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modelling/spaces : add getter for underlying pin::LieGroup object #403

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Merged
ManifoldFR merged 2 commits into from
Apr 17, 2026
+12 −7
Merged

modelling/spaces : add getter for underlying pin::LieGroup object #403

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c6ea59f
modelling/spaces : use static_assert() to check for Pinocchio Lie group
ManifoldFR Apr 17, 2026
922e2fa
Update CHANGELOG
ManifoldFR Apr 17, 2026
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Added
- Support the new Pinocchio 4 release (https://github.com/Simple-Robotics/aligator/pull/390)
- manifolds: add `PinocchioLieGroup::lieGroup()` getter, expose to Python

### Changed
- Deprecate `<aligator/modelling/dynamics/context.hpp>` (https://github.com/Simple-Robotics/aligator/pull/390)
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6 changes: 4 additions & 2 deletions bindings/python/src/modelling/multibody/expose-pinocchio-manifolds.cpp
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Expand Up @@ -21,8 +21,10 @@ using PolyManifold = xyz::polymorphic<Manifold>;
/// and no-arg default constructor.
template <typename LieGroup>
void exposeLieGroup(const char *name, const char *docstring) {
bp::class_<PinocchioLieGroup<LieGroup>, bp::bases<Manifold>>(
name, docstring, bp::init<>("self"_a))
using wrapper_t = PinocchioLieGroup<LieGroup>;
bp::class_<wrapper_t, bp::bases<Manifold>>(name, docstring,
bp::init<>("self"_a))
.add_property("lg", &wrapper_t::lieGroup)
.def(PolymorphicVisitor<PolyManifold>())
.enable_pickling_(true);
}
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12 changes: 7 additions & 5 deletions include/aligator/modelling/spaces/pinocchio-groups.hpp
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Expand Up @@ -14,15 +14,16 @@ namespace pin = pinocchio;
/// Type trait. Indicates whether @tparam G is derived from
/// pinocchio::LieGroupBase.
template <typename G>
inline constexpr bool is_pinocchio_lie_group =
std::is_base_of_v<pin::LieGroupBase<G>, G>;
inline constexpr bool is_pinocchio_lie_group_v =
is_tpl_base_of_v<pin::LieGroupBase, G>;

/// @brief Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object.
///
template <typename G, std::enable_if_t<is_pinocchio_lie_group<G>> * = nullptr>
struct PinocchioLieGroup : ManifoldAbstractTpl<typename G::Scalar> {
template <typename LieGroup_>
struct PinocchioLieGroup : ManifoldAbstractTpl<typename LieGroup_::Scalar> {
public:
using LieGroup = G;
using LieGroup = LieGroup_;
static_assert(is_pinocchio_lie_group_v<LieGroup>);
using Scalar = typename LieGroup::Scalar;
using Base = ManifoldAbstractTpl<Scalar>;
using Base::ndx;
Expand Down Expand Up @@ -51,6 +52,7 @@ struct PinocchioLieGroup : ManifoldAbstractTpl<typename G::Scalar> {
}

operator LieGroup() const { return lg_; }
LieGroup lieGroup() const { return lg_; }

bool isNormalized(const ConstVectorRef &x) const {
if (x.size() < nx())
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