text: #ifndef ASLAM_COMMON_POSE_TYPES_H_
  #define ASLAM_COMMON_POSE_TYPES_H_
  
  #include <vector>
  
  #include <aslam/common/memory.h>
  
  #include <kindr/minimal/position.h>
  #include <kindr/minimal/quat-transformation.h>
  #include <kindr/minimal/rotation-quaternion.h>
  
  namespace aslam {
  
  typedef kindr::minimal::QuatTransformation Transformation;
  typedef Aligned<std::vector, Transformation>::type TransformationVector;
  typedef kindr::minimal::RotationQuaternion Quaternion;
  typedef kindr::minimal::AngleAxis AngleAxis;
  typedef kindr::minimal::Position Position3D;
  
  // Types used in ceres error terms, where templating for Jet types
  // is necessary.
  template <class Scalar>
  using QuaternionTemplate = kindr::minimal::RotationQuaternionTemplate<Scalar>;
  
  template <class Scalar>
  using PositionTemplate = kindr::minimal::PositionTemplate<Scalar>;
  
  }  // namespace aslam
  
  #endif  // ASLAM_COMMON_POSE_TYPES_H_
  