@brief Remove knot from the back of the spline

@brief Remove first knot of the spline and increase the start time

@brief Remove first knot of the spline and increase the start time

@brief Remove first knot of the spline and increase the start time

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

author: WEN Weisong, visiting Ph.D student in Univeristy of California, Berkeley. (weisong.wen@berkeley.edu) function: llh to ecef input: llh (Matrix3

* 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 in nanoseconds

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

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

Calculate @c this->inverse() * @c r

FIXME: Maybe overloading operator& is not a good idea ...

@brief Increment the calibration vector @param inc increment vector

@brief Increment the calibration vector @param inc increment vector

Calculate @c *this * @c r.inverse()

@brief Evaluate orientation residual. @param[in] time time of the measurement @param[in] measured_orientation orientation measurement @param[out] Jr

@brief Evaluate position residual. @param[in] time time of the measurement @param[in] measured_position position measurement @param[out] Jp if not nu

@brief Print knots for debugging.

@brief Print position knots for debugging.

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

TODO: GLONASS slot number

@brief Rotational velocity in the body frame. @param[in] time time to evaluate rotational velocity in seconds

subscribe the odometry from RTKLIB in ECEF*/

The start timestamp of bag

@brief Set the knot to particular Vec3 pose @param[in] pos Vec3 pose @param[in] i index of the knot

@brief Set the knot to particular SO3 pose @param[in] ori SO3 pose @param[in] i index of the knot

@brief Reset spline to have num_knots initialized at pose @param[in] pose SE(3) pose @param[in] num_knots number of knots to initialize

@brief Set calibration to random values (used in unit-tests).

@brief Set start time for spline @param[in] start_time start time of the spline in seconds

@brief Set start time for spline @param[in] start_time start time of the spline