se3_for_g2o.h

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//part of the source code of master thesis, source code produced by Jiri Divis
#ifndef VSLAM_SE3G2O_H_INCLUDED_
#define VSLAM_SE3G2O_H_INCLUDED_

#include "Sophus/se3.h"

namespace vslam{
namespace g2o_types{
    using Sophus::SE3;
    using Sophus::Vector6d;

    class SE3G2O : public SE3{
        public:
            SE3G2O() : SE3() {}
            SE3G2O(const SE3& _se3) : SE3(_se3) {}

            void fromVector ( const Vector6d& v){ 
                *this=SE3::exp(v);
            }

            Vector6d toVector() const{
                return log();
            }
    };
}//namespace g2o_types
}//namespace vslam

#endif