text: /******************************************************************************
   * Author:   Laurent Kneip                                                    *
   * Contact:  kneip.laurent@gmail.com                                          *
   * License:  Copyright (c) 2013 Laurent Kneip, ANU. 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.     *
   * * Neither the name of ANU nor the names of its contributors may be         *
   *   used to endorse or promote products derived from this software without   *
   *   specific prior written permission.                                       *
   *                                                                            *
   * 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 ANU OR THE 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 OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_
  #define OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_
  
  #include <stdlib.h>
  #include <Eigen/Eigen>
  #include <vector>
  
  namespace opengv
  {
  namespace absolute_pose
  {
  namespace modules
  {
  namespace gpnp3
  {
  
  void init(
      Eigen::Matrix<double,15,18> & groebnerMatrix,
      const Eigen::Matrix<double,12,1> & a,
      Eigen::Matrix<double,12,1> & n,
      Eigen::Matrix<double,12,1> & m,
      Eigen::Matrix<double,12,1> & k,
      Eigen::Vector3d & c0,
      Eigen::Vector3d & c1,
      Eigen::Vector3d & c2,
      Eigen::Vector3d & c3 );
  void compute( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void sPolynomial4( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void sPolynomial5( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow4_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial6( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow5_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial7( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow5_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow6_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow6_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial8( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow4_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow7_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow3_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial9( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow5_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow3_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow8_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial10( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow4_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow9_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow9_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial11( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow10_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial12( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow10_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow11_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow11_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial13( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow11_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow12_010_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow12_100_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void groebnerRow12_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  void sPolynomial14( Eigen::Matrix<double,15,18> & groebnerMatrix );
  void groebnerRow13_000_f( Eigen::Matrix<double,15,18> & groebnerMatrix, int targetRow );
  
  }
  }
  }
  }
  
  #endif /* OPENGV_ABSOLUTE_POSE_MODULES_GPNP3_MODULES_HPP_ */
  