5 #ifndef __pinocchio_lie_group_variant_hpp__
6 #define __pinocchio_lie_group_variant_hpp__
8 #include "pinocchio/multibody/liegroup/vector-space.hpp"
9 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
10 #include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
11 #include "pinocchio/multibody/liegroup/special-euclidean.hpp"
13 #include <boost/variant.hpp>
17 typedef boost::variant< SpecialOrthogonalOperationTpl<2,double,0>
18 ,SpecialOrthogonalOperationTpl<3,double,0>
19 ,SpecialEuclideanOperationTpl<2,double,0>
20 ,SpecialEuclideanOperationTpl<3,double,0>
21 ,VectorSpaceOperationTpl<1,double>
22 ,VectorSpaceOperationTpl<2,double>
23 ,VectorSpaceOperationTpl<3,double>
24 ,VectorSpaceOperationTpl<Eigen::Dynamic,double>
29 #endif // ifndef __pinocchio_lie_group_variant_hpp__