From 5008a866dfba896649b8c715870142be6f0abd09 Mon Sep 17 00:00:00 2001
From: artivis <deray.jeremie@gmail.com>
Date: Thu, 21 Mar 2024 09:36:25 +0100
Subject: [PATCH] fix python bindings

---
 include/manif/impl/sgal3/SGal3Tangent_base.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/include/manif/impl/sgal3/SGal3Tangent_base.h b/include/manif/impl/sgal3/SGal3Tangent_base.h
index 68b49ac6..d33b211a 100644
--- a/include/manif/impl/sgal3/SGal3Tangent_base.h
+++ b/include/manif/impl/sgal3/SGal3Tangent_base.h
@@ -211,8 +211,7 @@ template <typename _Derived>
 typename SGal3TangentBase<_Derived>::Jacobian
 SGal3TangentBase<_Derived>::ljac() const {
   using ConstRef33 = const Eigen::Ref<const Eigen::Matrix<Scalar, 3, 3>>;
-  // The Python binding requires RowMajor
-  using Ref61 = Eigen::Ref<Eigen::Matrix<Scalar, 6, 1, Jacobian::IsRowMajor? 1 : 0>>;
+  using ConstRef61 = const Eigen::Ref<const Eigen::Matrix<Scalar, 6, 1>>;
 
   using Diag = typename Eigen::DiagonalMatrix<Scalar, 3>;
   auto I33 = [](const Scalar d){ return Diag(d, d, d).toDenseMatrix(); };
@@ -323,8 +322,8 @@ SGal3TangentBase<_Derived>::ljac() const {
   );
 
   // Block N1, part of N. N1 = Q(rho, theta)
-  Ref61 rho_theta = Jl.template block<6, 1>(3, 9);
-  rho_theta << lin(), ang();
+  Jl.template block<6, 1>(3, 9) << lin(), ang();
+  ConstRef61 rho_theta = Jl.template block<6, 1>(3, 9);
   // block N1 = Q(rho,theta)
   SE3Tangent<Scalar>::fillQ(Jl.template block<3, 3>(0, 6), rho_theta);