Commit 10bc2e00 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Add LiegroupSpace::SO2 and SO3

parent 11aaa7f5
......@@ -109,8 +109,12 @@ namespace hpp {
/// Return \f$SE(3)\f$
static LiegroupSpacePtr_t SE3 ();
/// Return \f$SO(2)\f$
static LiegroupSpacePtr_t R2xSO2 ();
static LiegroupSpacePtr_t SO2 ();
/// Return \f$SO(3)\f$
static LiegroupSpacePtr_t SO3 ();
/// Return \f$\mathbf{R}^2 \times SO(2)\f$
static LiegroupSpacePtr_t R2xSO2 ();
/// Return \f$\mathbf{R}^3 \times SO(3)\f$
static LiegroupSpacePtr_t R3xSO3 ();
/// Return empty Lie group
static LiegroupSpacePtr_t empty ();
......
......@@ -62,6 +62,26 @@ namespace hpp {
return shPtr;
}
/// Return \f$SO(2)\f$
LiegroupSpacePtr_t LiegroupSpace::SO2 ()
{
LiegroupSpace* ptr (new LiegroupSpace
(liegroup::SpecialOrthogonalOperation<2> ()));
LiegroupSpacePtr_t shPtr (ptr);
ptr->init (shPtr);
return shPtr;
}
/// Return \f$SO(3)\f$
LiegroupSpacePtr_t LiegroupSpace::SO3 ()
{
LiegroupSpace* ptr (new LiegroupSpace
(liegroup::SpecialOrthogonalOperation<3> ()));
LiegroupSpacePtr_t shPtr (ptr);
ptr->init (shPtr);
return shPtr;
}
/// Return \f$R^2\times SO(2)\f$
LiegroupSpacePtr_t LiegroupSpace::R2xSO2 ()
{
......
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