalrobotics/aikido/pull/376)
+  * Fixed compilation bug with Eigen 3.3.5: [#452](https://github.com/personalrobotics/aikido/pull/452)
 
 ### 0.2.0 (2018-01-09)
 

diff --git a/include/aikido/common/detail/Spline-impl.hpp b/include/aikido/common/detail/Spline-impl.hpp
@@ -403,7 +403,11 @@ auto SplineProblem<Scalar, Index, _NumCoefficients, _NumOutputs, _NumKnots>::
   for (Index ioutput = 0; ioutput < mNumOutputs; ++ioutput)
   {
     // Solve for the spline coefficients for each output dimension.
-    Eigen::Matrix<Scalar, DimensionAtCompileTime, 1> solutionVector
+    //
+    // TODO: As of Eigen 3.3.5, the output type of SparseQR::solve() is not
+    // assignable to a fixed size vector, so we use Eigen::Dynamic here instead
+    // of DimensionAtCompileTime.
+    Eigen::Matrix<Scalar, Eigen::Dynamic, 1> solutionVector
         = solver.solve(mB.col(ioutput));
 
     // Split the coefficients by segment.