Actually, is there any reason not to call this automatically for every plot?

* 位姿格式变换 */

iterated error state EKF update for measurement as a manifold.

iterated error state EKF update for measurement as an Eigen matrix whose dimension is changing.

iterated error state EKF update for measurement as an Eigen matrix whose dimension is changing. calculate measurement (z), estimate measurement (h), p

iterated error state EKF update for measurement as a manifold. calculate measurement (z), estimate measurement (h), partial differention matrices (h_x

Standard constructor. Sets all values to zero. */

construct from pointer

construct from const pointer