@brief Evaluate SO(3) B-spline @param[in] time_ time for evaluating the value of the spline @param[out] J if not nullptr, return the Jacobian of the

========================= Visualization ========================= //

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Return bias vector and scale matrix. See detailed description in \ref CalibAccelBias.

@brief Return bias vector and scale matrix. See detailed description in \ref CalibGyroBias.

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

@brief Return the last knot of the spline @return last knot of the spline

@brief Return time interval in nanoseconds @return time interval in seconds

@brief Return time interval @return time interval

@brief Evaluate gyroscope residual. @param[in] time time of the measurement @param[in] measurement gyroscope measurement @param[in] gyro_bias_full gy

@brief Invert calibration (used in unit-tests). @param calibrated_measurement @return raw measurement

@brief Invert calibration (used in unit-tests). @param calibrated_measurement @return raw measurement

@brief Evaluate rotational jerk (third time derivative) of SO(3) B-spline in the body frame @param[in] time time for evaluating jerk of the spline @p

@brief Return the first knot of the spline @return first knot of the spline

@brief Remove knot from the back of the spline

@brief Remove knot from the back of the spline

@brief Remove knot from the back of the spline

@brief Remove first knot of the spline and increase the start time

@brief Remove first knot of the spline and increase the start time

@brief Remove first knot of the spline and increase the start time

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

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

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

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

@brief Increment the calibration vector @param inc increment vector

@brief Increment the calibration vector @param inc increment vector

@brief Evaluate orientation residual. @param[in] time time of the measurement @param[in] measured_orientation orientation measurement @param[out] Jr

@brief Evaluate position residual. @param[in] time time of the measurement @param[in] measured_position position measurement @param[out] Jp if not nu

@brief Print knots for debugging.

@brief Print position knots for debugging.

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

@brief Set the knot to particular SE(3) pose @param[in] pose SE(3) pose @param[in] i index of the knot

@brief Set the knot to particular Vec3 pose @param[in] pos Vec3 pose @param[in] i index of the knot

@brief Set the knot to particular SO3 pose @param[in] ori SO3 pose @param[in] i index of the knot

@brief Reset spline to have num_knots initialized at pose @param[in] pose SE(3) pose @param[in] num_knots number of knots to initialize

@brief Set calibration to random values (used in unit-tests).

@brief Set start time for spline @param[in] start_time start time of the spline in seconds

@brief Set start time for spline @param[in] start_time start time of the spline

@brief Set start time for spline @param[in] start_time start time of the spline

@brief Linear velocity in the world frame. @param[in] time time to evaluate linear velocity in seconds