From 901be20a21366b9cffcb9ed8d4681b5bb8f20188 Mon Sep 17 00:00:00 2001
From: pantor <lars.berscheid@online.de>
Date: Wed, 31 Jan 2024 17:04:56 +0100
Subject: [PATCH] support eigen 3.3.7 onwards

---
 .github/workflows/ci.yml | 5 +----
 include/ruckig/utils.hpp | 4 ++--
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b8eabd6b..d52b8825 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -19,10 +19,7 @@ jobs:
       run: echo "HIDDEN=$(python3 -c "import os; print(os.devnull)")" >> $GITHUB_ENV
 
     - name: Install pybind11
-      run: |
-        git clone https://github.com/pybind/pybind11.git
-        cd pybind11
-        git checkout v2.11.1
+      run: git clone --depth 1 --branch v2.11.1 https://github.com/pybind/pybind11.git
 
     - name: Install valgrind
       if: matrix.os == 'ubuntu-latest'
diff --git a/include/ruckig/utils.hpp b/include/ruckig/utils.hpp
index a648db61..778d5fa0 100644
--- a/include/ruckig/utils.hpp
+++ b/include/ruckig/utils.hpp
@@ -22,8 +22,8 @@ template<class T, size_t DOFs, size_t SIZE> using StandardSizeVector = typename
 
 //! Vector data type based on the Eigen matrix type. Eigen needs to be included seperately
 #ifdef EIGEN_VERSION_AT_LEAST
-#if EIGEN_VERSION_AT_LEAST(3,4,0)
-    template<class T, size_t DOFs> using EigenVector = typename std::conditional<DOFs >= 1, Eigen::Vector<T, DOFs>, Eigen::Vector<T, Eigen::Dynamic>>::type;
+#if EIGEN_VERSION_AT_LEAST(3,3,7)
+    template<class T, size_t DOFs> using EigenVector = typename std::conditional<DOFs >= 1, Eigen::Matrix<T, DOFs, 1>, Eigen::Matrix<T, Eigen::Dynamic, 1>>::type;
 #endif
 #endif