@brief Resize containter with knots @param[in] n number of knots

@brief Maximum time represented by spline @return maximum time represented by spline

@brief Minimum time represented by spline @return minimum time represented by spline

@brief Return knot with index i @param i index of the knot @return knot

@brief Evaluate pose. @param[in] time time to evaluate pose in seconds @return SE(3) pose at time

Add a matplotlib figure to the collection

@brief Calibrate the measurement. See detailed description in \ref CalibGyroBias. @param raw_measurement @return calibrated measurement

@brief Knot time interval in nanoseconds.

adapted from VINS-mono

transfrom scna data to map frame and build map based on trajectory

Update after Ceres optimization

@brief Alias for second derivative of spline. See \ref evaluate.

@brief extend trajectory to time t @param[in] t time @param[in] initial_so3 initial knot of so3_spline @param[in] initial_pos initial knot of pos_spl

First, let's note that for scalars \f$ k, \Delta k \f$ the following holds: \f$ \exp((k+\Delta k)\phi) = \exp(k\phi)\exp(\Delta k\phi), \phi \in \math

@brief Compute binomial coefficient. Computes number of combinations that include k objects out of n. @param[in] n @param[in] k @return binomial coef

[improve NDT accuracy] remove rotaional motion distortion

This class places matplot figures in tabs on a wx window (make sure to use unique figure ids between different PlotCollection instanc

@brief Add knot to the end of the spline @param[in] knot knot to add

@brief Minimum time represented by spline @return minimum time represented by spline in seconds

Show the window on screen

sorts vectors from large to small * vec: vector to be sorted * sorted_vec: sorted results * ind: the position of each element in the sort result in