dquat2mat.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef _DQUAT2MAT_H_
#define _DQUAT2MAT_H_
#include <Eigen/Core>
 
#include "g2o_types_slam3d_api.h"
 
namespace g2o {
namespace internal {
 
void G2O_TYPES_SLAM3D_API compute_dq_dR(
    Eigen::Matrix<double, 3, 9, Eigen::ColMajor>& dq_dR, const double& r11,
    const double& r21, const double& r31, const double& r12, const double& r22,
    const double& r32, const double& r13, const double& r23, const double& r33);
 
void G2O_TYPES_SLAM3D_API compute_dR_dq(
    Eigen::Matrix<double, 9, 3, Eigen::ColMajor>& dR_dq, const double& qx,
    const double& qy, const double& qz, const double& qw);
}  // namespace internal
}  // namespace g2o
#endif