<commit_before>/* Copyright (c) 2015, <NAME> <<EMAIL>> Licensed
 * under the MIT license. See the license file LICENSE.
 */
#pragma once

#include <stdint.h>
#include <iostream>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/QR>
#include <unsupported/Eigen/MatrixFunctions>

// CUDA runtime
#include <cuda_runtime.h>
// Utilities and system includes
//#include <helper_functions.h>
#include <nvidia/helper_cuda.h>

//#include <mmf/defines.h>

using namespace Eigen;
using std::min;
using std::max;
using std::cout;
using std::endl;

template<typename T>
class OptSO3ApproxCpu
{
  public:
  OptSO3ApproxCpu(T t_max = 5.0, T dt = 0.05)
    : t_max_(t_max), dt_(dt), t_(0)
  { 
    R_ = Matrix<T,3,3>::Identity();
  };

  virtual ~OptSO3ApproxCpu()
  { };

//  virtual T conjugateGradient(Matrix<T,3,3>& R, uint32_t maxIter=100);
  virtual T conjugateGradient(Matrix<T,3,3>& R, <commit_msg>getting rid of unsupported eigen header<commit_after>/* Copyright (c) 2015, <NAME> <<EMAIL>> Licensed
 * under the MIT license. See the license file LICENSE.
 */
#pragma once

#include <stdint.h>
#include <iostream>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/QR>

// CUDA runtime
#include <cuda_runtime.h>
// Utilities and system includes
//#include <helper_functions.h>
#include <nvidia/helper_cuda.h>

//#include <mmf/defines.h>

using namespace Eigen;
using std::min;
using std::max;
using std::cout;
using std::endl;

template<typename T>
class OptSO3ApproxCpu
{
  public:
  OptSO3ApproxCpu(T t_max = 5.0, T dt = 0.05)
    : t_max_(t_max), dt_(dt), t_(0)
  { 
    R_ = Matrix<T,3,3>::Identity();
  };

  virtual ~OptSO3ApproxCpu()
  { };

//  virtual T conjugateGradient(Matrix<T,3,3>& R, uint32_t maxIter=100);
  virtual T conjugateGradient(Matrix<T,3,3>& R, 
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