finds position of least significant unset bit */

\brief normal integration of IMU messages stored in vimuMsg */

Constructor: takes a const ref to the matrix object with the data points

Deleted copy constructor*/

* KDTree constructor * * Refer to docs in README.md or online in * https://github.com/jlblancoc/nanoflann * * The KD-Tree point dimensi

* KDTree constructor * * Refer to docs in README.md or online in * https://github.com/jlblancoc/nanoflann * * The KD-Tree point dimensi

Constructor: takes a const ref to the vector of vectors object with the data points

\brief move the map index if need * \param[in] transformTobeMapped: transform matrix of the lidar pose */

Returns Rotation matrix

Returns Rotation matrix

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x_i at x=0.

Returns derivative of exp(x) wrt. x.

Returns derivative of exp(x) wrt. x.

Returns derivative of exp(x) wrt. x.

Default constructor. Initializes a new pool. */

Group exponential This functions takes in an element of tangent space (= twist ``a``) and returns the corresponding element of the group SE(2). The

Group exponential This functions takes in an element of tangent space (= twist ``a``) and returns the corresponding element of the group SE(3). The

Group exponential This functions takes in an element of tangent space (= rotation angle ``theta``) and returns the corresponding element of the group