* \brief Calculate region size for the RASR. */

* \brief Reset the USART and disable TX and RX. * * \param p_usart Pointer to a USART instance. */

* @brief Insert MapPoint in the map * @param pMP MapPoint */

* Handles a completed transfer on the given endpoint, invoking the * configured callback if any. * \param bEndpoint Number of the endpoint for which

* @brief Request data * This function requests the specified data w/ offset and length * for partial reads. * * @param[in] dataId Data str

* \brief Get current value of an IOPORT pin, which has been configured as an * input. * * \param pin IOPORT pin to read * \return Current logical

Logarithmic map Computes the logarithm, the inverse of the group exponential which maps element of the group (rigid body transformations) to elements

It re-normalizes the SO3 element. Note: Because of the class invariant of SO3, there is typically no need to call this function directly.

* \brief Enable the specified peripheral clock. * * \note The ID must NOT be shifted (i.e., 1 << ID_xxx). * * \param ul_id Peripheral ID (ID_xxx).

* \brief Select a card slot and initialize the associated driver * * \param slot Card slot number * * \retval SD_MMC_ERR_SLOT Wrong slot numb

* \brief Retrieves the current rate in Hz of the Peripheral Bus clock attached * to the specified peripheral. * * \param module Pointer to t

* \brief Check if the received data are ready. * Check if Data have been received and loaded into USART_RHR. * * \param p_usart Pointer to a USART

* \brief Write to USART Transmit Holding Register. * * \note Before writing user should check if tx is ready (or empty). * * \param p_usart Pointe

* @brief 添加观测 * * 记录哪些KeyFrame的那个特征点能观测到该MapPoint * 并增加观测的相机数目nObs，单目+1，双目或者grbd+2

* Returns the length of a descriptor. * \param descriptor Pointer to a USBGenericDescriptor instance. * \return Length of descriptor in bytes. */

* Enables an interrupt type for a given endpoint */

* @brief 更新平均观测方向以及观测距离范围 * * 由于一个MapPoint会被许多相机观测到，因此在插入关键帧后，需要更新相应变量 * @see III - C2.2 c2.4 * 全局优化后使用 */

Returns rotation angle.

return b, the right hand side of the system

* \brief Disable IOPORT pin, based on a pin created with \ref * IOPORT_CREATE_PIN(). * * \param pin IOPORT pin to disable */

Result was a success, or failure is suppressed

* We can avoid expensive floating point operations if one of the * values in question is zero. This provides an easy way to check * to see if it is

* lock for the block of the hessian and the b vector associated with this vertex, to avoid * race-conditions if multi-threaded. */

* Update the position of the node from the parameters in v. * Depends on the implementation of oplusImpl in derived classes to actually carry

* \brief Perform complete pin(s) configuration; general attributes and PIO init * if necessary. * * \param p_pio Pointer to a PIO instance. * \par

* \brief Configure IO of a PIO controller as being controlled by a specific * peripheral. * * \param p_pio Pointer to a PIO instance. * \param ul_

* \brief Set the division of the MCK. * * \param ul_div Division value. */

* unlock the block of the hessian and the b vector associated with this vertex */

* \brief Read from USART Receive Holding Register. * * \note Before reading user should check if rx is ready. * * \param p_usart Pointer to a USAR

< Cast to a more defined type. Will return null if not of the requested type.

* Certification test for High Speed device. * \param bIndex Test to be done */

* Returns the wValue field of the given request. * \param request - Pointer to a USBGenericRequest instance. * \return Request value. */

* \brief Enables interrupt for a given endpoint. * \param pUsbhs Pointer to an USBHS instance. * \param DmaNum Endpoint's DMA number */

This function only forwards data after complete valid packets are received

* @fn nm_bsp_interrupt_ctrl * @brief Enable/Disable interrupts * @param[IN] u8Enable * '0' disable interrupts. '1' enable interrupts */

* This will convert from quaternions to euler angles * q(W,X,Y,Z) -> euler(phi,theta,psi) (rad) * * Reference: http://en.wikipedia.org/wiki/Convers