[Minor] Bugfix + API improvement in lie group.

src/multibody/liegroup/cartesian-product-variant.hpp

@@ -86,6 +86,18 @@ namespace pinocchio
     ///
     void append(const LieGroupGeneric & lg);
 
+    ///
+    /// \brief Append a Lie group to the Cartesian product
+    ///
+    /// \param[in] lg Lie group to insert inside the Cartesian product
+    ///
+    template<typename LieGroupDerived>
+    void append (const LieGroupBase<LieGroupDerived>& lg)
+    {
+      LieGroupGeneric lgGeneric (lg);
+      append(lgGeneric);
+    }
+
     ///
     /// \brief Cartesian product between *this and other.
     ///
@@ -112,6 +124,18 @@ namespace pinocchio
       append(lg);
       return *this;
     }
+
+    ///
+    /// \brief Append a Lie group to *this.
+    ///
+    /// \param[in] lg LieGroupGeneric to append to *this.
+    ///
+    template<typename LieGroupDerived>
+    inline CartesianProductOperationVariantTpl& operator*= (const LieGroupBase<LieGroupDerived>& lg)
+    {
+      append<LieGroupDerived>(lg);
+      return *this;
+    }
     
     int nq() const { return m_nq; }
     int nv() const { return m_nv; }

src/multibody/liegroup/liegroup-variant-visitors.hpp

@@ -155,23 +155,21 @@ namespace pinocchio
                    const Eigen::MatrixBase<JacobianOut_t> & J,
                    const ArgumentPosition arg);
 
-  template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
+  template<ArgumentPosition arg, typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
   void dDifference(const LieGroupGenericTpl<LieGroupCollection> & lg,
                    const Eigen::MatrixBase<ConfigL_t> & q0,
                    const Eigen::MatrixBase<ConfigR_t> & q1,
                    const Eigen::MatrixBase<JacobianIn_t> & Jin,
                    int self,
-                   const Eigen::MatrixBase<JacobianOut_t> & Jout,
-                   const ArgumentPosition arg);
+                   const Eigen::MatrixBase<JacobianOut_t> & Jout);
 
-  template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
+  template<ArgumentPosition arg, typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
   void dDifference(const LieGroupGenericTpl<LieGroupCollection> & lg,
                    const Eigen::MatrixBase<ConfigL_t> & q0,
                    const Eigen::MatrixBase<ConfigR_t> & q1,
                    int self,
                    const Eigen::MatrixBase<JacobianIn_t> & Jin,
-                   const Eigen::MatrixBase<JacobianOut_t> & Jout,
-                   const ArgumentPosition arg);
+                   const Eigen::MatrixBase<JacobianOut_t> & Jout);
 
   template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
   void dIntegrateTransport(const LieGroupGenericTpl<LieGroupCollection> & lg,