types.hpp

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/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
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#ifndef OPENGV_TYPES_HPP_
#define OPENGV_TYPES_HPP_

#include <stdlib.h>
#include <vector>
#include <Eigen/Eigen>
#include <Eigen/src/Core/util/DisableStupidWarnings.h>

namespace opengv
{

typedef Eigen::Vector3d
    bearingVector_t;

typedef std::vector<bearingVector_t, Eigen::aligned_allocator<bearingVector_t> >
    bearingVectors_t;

typedef Eigen::Vector3d
    translation_t;

typedef std::vector<translation_t, Eigen::aligned_allocator<translation_t> >
    translations_t;

typedef Eigen::Matrix3d
    rotation_t;

typedef std::vector<rotation_t, Eigen::aligned_allocator<rotation_t> >
    rotations_t;

typedef Eigen::Matrix<double,3,4>
    transformation_t;

typedef std::vector<transformation_t, Eigen::aligned_allocator<transformation_t> >
    transformations_t;

typedef Eigen::Vector3d
    cayley_t;

typedef Eigen::Vector4d
    quaternion_t;

typedef Eigen::Matrix3d
    essential_t;

typedef std::vector<essential_t, Eigen::aligned_allocator<essential_t> >
    essentials_t;

typedef Eigen::Matrix3cd
    complexEssential_t;

typedef std::vector< complexEssential_t, Eigen::aligned_allocator< complexEssential_t> >
    complexEssentials_t;

typedef Eigen::Vector3d
    point_t;

typedef std::vector<point_t, Eigen::aligned_allocator<point_t> >
    points_t;

typedef Eigen::Vector3d
    eigenvalues_t;

typedef Eigen::Matrix3d
    eigenvectors_t;

typedef struct EigensolverOutput
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  translation_t   translation;
  rotation_t      rotation;
  eigenvalues_t   eigenvalues;
  eigenvectors_t  eigenvectors;
} eigensolverOutput_t;

typedef struct GeOutput
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  Eigen::Vector4d   translation;
  rotation_t        rotation;
  Eigen::Vector4d   eigenvalues;
  Eigen::Matrix4d   eigenvectors;
} geOutput_t;

}

#endif /* OPENGV_TYPES_HPP_ */