Moved streaming to header

gtsam/geometry/EssentialMatrix.h

@@ -10,6 +10,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Sphere2.h>
 #include <gtsam/geometry/Point2.h>
+#include <iostream>
 
 namespace gtsam {
 
@@ -145,6 +146,34 @@ public:
 
   /// @}
 
+  /// @name Streaming operators
+  /// @{
+
+  // stream to stream
+  friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E) {
+    Rot3 R = E.rotation();
+    Sphere2 d = E.direction();
+    os.precision(10);
+    os << R.xyz().transpose() << " " << d.point3().vector().transpose() << " ";
+    return os;
+  }
+
+  /// stream from stream
+  friend std::istream& operator >>(std::istream& is, EssentialMatrix& E) {
+    double rx, ry, rz, dx, dy, dz;
+    is >> rx >> ry >> rz; // Read the rotation rxyz
+    is >> dx >> dy >> dz; // Read the translation dxyz
+
+    // Create EssentialMatrix from rotation and translation
+    Rot3 rot = Rot3::RzRyRx(rx, ry, rz);
+    Sphere2 dt = Sphere2(dx, dy, dz);
+    E = EssentialMatrix(rot, dt);
+
+    return is;
+  }
+
+  /// @}
+
 };
 
 } // gtsam

gtsam/geometry/tests/testEssentialMatrix.cpp

@@ -122,32 +122,6 @@ TEST (EssentialMatrix, FromPose3_b) {
   EXPECT(assert_equal(expectedH, actualH, 1e-8));
 }
 
-/* ************************************************************************* */
-ostream& operator <<(ostream& os, const gtsam::EssentialMatrix& E) {
-  gtsam::Rot3 R = E.rotation();
-  gtsam::Sphere2 d = E.direction();
-  os.precision(10);
-  os << R.xyz().transpose() << " " << d.point3().vector().transpose() << " ";
-  return os;
-}
-
-/* ************************************************************************* */
-istream& operator >>(istream& fs, gtsam::EssentialMatrix& E) {
-  double rx, ry, rz, dx, dy, dz;
-
-  // Read the rotation rxyz
-  fs >> rx >> ry >> rz;
-
-  // Read the translation dxyz
-  fs >> dx >> dy >> dz;
-
-  // Create EssentialMatrix: Construct from rotation and translation
-  gtsam::Rot3 rot = gtsam::Rot3::RzRyRx(rx, ry, rz);
-  gtsam::Sphere2 dt = gtsam::Sphere2(dx, dy, dz);
-  E = gtsam::EssentialMatrix(rot, dt);
-  return fs;
-}
-
 //*************************************************************************
 TEST (EssentialMatrix, streaming) {
   EssentialMatrix expected(c1Rc2, c1Tc2), actual;