From 7b86e5d51f5f0f6d6458c3b95ec1372287eaa30b Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Thu, 23 Oct 2025 18:13:06 +0200
Subject: [PATCH 1/2] Update README

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 7b6f7a4d0..95082f790 100644
--- a/README.md
+++ b/README.md
@@ -152,6 +152,7 @@ Please also consider citing the reference paper for the ProxDDP algorithm:
 * [Antoine Bussy](https://github.com/antoine-bussy) (Aldebaran)
 * [Valentin Tordjman--Levavasseur](https://github.com/Tordjx) (Inria): feature developer
 * [Louise Manson](https://github.com/LouiseMsn) (Inria): documentation
+* [Yann de Mont-Marin](https://github.com/ymontmarin) (Inria): Lie group formalism and associated features
 
 ## Acknowledgments
 

From 210d46a8d5263c70b48855c210c0b02ff0c06ba7 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Fri, 24 Oct 2025 17:20:45 +0200
Subject: [PATCH 2/2] basic stump files for new Lie group/algebra types

---
 include/aligator/core/lie-algebra.hpp    | 16 +++++++++++
 include/aligator/core/lie-group-base.hpp | 35 ++++++++++++++++++++++++
 2 files changed, 51 insertions(+)
 create mode 100644 include/aligator/core/lie-algebra.hpp
 create mode 100644 include/aligator/core/lie-group-base.hpp

diff --git a/include/aligator/core/lie-algebra.hpp b/include/aligator/core/lie-algebra.hpp
new file mode 100644
index 000000000..a6a4b0480
--- /dev/null
+++ b/include/aligator/core/lie-algebra.hpp
@@ -0,0 +1,16 @@
+/// @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
diff --git a/include/aligator/core/lie-group-base.hpp b/include/aligator/core/lie-group-base.hpp
new file mode 100644
index 000000000..78c97410d
--- /dev/null
+++ b/include/aligator/core/lie-group-base.hpp
@@ -0,0 +1,35 @@
+/// @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