fptypes.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the Apache License, Version 2.0
// (the "License"); you may not use this file except in compliance with the
// License. You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
// License for the specific language governing permissions and limitations
// under the License.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef FPTYPES_HPP
#define FPTYPES_HPP
 
#include <groups/In.hpp>
#include <groups/SDB.hpp>
#include <groups/TG.hpp>
#include <groups/SOT3.hpp>
 
namespace msceqf
{
#ifdef SINGLE_PRECISION
 
using fp = float;
 
#else
 
using fp = double;
 
#endif
 
using SO3 = group::SO3<fp>;
 
using SE3 = group::SEn3<fp, 1>;
 
using SE23 = group::SEn3<fp, 2>;
 
using SOT3 = group::SOT3<fp>;
 
using In = group::In<fp>;
 
using SDB = group::SemiDirectBias<fp>;
 
using TG = group::Tangent<fp>;
 
using Vector2 = Eigen::Matrix<fp, 2, 1>;
 
using Vector3 = Eigen::Matrix<fp, 3, 1>;
 
using Vector4 = Eigen::Matrix<fp, 4, 1>;
 
using Vector6 = Eigen::Matrix<fp, 6, 1>;
 
using Vector9 = Eigen::Matrix<fp, 9, 1>;
 
using Vector15 = Eigen::Matrix<fp, 15, 1>;
 
using Vector18 = Eigen::Matrix<fp, 18, 1>;
 
using Vector21 = Eigen::Matrix<fp, 21, 1>;
 
using Vector24 = Eigen::Matrix<fp, 24, 1>;
 
using Vector25 = Eigen::Matrix<fp, 25, 1>;
 
using Vector29 = Eigen::Matrix<fp, 29, 1>;
 
using VectorX = Eigen::Matrix<fp, Eigen::Dynamic, 1>;
 
using Matrix2 = Eigen::Matrix<fp, 2, 2>;
 
using Matrix3 = Eigen::Matrix<fp, 3, 3>;
 
using Matrix4 = Eigen::Matrix<fp, 4, 4>;
 
using Matrix5 = Eigen::Matrix<fp, 5, 5>;
 
using Matrix6 = Eigen::Matrix<fp, 6, 6>;
 
using Matrix7 = Eigen::Matrix<fp, 7, 7>;
 
using Matrix9 = Eigen::Matrix<fp, 9, 9>;
 
using Matrix12 = Eigen::Matrix<fp, 12, 12>;
 
using Matrix15 = Eigen::Matrix<fp, 15, 15>;
 
using Matrix18 = Eigen::Matrix<fp, 18, 18>;
 
using Matrix21 = Eigen::Matrix<fp, 21, 21>;
 
using Matrix24 = Eigen::Matrix<fp, 24, 24>;
 
using Matrix25 = Eigen::Matrix<fp, 25, 25>;
 
using Matrix29 = Eigen::Matrix<fp, 24, 24>;
 
using MatrixX = Eigen::MatrixXd;
 
using Quaternion = Eigen::Quaternion<fp>;
 
template <int R, int C, int T = Eigen::ColMajor>
using Matrix = Eigen::Matrix<fp, R, C, T>;
 
template <typename T>
using Ref = Eigen::Ref<T>;
 
template <typename T>
using Map = Eigen::Map<T>;
 
}  // namespace msceqf
 
#endif  // FPTYPES_HPP