Commit 91efd554 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux
Browse files

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);
/// \}
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