add use case to show eigen3.3 bug #2

test/CMakeLists.txt

@@ -1,11 +1,17 @@
 
-set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+message("
+
+Eigen dir : ${EIGEN3_INCLUDE_DIRS}
+
+")
 
 include_directories(
-	${Eigen_INCLUDE_DIRS}
+	${EIGEN3_INCLUDE_DIRS}
 	${PROJECT_SOURCE_DIR}/unsupported/
 )
-add_executable(lgsm test_lgsm.cpp)
 
+add_executable(lgsm test_lgsm.cpp)

test/test_lgsm.cpp

@@ -1,7 +1,23 @@
-#include <Eigen/Dense>
 #include <Eigen/Lgsm>
+#include <iostream>
 
 int main(int argc, char ** argv)
 {
-	return 0;
-}
+    // Eigen::Displacementd a,b;
+    Eigen::Twistd c;
+    Eigen::Wrenchd d;
+    //
+    //Eigen::Vector3d test = d.getTorque();
+    std::cout << c.getAngularVelocity() << std::endl;
+    // // std::cout << d.getTorque() << std::endl;
+    // // std::cout << d.getForce() << std::endl;
+    // //
+    // // std::cout << a.adjoint() << std::endl;
+    // auto e = a*b;
+    //
+    // std::cout << "a : " << a << std::endl;
+    // std::cout << "b : " << b << std::endl;
+    // std::cout << "a*b : " << e << std::endl;
+
+    return 0;
+}