* compute the symbolic decompostion of the matrix only once. * Since A has the same pattern in all the iterations, we only * compute the fil

dual quaternion conjugate

return the currently used damping factor

This provides unsafe read/write access to internal data. SO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acces

This provides unsafe read/write access to internal data. SO(2) is represented by a complex number (two parameters). When using direct write access, th

This provides unsafe read/write access to internal data. Sim(2) is represented by a complex number (two parameters) and a 2-vector. When using direct

This provides unsafe read/write access to internal data. Sim(3) is represented by an Eigen::Quaternion (four parameters) and a 3-vector. When using di

This provides unsafe read/write access to internal data. RxSO(2) is represented by a complex number (two parameters). When using direct write access,

This provides unsafe read/write access to internal data. RxSO(3) is represented by an Eigen::Quaternion (four parameters). When using direct write acc

This provides unsafe read/write access to internal data. SO(2) is represented by a unit complex number (two parameters). When using direct write acces

* convert from degree to radian */

how many rows/cols does the block at block-row / block-column r has?

dimension of the estimated state belonging to this node

* Returns whether all the possible values between min and max were * already given. If get() is called when empty() is true, the behaviour * is

* fill the CCS arrays of a matrix, arrays have to be allocated beforehand */