C++ skills

C++ skills

• return temporary object by const reference is OK

• DO NOT return temporary object by const reference

  • There are some weird bugs as result.
  • temporary Smart pointer will be deconstructed in this case
  • Always return pointer by value
    

Pass Eigen Matrix parameter

• Passing part of Eigen::Matrix using block

	/// function decleration
	func(Eigen::Ref<Eigen::Matrix<3,1> >);

	Eigen::Matrix<3,1> mat;
	func(
		mat.block(startRow
				, startCol
				, rows
				, cols)
	);