basic stump files for new Lie group/algebra types

Author: ManifoldFR

include/aligator/core/lie-algebra.hpp

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+/// @file
+/// @copyright Copyright (C) 2025 INRIA
+#pragma once
+
+#include "aligator/fwd.hpp"
+
+namespace aligator {
+
+template <typename Derived> struct LieAlgebraTraits;
+
+/// @brief Base CRTP for Lie algebras.
+template <typename Derived> struct LieAlgebraBase {
+  using Traits = LieAlgebraTraits<Derived>;
+};
+
+} // namespace aligator

include/aligator/core/lie-group-base.hpp

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+/// @file
+/// @copyright Copyright (C) 2025 INRIA
+#pragma once
+
+#include "aligator/fwd.hpp"
+
+namespace aligator {
+
+/// @brief Type traits for a Lie group. Usually required are the Lie group
+/// dimension, corresponding Lie Algebra, etc.
+template <typename Derived> struct LieGroupTraits {
+  using Scalar = typename Derived::Scalar;
+  static constexpr int Dim = Derived::Dim;
+};
+
+#define ALIGATOR_LIEGROUP_TRAITS_DEFINE(Traits)                                \
+  using Scalar = typename Traits::Derived;                                     \
+  static constexpr int Dim = Traits::Dim;                                      \
+  using LieAlgebraType = typename Traits::LieAlgebraType;                      \
+  using DualLieAlgebraType = typename Traits::DualLieAlgebraType
+
+template <typename Derived> struct LieGroupBase {
+  using Traits = LieGroupTraits<Derived>;
+  ALIGATOR_LIEGROUP_TRAITS_DEFINE(Traits);
+
+  Derived &derived() { return static_cast<Derived &>(*this); }
+
+  const Derived &derived() const { return static_cast<const Derived &>(*this); }
+
+  Derived &const_cast_derived() const {
+    return const_cast<Derived &>(derived());
+  }
+};
+
+} // namespace aligator