[LieGroup] Fix some bugs

src/multibody/liegroup/operation-base.hpp

@@ -28,8 +28,9 @@ namespace se3
 #ifdef __clang__
 
 #define SE3_LIE_GROUP_TYPEDEF_ARG(prefix)              \
-   typedef prefix traits<LieGroupDerived>::Scalar Scalar;    \
-   enum {                  \
+  typedef int Index;                                   \
+  typedef prefix traits<LieGroupDerived>::Scalar Scalar;    \
+  enum {                  \
     NQ = traits<LieGroupDerived>::NQ,              \
     NV = traits<LieGroupDerived>::NV               \
   };                        \

src/multibody/liegroup/special-euclidean.hpp

@@ -162,7 +162,7 @@ namespace se3
     template <class Config_t>
     void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
     {
-      R2crossSO2_t::random(qout);
+      R2crossSO2_t().random(qout);
     }
 
     template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>
@@ -274,7 +274,7 @@ namespace se3
     template <class Config_t>
     void random_impl (const Eigen::MatrixBase<Config_t>& qout) const
     {
-      R3crossSO3_t::random(qout);
+      R3crossSO3_t().random(qout);
     }
 
     template <class ConfigL_t, class ConfigR_t, class ConfigOut_t>