From a3a37131a16cf022232bf04f3dd1af4852df38aa Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 22 Jan 2014 01:05:32 -0500
Subject: [PATCH] Moved streaming to implementation file

---
 gtsam/geometry/EssentialMatrix.cpp | 31 +++++++++++++++++++++++++++---
 gtsam/geometry/EssentialMatrix.h   | 23 +++-------------------
 2 files changed, 31 insertions(+), 23 deletions(-)

diff --git a/gtsam/geometry/EssentialMatrix.cpp b/gtsam/geometry/EssentialMatrix.cpp
index 9e50ad92a..cccedc5bb 100644
--- a/gtsam/geometry/EssentialMatrix.cpp
+++ b/gtsam/geometry/EssentialMatrix.cpp
@@ -8,6 +8,8 @@
 #include <gtsam/geometry/EssentialMatrix.h>
 #include <iostream>
 
+using namespace std;
+
 namespace gtsam {
 
 /* ************************************************************************* */
@@ -35,8 +37,8 @@ EssentialMatrix EssentialMatrix::FromPose3(const Pose3& _1P2_,
 }
 
 /* ************************************************************************* */
-void EssentialMatrix::print(const std::string& s) const {
-  std::cout << s;
+void EssentialMatrix::print(const string& s) const {
+  cout << s;
   aRb_.print("R:\n");
   aTb_.print("d: ");
 }
@@ -95,7 +97,7 @@ EssentialMatrix EssentialMatrix::rotate(const Rot3& cRb,
       HE->block<2, 2>(3, 3) << D_c1Tc2_aTb; // (2*2)
     }
     if (HR) {
-      throw std::runtime_error(
+      throw runtime_error(
           "EssentialMatrix::rotate: derivative HR not implemented yet");
       /*
        HR->resize(5, 3);
@@ -121,6 +123,29 @@ double EssentialMatrix::error(const Vector& vA, const Vector& vB, //
   return dot(vA, E_ * vB);
 }
 
+/* ************************************************************************* */
+ostream& operator <<(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;
+}
+
+/* ************************************************************************* */
+istream& operator >>(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
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index afacad508..a7270fff0 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -149,28 +149,11 @@ 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 to stream
+  friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E);
 
   /// 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;
-  }
+  friend std::istream& operator >>(std::istream& is, EssentialMatrix& E);
 
   /// @}