#include <BipedalLocomotion/ContinuousDynamicalSystem/LieGroupDynamics.h>

template<typename _Derived>

BipedalLocomotion::ContinuousDynamicalSystem::internal::traits<BipedalLocomotion::ContinuousDynamicalSystem::LieGroupDynamics<_Derived>> struct

Public types

using Tangent = typename _Derived::Tangent

using State = GenericContainer::named_tuple<BLF_NAMED_PARAM(LieGroup, _Derived)>

using StateDerivative = GenericContainer::named_tuple<BLF_NAMED_PARAM(Tangent, Tangent)>

using Input = GenericContainer::named_tuple<BLF_NAMED_PARAM(Tangent, Tangent)>

using DynamicalSystem = LieGroupDynamics<_Derived>