Commit 6aa6a188 authored by jcarpent's avatar jcarpent
Browse files

[LieGroup] Add Lie group variant

parent 28afef52
......@@ -203,6 +203,7 @@ SET(${PROJECT_NAME}_MULTIBODY_JOINT_HEADERS
SET(${PROJECT_NAME}_MULTIBODY_LIEGROUP_HEADERS
multibody/liegroup/liegroup.hpp
multibody/liegroup/liegroup-variant.hpp
multibody/liegroup/operation-base.hpp
multibody/liegroup/operation-base.hxx
multibody/liegroup/vector-space.hpp
......
//
// Copyright (c) 2018 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
#ifndef __se3_lie_group_variant_hpp__
#define __se3_lie_group_variant_hpp__
#include "pinocchio/multibody/liegroup/vector-space.hpp"
#include "pinocchio/multibody/liegroup/cartesian-product.hpp"
#include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
#include "pinocchio/multibody/liegroup/special-euclidean.hpp"
#include <boost/variant.hpp>
namespace se3
{
typedef boost::variant< SpecialOrthogonalOperation<2>
,SpecialOrthogonalOperation<3>
,SpecialEuclideanOperation<2>
,SpecialEuclideanOperation<3>
,VectorSpaceOperation<1>
,VectorSpaceOperation<2>
,VectorSpaceOperation<3>
,VectorSpaceOperation<Eigen::Dynamic>
> LieGroupVariant;
}
#endif // ifndef __se3_lie_group_variant_hpp__
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