se3_ops.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_MATH_STUFF
#define G2O_MATH_STUFF

#include <Eigen/Core>
#include <Eigen/Geometry>

namespace g2o {
  using namespace Eigen;

  inline Matrix3d skew(const Vector3d&v);
  inline Vector3d deltaR(const Matrix3d& R);
  inline Vector2d project(const Vector3d&);
  inline Vector3d project(const Vector4d&);
  inline Vector3d unproject(const Vector2d&);
  inline Vector4d unproject(const Vector3d&);

#include "se3_ops.hpp"

}

#endif //MATH_STUFF