Group actions for complex groups

[joansola]

Complex groups are SE(3), SE_2(3), Sgal(3).

I was thinking, regarding act() in all complex groups. Maybe we could have special actions. In case e.g. of SGal3, we would have:

• transform points: T+R*p
• boost: see Kelly's paper
• event-transform: see paper

and other possible actions only available for this group.

In SE3 we have a similar problem, in

• transforming points T+R*p
• and transforming vetors R*v

In manif we already have some examples on non-abstracted methods:

• asSO3() <-- for SE3, SE23, SGal3
• E6() <-- for the generators

so I see no fundamental impediment for act(). In fact, it is possible that act() as an abstract form is not convenient, precisely because actions are not pre-defined operations for Lie groups in their abstract form.

[artivis]

Isn't this a duplicate of https://github.com/artivis/manif/issues/119? If so, could you update #119 with this comment and close this ticket?

[joansola]

copied to #119