From 1a10fc451cb61ede353c2f689f5281b8cf75a830 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 15 Jan 2012 03:57:35 +0000
Subject: [PATCH] Added some missing methods to Rot3 and synced order of
 methods with Rot3.h

---
 gtsam.h | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index 08727f9ef..15361cd5a 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -114,9 +114,6 @@ class Rot2 {
 class Rot3 {
 	Rot3();
 	Rot3(Matrix R);
-	static Rot3 Expmap(Vector v);
-	static Vector Logmap(const Rot3& p);
-  static Rot3 ypr(double y, double p, double r);
   static Rot3 Rx(double t);
   static Rot3 Ry(double t);
   static Rot3 Rz(double t);
@@ -125,23 +122,32 @@ class Rot3 {
   static Rot3 yaw  (double t); // positive yaw is to right (as in aircraft heading)
   static Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
   static Rot3 roll (double t); // positive roll is to right (increasing yaw in aircraft)
+  static Rot3 ypr(double y, double p, double r);
   static Rot3 quaternion(double w, double x, double y, double z);
   static Rot3 rodriguez(Vector v);
+	void print(string s) const;
+	bool equals(const Rot3& rot, double tol) const;
+  static Rot3 identity();
+	Rot3 compose(const Rot3& p2) const;
+	Rot3 inverse() const;
+	Rot3 between(const Rot3& p2) const;
+	Point3 rotate(const Point3& p) const;
+	Point3 unrotate(const Point3& p) const;
+	Rot3 retractCayley(Vector v) const;
+	Rot3 retract(Vector v) const;
+	Vector localCoordinates(const Rot3& p) const;
+	static Rot3 Expmap(Vector v);
+	static Vector Logmap(const Rot3& p);
 	Matrix matrix() const;
 	Matrix transpose() const;
+	Point3 column(int index) const;
 	Vector xyz() const;
 	Vector ypr() const;
+	Vector rpy() const;
   double roll() const;
   double pitch() const;
   double yaw() const;
 //  Vector toQuaternion() const;  // FIXME: Can't cast to Vector properly
-	void print(string s) const;
-	bool equals(const Rot3& rot, double tol) const;
-	Vector localCoordinates(const Rot3& p);
-	Rot3 retract(Vector v);
-	Rot3 retractCayley(Vector v);
-	Rot3 compose(const Rot3& p2);
-	Rot3 between(const Rot3& p2);
 };
 
 class Pose2 {