From f7ad80673c0a2263812aa2f47ae8509269f3b583 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 6 May 2019 16:37:34 -0400
Subject: [PATCH] Moved things to inl

---
 gtsam/geometry/SOn-inl.h | 26 ++++++++++++++++++++++++++
 gtsam/geometry/SOn.h     | 23 ++++++++++-------------
 2 files changed, 36 insertions(+), 13 deletions(-)

diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h
index 26dc2229b..826efe1ee 100644
--- a/gtsam/geometry/SOn-inl.h
+++ b/gtsam/geometry/SOn-inl.h
@@ -97,6 +97,32 @@ typename SO<N>::TangentVector SO<N>::ChartAtOrigin::Local(const SO& R,
   return -2 * Vee(X);
 }
 
+template <int N>
+typename SO<N>::MatrixDD SO<N>::AdjointMap() const {
+  throw std::runtime_error(
+      "SO<N>::AdjointMap only implemented for SO3 and SO4.");
+}
+
+template <int N>
+SO<N> SO<N>::Expmap(const TangentVector& omega, ChartJacobian H) {
+  throw std::runtime_error("SO<N>::Expmap only implemented for SO3 and SO4.");
+}
+
+template <int N>
+typename SO<N>::MatrixDD SO<N>::ExpmapDerivative(const TangentVector& omega) {
+  throw std::runtime_error("SO<N>::ExpmapDerivative only implemented for SO3.");
+}
+
+template <int N>
+typename SO<N>::TangentVector SO<N>::Logmap(const SO& R, ChartJacobian H) {
+  throw std::runtime_error("SO<N>::Logmap only implemented for SO3 and SO4.");
+}
+
+template <int N>
+typename SO<N>::MatrixDD SO<N>::LogmapDerivative(const TangentVector& omega) {
+  throw std::runtime_error("O<N>::LogmapDerivative only implemented for SO3.");
+}
+
 template <int N>
 typename SO<N>::VectorN2 SO<N>::vec(
     OptionalJacobian<internal::NSquaredSO(N), dimension> H) const {
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index 64718ed5f..45fe43519 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -220,27 +220,24 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// @name Lie Group
   /// @{
 
-  MatrixDD AdjointMap() const {
-    throw std::runtime_error(
-        "SO<N>::AdjointMap only implemented for SO3 and SO4.");
-  }
+  /// Adjoint map
+  MatrixDD AdjointMap() const;
 
   /**
    * Exponential map at identity - create a rotation from canonical coordinates
    */
-  static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none) {
-    throw std::runtime_error("SO<N>::Expmap only implemented for SO3 and SO4.");
-  }
+  static SO Expmap(const TangentVector& omega, ChartJacobian H = boost::none);
+
+  /// Derivative of Expmap, currently only defined for SO3
+  static MatrixDD ExpmapDerivative(const TangentVector& omega);
 
   /**
    * Log map at identity - returns the canonical coordinates of this rotation
    */
-  static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none) {
-    throw std::runtime_error("SO<N>::Logmap only implemented for SO3 and SO4.");
-  }
+  static TangentVector Logmap(const SO& R, ChartJacobian H = boost::none);
 
-  // template <int N_ = N, typename = IsSO3<N_>>
-  static Matrix3 LogmapDerivative(const Vector3& omega);
+  /// Derivative of Logmap, currently only defined for SO3
+  static MatrixDD LogmapDerivative(const TangentVector& omega);
 
   // inverse with optional derivative
   using LieGroup<SO<N>, internal::DimensionSO(N)>::inverse;
@@ -288,4 +285,4 @@ struct traits<const SO<N>> : public internal::LieGroup<SO<N>> {};
 
 }  // namespace gtsam
 
-#include "SOn-inl.h"
\ No newline at end of file
+#include "SOn-inl.h"