* convert from degree to radian */

* convert from radian to degree */

functions to handle the toVector of the whole transformations

assumes i < j duplication of internal::computeUpperTriangleIndex in g2o/core/base_variable_sized_edge.hpp

where does the row at block-row r starts?

where does the col at block-col r starts?

how many cols does the block at block-col c has?

returns the level of the lower edges in the star

return b, the right hand side of the system

Evaluate the robust kernel function

Pop elements from the stack.