text: // g2o - General Graph Optimization
  // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
  // 
  // g2o is free software: you can redistribute it and/or modify
  // it under the terms of the GNU Lesser General Public License as published
  // by the Free Software Foundation, either version 3 of the License, or
  // (at your option) any later version.
  // 
  // g2o is distributed in the hope that it will be useful,
  // but WITHOUT ANY WARRANTY; without even the implied warranty of
  // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  // GNU Lesser General Public License for more details.
  // 
  // You should have received a copy of the GNU Lesser General Public License
  // along with this program.  If not, see <http://www.gnu.org/licenses/>.
  
  #ifndef G2O_TYPES_SLAM3D_
  #define G2O_TYPES_SLAM3D_
  
  #include "g2o/config.h"
  #include "g2o/core/base_vertex.h"
  #include "g2o/core/base_binary_edge.h"
  #include "g2o/core/hyper_graph_action.h"
  
  #define THREE_D_TYPES_ANALYTIC_JACOBIAN
  
  #include "vertex_se3.h"
  #include "edge_se3.h"
  #include "vertex_pointxyz.h"
  
  #include "parameter_se3_offset.h"
  #include "edge_se3_pointxyz.h"
  #include "edge_se3_offset.h"
  
  #include "parameter_camera.h"
  #include "parameter_stereo_camera.h"
  #include "edge_se3_pointxyz_disparity.h"
  #include "edge_se3_pointxyz_depth.h"
  #include "edge_se3_prior.h"
  
  
  #endif
  