CovEstimation.h

// LibQPEP: A Library for Globally Optimal Solving Quadratic Pose Estimation Problems,
//          It also gives highly accurate uncertainty description of the solutions.
//
// Authors: Jin Wu and Ming Liu
// Affiliation: Hong Kong University of Science and Technology (HKUST)
// Emails: jin_wu_uestc@hotmail.com; eelium@ust.hk
// Reference: Wu, J., et al. (2022) Quadratic Pose Estimation Problems: 
//                                  Globally Optimal Solutions, 
//                                  Solvability/Observability Analysis,
//                                  and Uncertainty Description.
//                                  IEEE Transactions on Robotics.
//                                  https://doi.org/10.1109/TRO.2022.3155880

#ifndef LIBQPEP_COVESTIMATION_H
#define LIBQPEP_COVESTIMATION_H


#include <Eigen/Core>
#include <Eigen/LU>
#include <Eigen/Dense>
#include <Eigen/Geometry> // For Quaternion
#include <Eigen/Sparse>



void csdp_cov(Eigen::Matrix4d& cov,
              const Eigen::MatrixXd& F,
              const Eigen::Matrix3d& cov_left,
              const Eigen::Vector4d& q);

#endif //LIBQPEP_COVESTIMATION_H