Program Listing for File Rn_properties.h

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#ifndef _MANIF_MANIF_RN_PROPERTIES_H_
#define _MANIF_MANIF_RN_PROPERTIES_H_

#include "manif/impl/traits.h"

namespace manif {

// Forward declaration
template <typename _Derived> struct RnBase;
template <typename _Derived> struct RnTangentBase;

namespace internal {

template <typename _Derived>
struct LieGroupProperties<RnBase<_Derived>>
{
  static constexpr int Dim = traits<_Derived>::Dim;
  static constexpr int DoF = traits<_Derived>::Dim;
};

template <typename _Derived>
struct LieGroupProperties<RnTangentBase<_Derived>>
{
  static constexpr int Dim = traits<_Derived>::Dim;
  static constexpr int DoF = traits<_Derived>::Dim;
};

} // namespace internal
} // namespace manif

#endif // _MANIF_MANIF_RN_PROPERTIES_H_