Encode data to stream

Encode GNESA (self-defined Extended Speed and Attitude) message Format: $GNESA,tod,Ve,Vn,Vu,Ar,Ap,Ay*checksum

Encode GNESD (self-defined Extended Speed and Attitude) message Format: $GNESD,tod,STD_Pe,STD_Pn,STD_Pu,STD_Ve,STD_Vn,STD_Vu, STD_Ar,STD_Ap,STD_Py*che

Encode GNGGA message

Encode GNRMC message

Solve current graph

Solve current graph

Form single difference pseudorange pair

generate imu message ----------------------------------------------------- * generate imu message * args : imu_t *imu IO imu control struct * r

Get clock estimate

Get covariance at given timestamp

Get I/O type

Get speed and bias estimate at given timestmap

Get estimator status

Get type

init scale --------------------------------------------------------*/

Initialize all signal handles

Convert ionosphere delay to 1575.42 MHz

Load and decode NMEA file

* @brief The local parameterisation object to use. */

Log intermediate data

Convert phase type to phase string

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

Process current added image bundle. Should be called after addImageBundle.

Publish pose

Publish pose with covariance

Set estimator data callback

Set estimator data callback

@brief Whether or not this should be optimised at all. @param[in] fixed True if not to be optimised.

Solid earth tide

Solve ambiguity at given epoch

update values after Spec change

Update antenna position

Update ion/utc parameters

Update ssr corrections

Convert UTC time to GPS time

Check if valid

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

This evaluates the error term and additionally computes the Jacobians.

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

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

Path publisher

Check elevation threshold

Check SNR mask

Clear previous poses

Clear data callbacks

Clear frames to make sure it can be freed properly

Cycle slip detection by Melbourne-Wubbena (MW) combination

Decode GNESA message

Decode GNESA message

Decode GNESD message

Decode GNESD message

Decode GNESD message

Decode GNGGA message

Decode GNGGA message

Decode GNRMC message

Decode GNRMC message

decode image message -------------------------------------------------*/

decode imu message -------------------------------------------------*/

Check if reached the end of file

Down-weight current resiudal

Draw features on image

Draw features on image

Encode GNESA (self-defined Extended Speed and Attitude) message Format: $GNESA,tod,Ve,Vn,Vu,Ar,Ap,Ay*checksum

Encode GNESA (self-defined Extended Speed and Attitude) message Format: $GNESA,tod,Ve,Vn,Vu,Ar,Ap,Ay*checksum

Encode GNESD (self-defined Extended Speed and Attitude) message Format: $GNESD,tod,STD_Pe,STD_Pn,STD_Pu,STD_Ve,STD_Vn,STD_Vu, STD_Ar,STD_Ap,STD_Py*che

Encode GNESD (self-defined Extended Speed and Attitude) message Format: $GNESD,tod,STD_Pe,STD_Pn,STD_Pu,STD_Ve,STD_Vn,STD_Vu, STD_Ar,STD_Ap,STD_Py*che

Encode GNGGA message

Encode GNGGA message

Encode GNRMC message

Encode GNRMC message

encode image message -------------------------------------------------*/

encode imu message -------------------------------------------------*/

Get a shared pointer to an error term.

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Solve current graph

Convert euler angle to quarternion

Convert euler angle to quarternion

Convert euler angle to quarternion