group_flavor in internal::LieGroup template

gtsam/base/concepts.h

@@ -117,10 +117,12 @@ struct Manifold {
 /// A helper that implements the traits interface for GTSAM lie groups.
 /// To use this for your gtsam type, define:
 /// template<> struct traits<Type> : public LieGroup<Type> { };
-template<typename ManifoldType>
+template<typename ManifoldType,typename _group_flavor = additive_group_tag>
 struct LieGroup {
   // Typedefs required by all manifold types.
   typedef lie_group_tag structure_category;
+  typedef _group_flavor group_flavor;
+
   enum { dimension = ManifoldType::dimension };
   typedef Eigen::Matrix<double, dimension, 1> TangentVector;
   typedef OptionalJacobian<dimension, dimension> ChartJacobian;

gtsam/geometry/Pose2.h

@@ -304,7 +304,7 @@ typedef std::pair<Point2,Point2> Point2Pair;
 GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 
 template<>
-struct traits_x<Pose2> : public internal::LieGroup<Pose2> {};
+struct traits_x<Pose2> : public internal::LieGroup<Pose2, multiplicative_group_tag> {};
 
 } // namespace gtsam
 

gtsam/geometry/Pose3.h

@@ -363,6 +363,6 @@ typedef std::pair<Point3, Point3> Point3Pair;
 GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
 
 template<>
-struct traits_x<Pose3> : public internal::LieGroup<Pose3> {};
+struct traits_x<Pose3> : public internal::LieGroup<Pose3, multiplicative_group_tag> {};
 
 } // namespace gtsam

gtsam/geometry/Rot2.h

@@ -242,6 +242,6 @@ namespace gtsam {
   };
 
   template<>
-  struct traits_x<Rot2> : public internal::LieGroup<Rot2> {};
+  struct traits_x<Rot2> : public internal::LieGroup<Rot2, multiplicative_group_tag> {};
 
 } // gtsam

gtsam/geometry/Rot3.h

@@ -473,6 +473,6 @@ namespace gtsam {
   GTSAM_EXPORT std::pair<Matrix3,Vector3> RQ(const Matrix3& A);
 
   template<>
-  struct traits_x<Rot3> : public internal::LieGroup<Rot3> {};
+  struct traits_x<Rot3> : public internal::LieGroup<Rot3, multiplicative_group_tag> {};
 }