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/*
This file is part of the CVD Library.
Copyright (C) 2005 The Authors
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <iostream>
#include <TooN/se3.h>
using namespace std;
using namespace TooN;
int main()
{
SE3<> se3;
Vector<6> v;
cin >> v;
se3 = SE3<>::exp(v);
cout << (se3.inverse()).ln() << endl;
return 0;
}