Returns the number of rows of the underlying matrix.

\returns an expression of P H P^-1 where H is the matrix represented by \c *this */

/ Calculate AdjointMap applied to xi_b, with Jacobians

Return the value held in the accumulator. <p> @return <i>sum</i>.

\returns the value of the rotation angle in radian */

/

Cross-product between two Unit3s

return a new DSF where x and y are in the same set. No path compression

/

Add a number to the accumulator. <p> @param y set <i>sum</i> += <i>y</i>.

* Convert from axis/angle representation * @param axis is the rotation axis, unit length * @param angle rotation angle * @return incr

* @brief Get weights at a given x that calculate the derivative. * * @param N The degree of the polynomial to use. * @param x The point at wh

Compute the position of point 2 which is a distance <i>s12</i> (meters) from point 1. <p> @param s12 distance from point 1 to point 2 (meters); it can

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/

return the number of frontals */

< Sparse set of points

* Create vector initialized to ones */

/

Evaluate a polynomial. <p> @param N the order of the polynomial. @param p the coefficient array (of size <i>N</i> + <i>s</i> + 1 or more). @param s st

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Constructs a uniform scaling from scale factor \a s */

/

Synonym for operator() */

Returns the converged eigenvalues. \return A complex-valued vector containing the eigenvalues. Returned vector type will be `Eigen::Vector<std::compl

* Error evaluation with optional derivatives - calculates * z - h(x1,x2) */

Degrees of freedom of camera

return the landmark */

print

Optional `order` parameter omitted, to be added as needed.

convenient function to get a Point2 from the right image */

/ Auxiliary function to solve factor graph and return pointer to root conditional

Strides of the array