LieGroupBase.hpp

#ifndef DEF_COMMON_LIEGROUPBASE
#define DEF_COMMON_LIEGROUPBASE

template <typename T_DERIVED, unsigned int T_DOF>
class LieGroupBase : public CRTP<T_DERIVED>
{
public:
    static const unsigned int DOF = T_DOF;

public:
    T_DERIVED
    inverse ( ) const;

    void
    inverted ( )
    { this->underlying() = this->underlying().inverse(); }

    static T_DERIVED
    Identity ( );

    void
    operator*= (T_DERIVED const& g);

    NOXVector<T_DOF>
    toNOXVector ( ) const;

    static const unsigned int
    dof ()
    { return DOF; }
};

#endif