Add operator/between

Author: dellaert

gtsam/geometry/Gal3.cpp

@@ -41,9 +41,6 @@ namespace gtsam {
 namespace { // Anonymous namespace for internal linkage
   constexpr double kSmallAngleThreshold = 1e-10;
 
-  // The type of the Lie algebra (matrix representation)
-  using LieAlgebra = Matrix5;
-
   // Helper functions for accessing tangent vector components
   Eigen::Block<Vector10, 3, 1> rho(Vector10& v) { return v.block<3, 1>(0, 0); }
   Eigen::Block<Vector10, 3, 1> nu(Vector10& v) { return v.block<3, 1>(3, 0); }

gtsam/geometry/geometry.i

@@ -1359,6 +1359,10 @@ class Gal3 {
   static gtsam::Gal3 Identity();
   gtsam::Gal3 inverse() const;
   gtsam::Gal3 compose(const gtsam::Gal3& other) const;
+  gtsam::Gal3 between(const gtsam::Gal3& other) const;
+
+  // Operator Overloads
+  gtsam::Gal3 operator*(const gtsam::Gal3& other) const;
 
   // Lie Group
   static gtsam::Gal3 Expmap(const gtsam::Vector10& xi);