From bea9eb0bd25d050366e7f59026a4f96caff8c4ac Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@dellaert.com>
Date: Sun, 22 Dec 2013 15:25:34 -0500
Subject: [PATCH] Added default constructor

---
 gtsam/geometry/EssentialMatrix.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 991d8c922..4257b867b 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -38,6 +38,11 @@ public:
   /// @name Constructors and named constructors
   /// @{
 
+  /// Default constructor
+  EssentialMatrix() :
+      aTb_(1, 0, 0), E_(aTb_.skew()) {
+  }
+
   /// Construct from rotation and translation
   EssentialMatrix(const Rot3& aRb, const Sphere2& aTb) :
       aRb_(aRb), aTb_(aTb), E_(aTb_.skew() * aRb_.matrix()) {