Generalizing Eigen Argument Types

[jcarpinelli-bdai]

I'm trying to use the kinematics_interface with Eigen::Map types, and Eigen::Block types. In some cases, this produces unnecessary copies. In other cases, the result fails to compile, so users need to convert static arrays to Eigen::Dynamic, or other conversions. According to the Eigen's documentation, "Eigen: Writing Functions Taking Eigen Types as Parameters", functions can more simply handle multiple Eigen types with function templates, or functions can accept an Eigen::Ref container type which allows for matrices and blocks of matrices.

Do you think changing argument types in this interface is worth consideration? I know that's a very breaking change, but I think it would be useful to be able to pass multiple Eigen types to any kinematics_interface implementation.