Commit 91efd554 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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In Lie group operation, add method derived to get object cast in derived type.

parent 9324fb98
......@@ -240,6 +240,16 @@ namespace se3
Index nq () const;
/// Get dimension of Lie Group tangent space
Index nv () const;
Derived& derived ()
{
return static_cast <Derived&> (*this);
}
const Derived& derived () const
{
return static_cast <const Derived&> (*this);
}
/// \}
protected:
......
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