set the temporary index of the vertex in the parameter blocks

Copy constructor

Align two trajectories using the method of Horn (closed-form). Input: model -- first trajectory (3xn) data -- second trajectory (3xn)

where does the col at block-col r starts?

returns matrix representation

It re-normalizes ``unit_quaternion`` to unit length. Note: Because of the class invariant, there is typically no need to call this function directly.

squared norm when considering the complex number as tuple

Construct x-axis translation.

Construct y-axis translation.

vee-operator It takes 4x4-matrix representation ``Omega`` and maps it to the corresponding 6-vector representation of Lie algebra. This is the inver

* return the workspace for a vertex in an edge */

* tests whether there is a NaN in the array */

returns the level of the edge

returns matrix representation

returns matrix representation