double L_offset_to_I[3] = {0.04165, 0.02326, -0.0284}; // Avia vect3 Lidar_offset_to_IMU(L_offset_to_I, 3);

receive system-specific models and their differentions. for measurement as a manifold.

receive system-specific models and their differentions. for measurement as an Eigen matrix whose dimention is chaing.

receive system-specific models and their differentions. for measurement as a dynamic manifold whose dimension or type is changing.

receive system-specific models and their differentions for measurement as a dynamic manifold whose dimension or type is changing. calculate measurem

初始化聚类质心参数,类似于python的init_params

receive system-specific models and their differentions for measurement as a manifold. calculate measurement (z), estimate measurement (h), partial di

回环检测线程

Calculate @c this->inverse() * @c r

FIXME: Maybe overloading operator& is not a good idea ...

Calculate @c *this * @c r.inverse()

definitely remove this line