if NOT NULL, error of this edge will be robustifed with the kernel

* \brief Configures the driver with the selected card configuration */

* \brief Start the TC clock on the specified channel. * * \param[out] p_tc Module hardware register base address pointer * \param[in] ul_chann

* \brief Disables the relevant channel of given XDMAC. * * \param[out] xdmac Module hardware register base address pointer. * \param[in] channel_n

* @brief 计算具有代表的描述子 * * 由于一个MapPoint会被许多相机观测到，因此在插入关键帧后，需要判断是否更新当前点的最适合的描述子 * 先获得当前点的所有描述子，然后计算描述子之间的两两距离，最好的描述子与其他描述子应该具有最小的距离中值

frame.cpp

____ Nearer /____\ level:n-1 --> dmin /______\ d/dmin = 1.2^(n-1-m) /________\ level:m --> d /__________\

* \brief Enables Interrupt * \param pUsbhs Pointer to an USBHS instance. * \param IntType Interrupt Type */

calculate checksum - start is INCLUSIVE and end is EXCLUSIVE, if checkSumPosition is not 0, the checkSum is written to ptr + checkSumPosition

Copies packet data into a data structure. Returns 0 on success, -1 on failure. */

* convert from degree to radian */

Replace special character with encoded equivalent and add to buffer

* Returns whether the node is a leaf node * @return true iff the node is a leaf */

* \brief Disable a given interrupt source, with no added side effects. * * \param p_pio Pointer to a PIO instance. * \param ul_mask Interrupt sourc

* \brief Read and clear PIO interrupt status. * * \param p_pio Pointer to a PIO instance. * * \return The interrupt status value. */

where does the row at block-row r starts?

We assume worst case scenario, USART is writing data... Add new data to buffer that is not being written from.

* @fn spi_flash_erase * @brief Erase from data from SPI flash * @param[IN] u32Offset * Address to write to at the SPI flash * @param[IN] u32Sz

/

* \brief Configure UART with the specified parameters. * * \note The PMC and PIOs must be configured first. * * \param p_uart Pointer to a UART in

* \brief Search an interface descriptor * This routine updates the internal pointer udc_ptr_iface. * * \param iface_num Interface number to fin

return the size of the solution vector (x) and b

* \brief Configure DMA for a transfer. * * \param[out] xdmac Module hardware register base address pointer. * \param[in] channel_num The used chann

Copy constructor

* Disables an interrupt type for a given endpoint */

internal itoa for 'long' type

internal vsnprintf

Function bind Description Request to bind a socket on a local address. Return Author Ahmed Ezzat Version 1.0 Date 5 June 2012 ********

* This will construct a direction cosine matrix from * euler angles in the standard rotation sequence * [phi][theta][psi] from NED to body frame *

* \brief Unlock all the regions in the given address range. The actual unlock * range is reported through two output parameters. * * \param ul_star

Copies packet data into a data structure. Returns 0 on success, -1 on failure. */

* \brief Process an interrupt request on the given PIO controller. * * \param p_pio PIO controller base address. * \param ul_id PIO controller ID.

! \brief This routine is required by IAR DLIB library since EWAVR V6.10 * the implementation is empty to be compatible with old IAR version. */

set the temporary index of the vertex in the parameter blocks

sets the level of the edge

* \brief Set Peripheral Chip Select (PCS) value. * * \param p_spi Pointer to an SPI instance. * \param ul_value Peripheral Chip Select value. *

* \brief Enable the TC interrupts on the specified channel. * * \param[in,out] p_tc Module hardware register base address pointer * \param[in] ul

* \brief Configure TC for timer, waveform generation, or capture. * * \param[in,out] p_tc Module hardware register base address pointer * \param[

* \brief Read the counter value on the specified channel. * * \param[in] p_tc Module hardware register base address pointer * \param[in] ul_c

* \brief Read TC Register A (RA) on the specified channel. * * \param[in] p_tc Module hardware register base address pointer * \param[in] ul_