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bracket spe & doc fix
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artivis committed Jul 24, 2024
1 parent cd9b81e commit 5862f85
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Showing 2 changed files with 9 additions and 1 deletion.
8 changes: 8 additions & 0 deletions include/manif/impl/rn/RnTangent_base.h
Original file line number Diff line number Diff line change
Expand Up @@ -202,6 +202,14 @@ struct RandomEvaluatorImpl<RnTangentBase<Derived>>
}
};

template <typename Derived>
struct BracketEvaluatorImpl<RnTangentBase<Derived>> {
template <typename TL, typename TR>
static typename Derived::Tangent run(const TL&, const TR&) {
return Derived::Tangent::Zero();
}
};

} // namespace internal
} // namespace manif

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2 changes: 1 addition & 1 deletion include/manif/impl/tangent_base.h
Original file line number Diff line number Diff line change
Expand Up @@ -363,7 +363,7 @@ struct TangentBase
* @tparam _DerivedOther
* @param a A Tangent object.
* @param b A second Tangent object.
* @return @return LieAlg The Lie bracket [a,b] in vector form.
* @return The Lie bracket [a,b] in vector form.
*/
template <typename _DerivedOther>
static Tangent Bracket(
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