Standard constructor. Sets all values to zero. */

@brief Resize containter with knots @param[in] n number of knots

data pointer

iterated error state EKF propogation

@brief Return knot with index i @param i index of the knot @return knot

* Calculate the inverse of @c exp. * Only guarantees that <code>exp(log(x)) == x </code> */

@brief Maximum time represented by spline @return maximum time represented by spline

@brief Minimum time represented by spline @return minimum time represented by spline

@brief Calibrate the measurement. See detailed description in \ref CalibGyroBias. @param raw_measurement @return calibrated measurement

void hat(MTK::vectview<const scalar, DOF>& v, Eigen::Matrix<scalar, dim_of_mat, dim_of_mat> &res) {

@brief Alias for second derivative of spline. See \ref evaluate.

@brief Evaluate pose. @param[in] time time to evaluate pose in seconds @return SE(3) pose at time

First, let's note that for scalars \f$ k, \Delta k \f$ the following holds: \f$ \exp((k+\Delta k)\phi) = \exp(k\phi)\exp(\Delta k\phi), \phi \in \math

@brief Compute binomial coefficient. Computes number of combinations that include k objects out of n. @param[in] n @param[in] k @return binomial coef

* UTMCentralMeridian * * Determines the central meridian for the given UTM zone. * * Inputs: * zone - An integer value designating the UTM zo

@brief Add knot to the end of the spline @param[in] knot knot to add

@brief Minimum time represented by spline @return minimum time represented by spline in seconds

@brief Number of knots in the spline

* ArcLengthOfMeridian * * Computes the ellipsoidal distance from the equator to a point at a * given latitude. * * Reference: Hoffmann-Wellenhof,

* DegToRad * * Converts degrees to radians. * */

* FootpointLatitude * * Computes the footpoint latitude for use in converting transverse * Mercator coordinates to ellipsoidal coordinates. * * R

void Jacob_right(MTK::vectview<const scalar, DOF> & vec, Eigen::Matrix<scalar, dim_of_mat, dim_of_mat> &res){

void Jacob_right_inv(MTK::vectview<const scalar, DOF> vec, Eigen::Matrix<scalar, dim_of_mat, dim_of_mat> & res){