00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef THREE_D_TYPES 00018 #define THREE_D_TYPES 00019 00020 #include "g2o/config.h" 00021 #include "g2o/core/base_vertex.h" 00022 #include "g2o/core/base_binary_edge.h" 00023 #include "g2o/core/hyper_graph_action.h" 00024 #include "g2o/math_groups/se3quat.h" 00025 00026 #define THREE_D_TYPES_ANALYTIC_JACOBIAN 00027 00028 #include "vertex_se3_quat.h" 00029 #include "edge_se3_quat.h" 00030 00031 #endif