lieProxies.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#pragma once
 
#include <gtsam/global_includes.h>
 
namespace gtsam {
namespace testing {
 
  template<class T>
  T between(const T& t1, const T& t2) { return t1.between(t2); }
 
  template<class T>
  T compose(const T& t1, const T& t2) { return t1.compose(t2); }
 
  template<class T>
  T inverse(const T& t) { return t.inverse(); }
 
  template<class T, class P>
  P rotate(const T& r, const P& pt) { return r.rotate(pt); }
 
  template<class T, class P>
  P unrotate(const T& r, const P& pt) { return r.unrotate(pt); }
 
} // \namespace testing
} // \namespace gtsam