#ifndef PLANEBA_COMMON_INCLUDE_H
#define PLANEBA_COMMON_INCLUDE_H

#include <iostream>
#include <fstream>
#include <memory> 
#include <thread>
#include <vector>
#include <map>
#include <string>
#include <unordered_map>
#include <condition_variable>
#include <atomic>
#include <set>
#include <list>
#include <random>
#include <unistd.h>
#include <mutex>
// eigen

#include </home/user/thirdLibrary/eigen/Eigen/Core>
#include </home/user/thirdLibrary/eigen/Eigen/Geometry> 
// sophus
#include <sophus/se3.hpp>

typedef Sophus::SE3d SE3;

typedef std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> VecVector3d;
#endif 
