Add method name () in OperationBase and derived classes.

src/multibody/liegroup/cartesian-product.hpp

@@ -41,6 +41,9 @@ namespace se3
     typedef CartesianProductOperation<LieGroup1, LieGroup2>  LieGroupDerived;
     SE3_LIE_GROUP_TYPEDEF_TEMPLATE;
 
+    CartesianProductOperation () : lg1_ (), lg2_ ()
+    {
+    }
     /// Get dimension of Lie Group vector representation
     ///
     /// For instance, for SO(3), the dimension of the vector representation is
@@ -55,6 +58,12 @@ namespace se3
       return NV;
     }
 
+    std::string name () const
+    {
+      std::ostringstream oss; oss << lg1_.name () << "*" << lg2_.name ();
+      return oss.str ();
+    }
+
     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,
@@ -114,6 +123,9 @@ namespace se3
       return LieGroup1::isSameConfiguration(q0.template head<LieGroup1::NQ>(), q1.template head<LieGroup1::NQ>(), prec)
         +    LieGroup2::isSameConfiguration(q0.template tail<LieGroup2::NQ>(), q1.template tail<LieGroup2::NQ>(), prec);
     }
+  private:
+    LieGroup1 lg1_;
+    LieGroup2 lg2_;
   }; // struct CartesianProductOperation
 
 } // namespace se3

src/multibody/liegroup/operation-base.hpp

@@ -244,6 +244,9 @@ namespace se3
     /// Get dimension of Lie Group tangent space
     Index nv () const;
 
+    /// Get name of instance
+    std::string name () const;
+
     Derived& derived ()
     {
       return static_cast <Derived&> (*this);

src/multibody/liegroup/operation-base.hxx

@@ -242,6 +242,13 @@ namespace se3 {
   {
     return Derived::nv ();
   }
+
+  template <class Derived>
+  std::string LieGroupOperationBase <Derived>::name () const
+  {
+    return Derived::name ();
+  }
+
 } // namespace se3
 
 #endif // __se3_lie_group_operation_base_hxx__

src/multibody/liegroup/special-euclidean.hpp

@@ -75,6 +75,11 @@ namespace se3
       return NV;
     }
 
+    std::string name () const
+    {
+      return std::string ("SE(2)");
+    }
+
     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,
@@ -222,6 +227,11 @@ namespace se3
       return NV;
     }
 
+    std::string name () const
+    {
+      return std::string ("SE(3)");
+    }
+
     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

@@ -69,6 +69,11 @@ namespace se3
       return NV;
     }
 
+    std::string name () const
+    {
+      return std::string ("SO(2)");
+    }
+
     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,
@@ -176,6 +181,11 @@ namespace se3
       return NV;
     }
 
+    std::string name () const
+    {
+      return std::string ("SO(3)");
+    }
+
     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

@@ -69,6 +69,12 @@ namespace se3
       return size_;
     }
 
+    std::string name () const
+    {
+      std::ostringstream oss; oss << "R^" << size_;
+      return oss.str ();
+    }
+
     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,