MatrixBaseAddons.h

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//#ifndef INCLUDE_RML_MATRIXBASEADDONS_H_
//#define INCLUDE_RML_MATRIXBASEADDONS_H_
 
inline Scalar at(uint i, uint j) const { return this->operator()(i,j); }
inline Scalar& at(uint i, uint j) { return this->operator()(i,j); }
inline Scalar at(uint i) const { return this->operator[](i); }
inline Scalar& at(uint i) { return this->operator[](i); }
 
 
// inline Matrix<Scalar, 6, 6> GetRigidBodyMatrix() const
// {
//  eigen_assert(derived().rows() == 3 && derived().cols() == 1);
//  Matrix<Scalar, 3, 3> t_hat;
//  t_hat << 0,    -derived()(2),  derived()(1),
//          derived()(2),    0,  -derived()(0),
//          -derived()(1),  derived()(0),    0;
//  Matrix<Scalar, 6, 6> S;
//  S.block(0,0,3,3) = S.block(3,3,3,3) = Eigen::Matrix<Scalar, 3, 3>::Identity();
//  S.block(0,3,3,3) = -1.0 * t_hat;
//  S.block(3,0,3,3) = Eigen::Matrix<Scalar, 3, 3>::Zero();
//  return S;
// }
 
//#endif /* INCLUDE_RML_MATRIXBASEADDONS_H_ */
 
 
 
//template<typename MatT>
//inline void RightJuxtapose(const MatT inmat){
//  PlainObject res = derived();
//  res.resize(res.rows() + inmat.rows(), res.cols() + inmat.cols());
//  res.block(0, this->cols(), inmat.rows(), inmat.cols()) = inmat;
//
//  //return res;
//}