forward declarations

** parameters[0]: rev_ddt (t) in light travelling distance (m) ** parameters[1]: rev_ddt (t+1) in light travelling distance (m) */

** parameters[0]: rev_dt (t) in light travelling distance (m) */

** parameters[0]: rev_dt (t) in light travelling distance (m) ** parameters[1]: rev_dt (t+1) in light travelling distance (m) ** parameters[2]: r

** parameters[0]: position and orientation at time k ** parameters[1]: velocity and acc/gyro bias at time k ** parameters[2]: position and orientat

This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */

** parameters[0]: position(k) in ECEF ** parameters[1]: position(k+1) in ECEF ** parameters[2]: velocity(k) in ECEF ** parameters[3]: velocity(k+1

** parameters[0]: pose which needs to be anchored to a constant value */