Merge branch 'feat/sgal3' of github.com:artivis/manif into feat/sgal3

artivis · Mar 18, 2024 · f768723 · f768723
2 parents d8f89e1 + 00bc721
commit f768723
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/include/manif/impl/sgal3/SGal3Tangent_base.h b/include/manif/impl/sgal3/SGal3Tangent_base.h
@@ -373,25 +373,25 @@ SGal3TangentBase<_Derived>::lin() const {
 }
 
 template <typename _Derived>
-typename SGal3TangentBase<_Derived>::AngBlock
+typename SGal3TangentBase<_Derived>::LinBlock
 SGal3TangentBase<_Derived>::lin2() {
   return coeffs().template segment<3>(3);
 }
 
 template <typename _Derived>
-const typename SGal3TangentBase<_Derived>::ConstAngBlock
+const typename SGal3TangentBase<_Derived>::ConstLinBlock
 SGal3TangentBase<_Derived>::lin2() const {
   return coeffs().template segment<3>(3);
 }
 
 template <typename _Derived>
-typename SGal3TangentBase<_Derived>::LinBlock
+typename SGal3TangentBase<_Derived>::AngBlock
 SGal3TangentBase<_Derived>::ang() {
   return coeffs().template segment<3>(6);
 }
 
 template <typename _Derived>
-const typename SGal3TangentBase<_Derived>::ConstLinBlock
+const typename SGal3TangentBase<_Derived>::ConstAngBlock
 SGal3TangentBase<_Derived>::ang() const {
   return coeffs().template segment<3>(6);
 }

diff --git a/include/manif/manif.h b/include/manif/manif.h
@@ -10,6 +10,7 @@
 #include "manif/SE3.h"
 #include "manif/Rn.h"
 #include "manif/SE_2_3.h"
+#include "manif/SGal3.h"
 
 #include "manif/Bundle.h"
 

diff --git a/test/autodiff/gtest_common_tester_autodiff.h b/test/autodiff/gtest_common_tester_autodiff.h
@@ -93,7 +93,8 @@ namespace manif{
   __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SO3)     \
   __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SE2)     \
   __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SE3)     \
-  __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SE_2_3)
+  __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SE_2_3)  \
+  __MANIF_MAKE_TEST_AUTODIFF_ALL_TYPES(SGal3)
 
 namespace manif {