Specialise only on DefaultOrthogonalBasis

JuliaManifolds · Oct 16, 2023 · 1bbb150 · 1bbb150
1 parent c504d10
commit 1bbb150
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/groups/semidirect_product_group.jl b/src/groups/semidirect_product_group.jl
@@ -173,7 +173,7 @@ end
 # We need to prevent decorator unwrapping so that the correct `get_vector!` gets called
 # and applies proper padding to the result if `X` happens to be a matrix.
 # Otherwise rare random bugs happen where the padding is not applied.
-function get_vector(G::SemidirectProductGroup, p, X, B::AbstractOrthogonalBasis)
+function get_vector(G::SemidirectProductGroup, p, X, B::VeeOrthogonalBasis)
     Y = allocate_result(G, get_vector, p, X)
     return get_vector!(G, Y, p, X, B)
 end

diff --git a/src/groups/special_euclidean.jl b/src/groups/special_euclidean.jl
@@ -717,7 +717,7 @@ function get_coordinates(
     M::SpecialEuclidean,
     p::ArrayPartition,
     X::ArrayPartition,
-    basis::AbstractBasis,
+    basis::DefaultOrthogonalBasis,
 )
     M1, M2 = M.manifold.manifolds
     return vcat(
@@ -736,7 +736,7 @@ function get_vector(
     M::SpecialEuclidean{2},
     p::ArrayPartition,
     c::AbstractVector,
-    basis::AbstractOrthogonalBasis,
+    basis::DefaultOrthogonalBasis,
 )
     return ArrayPartition(
         get_vector(M.manifold.manifolds[1].manifold, p.x[1], view(c, 1:2), basis),
@@ -754,7 +754,7 @@ function get_vector(
     M::SpecialEuclidean{3},
     p::ArrayPartition,
     Xc::AbstractVector,
-    basis::AbstractOrthogonalBasis,
+    basis::DefaultOrthogonalBasis,
 )
     return ArrayPartition(
         get_vector(M.manifold.manifolds[1].manifold, p.x[1], view(Xc, 1:3), basis),