[causual-filter] Propagates changes to src file.

Author: olivier-stasse

src/causal-filter.cpp

@@ -83,7 +83,7 @@ void CausalFilter::get_x_dx_ddx(const Eigen::VectorXd& base_x,
   x_output_dx_ddx.head(m_x_size) = (input_buffer*b-output_buffer*a)/m_filter_denominator[0];
 
   //Finite Difference
-  Eigen::Index pt_denominator_prev = (pt_denominator == 0) ? m_filter_order_n-2 : pt_denominator-1;
+  Eigen::VectorXd::Index pt_denominator_prev = (pt_denominator == 0) ? m_filter_order_n-2 : pt_denominator-1;
   x_output_dx_ddx.segment(m_x_size,m_x_size) = (x_output_dx_ddx.head(m_x_size)-output_buffer.col(pt_denominator))/m_dt;
   x_output_dx_ddx.tail(m_x_size) = (x_output_dx_ddx.head(m_x_size)-2*output_buffer.col(pt_denominator)+output_buffer.col(pt_denominator_prev))/m_dt/m_dt;
 
@@ -98,8 +98,8 @@ void CausalFilter::get_x_dx_ddx(const Eigen::VectorXd& base_x,
 void CausalFilter::switch_filter(const Eigen::VectorXd& filter_numerator,
                                  const Eigen::VectorXd& filter_denominator)
 {
-  Eigen::Index filter_order_m = filter_numerator.size();
-  Eigen::Index filter_order_n = filter_denominator.size();
+  Eigen::VectorXd::Index filter_order_m = filter_numerator.size();
+  Eigen::VectorXd::Index filter_order_n = filter_denominator.size();
 
   Eigen::VectorXd current_x(input_buffer.col(pt_numerator));