Add dimension getters in LiegroupOperation classes

src/multibody/liegroup/cartesian-product.hpp

@@ -41,6 +41,20 @@ namespace se3
     typedef CartesianProductOperation<LieGroup1, LieGroup2>  LieGroupDerived;
     SE3_LIE_GROUP_TYPEDEF_TEMPLATE;
 
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const
+    {
+      return NQ;
+    }
+    /// Get dimension of Lie Group tangent space
+    Index nv () const
+    {
+      return NV;
+    }
+
     template <class ConfigL_t, class ConfigR_t, class Tangent_t>
     static void difference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                 const Eigen::MatrixBase<ConfigR_t> & q1,

src/multibody/liegroup/operation-base.hpp

@@ -233,7 +233,13 @@ namespace se3
     static bool isSameConfiguration_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                          const Eigen::MatrixBase<ConfigR_t> & q1,
                                          const Scalar & prec);
-
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const;
+    /// Get dimension of Lie Group tangent space
+    Index nv () const;
     /// \}
 
   protected:

src/multibody/liegroup/operation-base.hxx

@@ -226,6 +226,20 @@ namespace se3 {
   {
     return q0.isApprox(q1, prec);
   }
+
+  template <class Derived>
+  typename LieGroupOperationBase <Derived>::Index
+  LieGroupOperationBase <Derived>::nq () const
+  {
+    return Derived::nq ();
+  }
+
+  template <class Derived>
+  typename LieGroupOperationBase <Derived>::Index
+  LieGroupOperationBase <Derived>::nv () const
+  {
+    return Derived::nv ();
+  }
 } // namespace se3
 
 #endif // __se3_lie_group_operation_base_hxx__

src/multibody/liegroup/special-euclidean.hpp

@@ -61,6 +61,20 @@ namespace se3
     typedef SpecialEuclideanOperation LieGroupDerived;
     SE3_LIE_GROUP_TYPEDEF;
 
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const
+    {
+      return NQ;
+    }
+    /// Get dimension of Lie Group tangent space
+    Index nv () const
+    {
+      return NV;
+    }
+
     template <class ConfigL_t, class ConfigR_t, class Tangent_t>
     static void difference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                 const Eigen::MatrixBase<ConfigR_t> & q1,
@@ -193,6 +207,20 @@ namespace se3
     typedef Eigen::Map<const Quaternion_t> ConstQuaternionMap_t;
     typedef SE3 Transformation_t;
 
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const
+    {
+      return NQ;
+    }
+    /// Get dimension of Lie Group tangent space
+    Index nv () const
+    {
+      return NV;
+    }
+
     template <class ConfigL_t, class ConfigR_t, class Tangent_t>
     static void difference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                 const Eigen::MatrixBase<ConfigR_t> & q1,

src/multibody/liegroup/special-orthogonal.hpp

@@ -55,6 +55,20 @@ namespace se3
     typedef SpecialOrthogonalOperation LieGroupDerived;
     SE3_LIE_GROUP_TYPEDEF;
 
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const
+    {
+      return NQ;
+    }
+    /// Get dimension of Lie Group tangent space
+    Index nv () const
+    {
+      return NV;
+    }
+
     template <class ConfigL_t, class ConfigR_t, class Tangent_t>
     static void difference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                 const Eigen::MatrixBase<ConfigR_t> & q1,
@@ -147,6 +161,20 @@ namespace se3
     typedef Eigen::Map<      Quaternion_t> QuaternionMap_t;
     typedef Eigen::Map<const Quaternion_t> ConstQuaternionMap_t;
 
+    /// Get dimension of Lie Group vector representation
+    ///
+    /// For instance, for SO(3), the dimension of the vector representation is
+    /// 4 (quaternion) while the dimension of the tangent space is 3.
+    Index nq () const
+    {
+      return NQ;
+    }
+    /// Get dimension of Lie Group tangent space
+    Index nv () const
+    {
+      return NV;
+    }
+
     template <class ConfigL_t, class ConfigR_t, class Tangent_t>
     static void difference_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                 const Eigen::MatrixBase<ConfigR_t> & q1,

src/multibody/liegroup/vector-space.hpp

@@ -41,7 +41,6 @@ namespace se3
     typedef VectorSpaceOperation<Size>  LieGroupDerived;
 
     SE3_LIE_GROUP_TYPEDEF_TEMPLATE;
-    typedef typename Eigen::Matrix <Scalar, 1, 1>::Index size_type;
 
     /// Constructor
     /// \param size size of the vector space: should be the equal to template
@@ -52,11 +51,11 @@ namespace se3
       assert (Size == Eigen::Dynamic || size_ == Size);
     }
 
-    size_type nq () const
+    Index nq () const
     {
       return size_;
     }
-    size_type nv () const
+    Index nv () const
     {
       return size_;
     }
@@ -107,7 +106,7 @@ namespace se3
       }
     }
   private:
-    size_type size_;
+    Index size_;
   }; // struct VectorSpaceOperation
 
 } // namespace se3