Commit 4f694cda authored by jcarpent's avatar jcarpent
Browse files

[LieGroup] Small reorganization

parent 3a4a37e8
//
// Copyright (c) 2016-2017 CNRS
// Copyright (c) 2016-2018 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -42,14 +42,7 @@ namespace se3
};
};
template<> struct traits<SpecialEuclideanOperation<3> > {
typedef double Scalar;
enum {
NQ = 7,
NV = 6
};
};
// SE(2)
template<>
struct SpecialEuclideanOperation<2> : public LieGroupOperationBase <SpecialEuclideanOperation<2> >
{
......@@ -294,6 +287,14 @@ namespace se3
}
}; // struct SpecialEuclideanOperation<2>
template<> struct traits<SpecialEuclideanOperation<3> > {
typedef double Scalar;
enum {
NQ = 7,
NV = 6
};
};
/// SE(3)
template<>
struct SpecialEuclideanOperation<3> : public LieGroupOperationBase <SpecialEuclideanOperation<3> >
......
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