5 #ifndef __pinocchio_lie_group_generic_hpp__
6 #define __pinocchio_lie_group_generic_hpp__
8 #include "pinocchio/multibody/liegroup/liegroup-base.hpp"
9 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp"
13 template<
typename LieGroupCollection>
struct LieGroupGenericTpl;
15 template<
typename LieGroupCollection>
18 typedef typename LieGroupCollection::Scalar Scalar;
20 Options = LieGroupCollection::Options,
26 template<
typename LieGroupCollection>
28 :
LieGroupBase< LieGroupGenericTpl<LieGroupCollection> >, LieGroupCollection::LieGroupVariant
30 typedef typename LieGroupCollection::LieGroupVariant Base;
31 typedef typename LieGroupCollection::LieGroupVariant LieGroupVariant;
33 typedef typename LieGroupCollection::Scalar Scalar;
34 enum { Options = LieGroupCollection::Options };
36 template<
typename LieGroupDerived>
37 LieGroupGenericTpl(
const LieGroupBase<LieGroupDerived> & lg_base)
38 : Base(lg_base.derived())
41 template<
typename LieGroup>
42 LieGroupGenericTpl(
const LieGroupVariant & lg_variant)
46 const LieGroupVariant & toVariant()
const
47 {
return static_cast<const LieGroupVariant &
>(*this); }
49 LieGroupVariant & toVariant()
50 {
return static_cast<LieGroupVariant &
>(*this); }
52 int nq()
const { return ::pinocchio::nq(*
this); }
53 int nv()
const { return ::pinocchio::nv(*
this); }
58 #endif // ifndef __pinocchio_lie_group_generic_hpp__