Program Listing for File SE3_properties.h

↰ Return to documentation for file (manif/impl/se3/SE3_properties.h)

#ifndef _MANIF_MANIF_SE3_PROPERTIES_H_
#define _MANIF_MANIF_SE3_PROPERTIES_H_

#include "manif/impl/traits.h"

namespace manif {

// Forward declaration
template <typename _Derived> struct SE3Base;
template <typename _Derived> struct SE3TangentBase;

namespace internal {

template <typename _Derived>
struct LieGroupProperties<SE3Base<_Derived>>
{
  static constexpr int Dim = 3;
  static constexpr int DoF = 6;
};

template <typename _Derived>
struct LieGroupProperties<SE3TangentBase<_Derived>>
{
  static constexpr int Dim = 3;
  static constexpr int DoF = 6;
};

} /* namespace internal */
} /* namespace manif */

#endif /* _MANIF_MANIF_SE3_PROPERTIES_H_ */