common.hpp

// Copyright (C) 2021-2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include <optional>
 
#include <Eigen/Core>
 
#include "../concepts/lie_group.hpp"
 
SMOOTH_BEGIN_NAMESPACE
 
template<LieGroup G>
using OptTangent = std::optional<Eigen::Ref<Tangent<G>>>;
 
template<LieGroup G, int K>
using SplineJacobian = Eigen::Matrix<Scalar<G>, Dof<G>, Dof<G> == -1 ? -1 : Dof<G> *(K + 1)>;
 
template<LieGroup G, int K>
using OptSplineJacobian = std::optional<Eigen::Ref<SplineJacobian<G, K>>>;
 
SMOOTH_END_NAMESPACE