getters Get a shared pointer to a parameter block.

Set zero position for ENU convertion

@brief Return parameter block type as string

Check whether a certain parameter block is part of the graph.

Adds a residual block.

Get the residual blocks of a parameter block.

Get the parameters of a residual block.

Get a phase ID

Get satellite system

If we have phase biases

Get phase-windup

@brief Get parameter block ID.

Convert double to gtime

Satellite elevation angle

Remove a parameter block from the graph.

Set coordinate for ENU to ECEF convertion

Skew symmetric matrix.

Convert coordinate

Convert gtime to double

---------------------------------------------------------- Check whether the system is used

Check observation valid

Add a parameter block to the map

Convert ionosphere delay from 1575.42 MHz to given wavelength

Get sensor type from options

Remove a residual block.

---------------------------------------------------------- Saastamoinen troposphere delay model

Solve current graph

Rotate coordinate

Compute Receiver to satellite distance considering the earth rotation effect

GMF troposphere delay model

Check whether the satellite is used

Write data to stream

Check if finished

Get GNSS index

Get tag

Get teg

sizes \brief Residual dimension.

Close stream

Convert from estimator type to string

Open stream

Set visual front-end handler.

Sleep to ensure spinning rate and restart timer

\brief The parameter block local dimension.

Rotation matrices

Satellite azimuth angle

Set gravity

\brief The parameter block dimension.

Convert normalized residual to raw residual

Convert euler angle to quarternion

Distinguish NL, WL and UWL

Convert code type to rinex type string

Check if zero position was setted

Get frequency from code type, and channel

Get covariance estimation of given parameter blocks

Free imu structure */

Initialize image structure */

Initialize imu structure */

Get the ceres problem handle

Plus matrix for a quaternion. q_AB x q_BC = plus(q_AB) * q_BC.coeffs().

Erase duplicated phases, arrange to one observation per phase

Arrange the initialization results to estimator

Check sub-options exist

Free image structure */

Get coordinate

Get matched feature indexes

Get position estimate in ECEF

Opposite-Plus matrix for a quaternion q_AB x q_BC = oplus(q_BC) * q_AB.coeffs().

Convert quartion to euler angle

Do not optimise a certain parameter block.

Select data from GNSS stream