text: // g2o - General Graph Optimization
  // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, 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
  //   notice, this list of conditions and the following disclaimer in the
  //   documentation and/or other materials provided with the distribution.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
  // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
  // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
  // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
  // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
  // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #ifndef _DQUAT2MAT_H_
  #define _DQUAT2MAT_H_
  #include <Eigen/Core>
  #include "g2o_types_slam3d_api.h"
  
  namespace g2o {
    namespace internal {
  
      void  G2O_TYPES_SLAM3D_API compute_dq_dR ( Eigen::Matrix<number_t, 3 , 9, Eigen::ColMajor>&  dq_dR , const number_t&  r11 , const number_t&  r21 , const number_t&  r31 , const number_t&  r12 , const number_t&  r22 , const number_t&  r32 , const number_t&  r13 , const number_t&  r23 , const number_t&  r33 );
  
      void  G2O_TYPES_SLAM3D_API compute_dR_dq ( Eigen::Matrix<number_t, 9 , 3, Eigen::ColMajor>&  dR_dq , const number_t&  qx , const number_t&  qy , const number_t&  qz , const number_t&  qw ) ;
    }
  }
  #endif
  