* helper function for allocating */

* Originally from CSparse, avoid memory re-allocations by giving workspace * pointers CSparse: Copyright (c) 2006-2011, Timothy A. Davis. */

* demangle the name of a type, depends on the used compiler */

dimension of the estimated state belonging to this node

* Estimate the first order derivative numerically */

temporary index of this node in the parameter vector obtained from linearization

Initialization.

* Update the position of the node from the parameters in v. * Depends on the implementation of oplusImpl in derived classes to actually * ca

capture the update function to reset aux transforms

set all aux transforms

* writes the estimater to an array of double * @returns true on success */