Add measurement

Decode stream to data

@brief Whether or not this is optimised at all.

Initialize landmarks

input imu message from stream -------------------------------------------- * fetch next imu message and input a message from byte stream * args : im

Load and decode NMEA file

Optimise a certain parameter block (this is the default).

Set Time Group Delay (TGD) or Inter-System Corrections (ISC)

Set measurements

Factories

delete space

Apply initialization

Form single difference phaserange pair

Get a data cluster within the given timestamp we cannot directly get a batch of data till the timestamp here, because new data loading will modify the

Get differential age

Get number of satellite

Get solution status

Get velocity estimate in ECEF

Convert rinex type string to code type

Convert RTKLIB sat to PRN string

convert time in nmea format to time ---------------------------------------*/

convert time in nmea format to time ---------------------------------------*/

convert time in nmea format to time ---------------------------------------*/

@brief Solve the optimization problem.

This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.

Add images

Check BDS constellation types (http://www.csno-tarc.cn/en/system/constellation)

Convert covariance

convert ddmm.mm in nmea format to deg -------------------------------------*/

convert ddmm.mm in nmea format to deg -------------------------------------*/

convert ddmm.mm in nmea format to deg -------------------------------------*/

Get earth gravity at a given position input should be in rad

getters Get estimate.

Convert euler angle to quarternion

Form double difference pseudorange pair

Get current processed frame bundle

Get frequency estimate

Get pose estimate at given timestmap

input image message from stream -------------------------------------------- * fetch next image message and input a message from byte stream * args

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

Add observation to landmarks

Path publisher

Compute DOPs

Cycle slip detection by Loss of Lock Indicator (LLI)

Cycle slip detection after single difference

Degree to Rad

calculate feature point depth

Form double difference phaserange pair

Get aligned

Get code bias correction

Get coordinate zero

Broadcast ionosphere model

RTCM 2 ---------------------------------------------------- Load date

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

Get frequency from phase type, and channel

Publish odometry

Convert quartion to euler angle

Rad to Degree

Set global initialization flag

@name Local parameterization @{ * @brief Set which local parameterisation object to use. * @param localParameterizationPtr The local parameterisati

Set solution callback

to make things a bit faster than using angle-axis conversion:

Solve ambiguity for single differenced ambiguities (with double differenced measurements)

Start thread

Stop thread

---------------------------------------------------------- Convert char system to int system

Track features by LK optical flow

Update ephemeris

Check whether the phase type is used

Encode and write NMEA file

Realloc and add ephemeris

Realloc and add glonass ephemeris

Arrange DCBs, TGDs, and ISCs to base frequencies

Geometry Free (GF) combination

Melbourne-Wubbena (MW) combination

Convert coordinate

8 bit parity ------------------------------------------------------*/

Cycle slip detection

Cycle slip detection by Geometry-Free (GF) combination

Cycle slip detection by time gap for single frequency receiver

Decode GNESA message

Decode GNGGA message

Decode GNRMC message