Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Gabriele Buondonno
pinocchio
Commits
91efd554
Commit
91efd554
authored
Sep 04, 2017
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Sep 04, 2017
Browse files
In Lie group operation, add method derived to get object cast in derived type.
parent
9324fb98
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/multibody/liegroup/operation-base.hpp
View file @
91efd554
...
...
@@ -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:
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment