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Return number of unknowns

Total number of measurements in this track

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\returns the number of columns (resp. rows) of the matrix if the storage order column major (resp. row major) */

/ 3 argument call

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Uniformly distributed random number generation a = random(seed); <- initialization & first random number generation a = random(); <- next random n

* @return the number of variables involved in this factor */

Return step index k, starts at 0, incremented at each predict. */

sum out variable */

add two values of type size_t, and check for integer overflow */

triangulateSafe

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/ ! This function computes the initial id/ed */ /

Create PinholeCamera, with derivatives

Solve the direct geodesic problem :param lat1: latitude of the first point in degrees :param lon1: longitude of the first point in degrees

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\name Inspector functions **********************************************************************/ @{ * @return true if the object has been initia

* Create a level camera at the given 2D pose and height * @param K the calibration * @param pose2 specifies the location and viewing direction

Create default parameters with Z-down and above noise parameters

Positive pitch is up (increasing aircraft altitude).See ypr

* An isotropic noise model created by specifying a precision */

/ General QR, see also special version in Constrained

Get and define wrapper ids. Generates the map of id -> collector function. Args: collector_function: tuple stori

Add a range measurement to a pose with given key.

* Equals testing for basic types */

Main routine that builds factor graph */

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\returns the number of columns of the represented matrix. */

Compute the comparison between the expected and actual file, and assert if diff is zero.

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\returns the vertex of the bounding box at the corner defined by * the corner-id corner. It works only for a 1D, 2D or 3D bounding box. * For

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