eigen_types.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// 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 G2O_EIGEN_TYPES_H
#define G2O_EIGEN_TYPES_H
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
namespace g2o {
 
// define number_t to be some sort of backwards compatible
using number_t = double;
 
using Vector2I = Eigen::Matrix<int, 2, 1, Eigen::ColMajor>;
using Vector3I = Eigen::Matrix<int, 3, 1, Eigen::ColMajor>;
using Vector4I = Eigen::Matrix<int, 4, 1, Eigen::ColMajor>;
using VectorXI = Eigen::Matrix<int, Eigen::Dynamic, 1, Eigen::ColMajor>;
 
using Vector2F = Eigen::Matrix<float, 2, 1, Eigen::ColMajor>;
using Vector3F = Eigen::Matrix<float, 3, 1, Eigen::ColMajor>;
using Vector4F = Eigen::Matrix<float, 4, 1, Eigen::ColMajor>;
using VectorXF = Eigen::Matrix<float, Eigen::Dynamic, 1, Eigen::ColMajor>;
 
template <int N, typename T = double>
using VectorN = Eigen::Matrix<T, N, 1, Eigen::ColMajor>;
using Vector2 = VectorN<2>;
using Vector3 = VectorN<3>;
using Vector4 = VectorN<4>;
using Vector6 = VectorN<6>;
using Vector7 = VectorN<7>;
using VectorX = VectorN<Eigen::Dynamic>;
 
using Matrix2I = Eigen::Matrix<int, 2, 2, Eigen::ColMajor>;
using Matrix3I = Eigen::Matrix<int, 3, 3, Eigen::ColMajor>;
using Matrix4I = Eigen::Matrix<int, 4, 4, Eigen::ColMajor>;
using MatrixXI =
    Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>;
 
using Matrix2F = Eigen::Matrix<float, 2, 2, Eigen::ColMajor>;
using Matrix3F = Eigen::Matrix<float, 3, 3, Eigen::ColMajor>;
using Matrix4F = Eigen::Matrix<float, 4, 4, Eigen::ColMajor>;
using MatrixXF =
    Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>;
 
template <int N, typename T = double>
using MatrixN = Eigen::Matrix<T, N, N, Eigen::ColMajor>;
using Matrix2 = MatrixN<2>;
using Matrix3 = MatrixN<3>;
using Matrix4 = MatrixN<4>;
using MatrixX = MatrixN<Eigen::Dynamic>;
 
using Isometry2 = Eigen::Transform<double, 2, Eigen::Isometry, Eigen::ColMajor>;
using Isometry3 = Eigen::Transform<double, 3, Eigen::Isometry, Eigen::ColMajor>;
using Affine2 = Eigen::Transform<double, 2, Eigen::Affine, Eigen::ColMajor>;
using Affine3 = Eigen::Transform<double, 3, Eigen::Affine, Eigen::ColMajor>;
using Rotation2D = Eigen::Rotation2D<double>;
using Quaternion = Eigen::Quaternion<double>;
using AngleAxis = Eigen::AngleAxis<double>;
 
}  // end namespace g2o
 
#endif