Large coefficients are split so that lo contains the low 52 bits and hi the rest. This choice avoids double rounding with doubles and higher precisio

/

Shim for the deleted Point3 type.

\returns a vector expression of the \a i -th column, * only the meaningful part is returned. * \warning the internal storage must be colum

Add a value

return the numer of keys

/

Shim for the deleted Point2 type.

\returns the number of coefficients, which is rows()*cols(). * \sa rows(), cols(), SizeAtCompileTime. */

/

/

\returns the row index of the current coefficient.

Pull some functions from namespace std. This is necessary because we want to use the same name (e.g. 'sqrt') for double-valued and Jet-valued functio

Clear any existing decomposition * \sa rankUpdate(w,sigma) */

get x

Return string representation of the key

get y

Create new factor by maximizing over all values with the same separator values

\internal */

Copy constructor */

* Calculate range to a landmark * @param point 3D location of landmark * @return range (double) */

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* Create a unit covariance noise model */

* Returns rotation nRb from body to nav frame. * For vehicle coordinate frame X forward, Y right, Z down: * Positive yaw is to right (as in

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return iterator */

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return iterator */

get v

/

/

Get the last factor */

* Add a new measurement and pose/camera key. * @param measured is the 2m dimensional projection of a single landmark * @param key is the index c

* Evaluate the components of the gravity disturbance in geocentric * coordinates. * * @param[in] X geocentric coordinate of point (mete

* Exponential map at identity - create a rotation from canonical coordinates * \f$ [R_x,R_y,R_z] \f$ using Rodrigues' formula */

/

Total number of elements

Rotations around Z, Y, then X axes as in http://en.wikipedia.org/wiki/Rotation_matrix, counterclockwise when looking from unchanging axis.