* @brief variance estimation (sigma square) * @param nlosExclusion::GNSS_Raw_Array GNSS_data * @return weight_matrix @ */

author: WEN Weisong, visiting Ph.D student in Univeristy of California, Berkeley. (weisong.wen@berkeley.edu) function: ecef to enu input: original llh

@brief Evaluate SO(3) B-spline @param[in] time_ time for evaluating the value of the spline @param[out] J if not nullptr, return the Jacobian of the

@name Helper functions { * Calculate the exponential map. In matrix terms this would correspond * to the Rodrigues formula. */ FIXME vectview<> c

@name Helper functions { * Calculate the exponential map. In matrix terms this would correspond * to the Rodrigues formula. */ FIXME vectview<> c

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Gererate random trajectory @param[in] n number of knots to generate @param[in] static_init if true the first N knots will be the same resultin

@brief Return bias vector and scale matrix. See detailed description in \ref CalibAccelBias.

@brief Return bias vector and scale matrix. See detailed description in \ref CalibGyroBias.

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

@brief Return the last knot of the spline @return last knot of the spline

@brief Return time interval in nanoseconds @return time interval in seconds

@brief Return time interval @return time interval

transform the gnss raw data to map format */

@brief Evaluate gyroscope residual. @param[in] time time of the measurement @param[in] measurement gyroscope measurement @param[in] gyro_bias_full gy

void hat(MTK::vectview<const scalar, DOF>& v, Eigen::Matrix<scalar, 3, 3> &res) {

@brief Invert calibration (used in unit-tests). @param calibrated_measurement @return raw measurement

@brief Invert calibration (used in unit-tests). @param calibrated_measurement @return raw measurement

@brief Evaluate rotational jerk (third time derivative) of SO(3) B-spline in the body frame @param[in] time time for evaluating jerk of the spline @p

@brief Return the first knot of the spline @return first knot of the spline

@brief Remove knot from the back of the spline

@brief Remove knot from the back of the spline