Right Jacobian for Exponential map in SO(3)

generate image message ----------------------------------------------------- * generate image message * args : img_t *img IO image control stru

BDS satellite multipath correction

Get latest minimal covariance

Get average disparity between two frames

Get disparity at a pivot

Get initial timestamp

Get oldest timestamp

Call this in order to (re-)add this error term after whenever it had been modified.

Get phase bias correction

Get pose

Get Read/Write mode

Get latest speed and bias

Get state que

Get timestamp for a DataCluster (latency added)

Convert GPS time to UTC time

Check if has formator tag

Check if tag exists

Check if we have velocity estimate

Convert IE euler angle to gici euler angle IE: roll, pitch, heading (negative yaw), rotation sequence is zxy. gici: roll, pitch, yaw, rotation sequenc

Initialize IMU pose and biases with gravity vector

input image message from v4l2 -------------------------------------------- * fetch image message * args : img_t *img IO image control struct *

Dual-frequenct ionosphere model

Check if it is the first frame

If the input data is from estimator

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Load and decode NMEA file

Marginalise out a set of parameter blocks.

Convert phase string to phase type

Log information on a parameter block.

Convert PRN string to RTKLIB sat

Publish image with features

Publish GNSS message

Publish image

Publish IMU message

Publish landmarks

Publish NavSatFix

Publish odometry

Publish pose

Publish pose with covariance and transform

Publish pose with covariance

Publish pose with transform

Read data from stream

Read IMU data

Read IMU file header

Reset ambiguity estimation

\brief Reset the linearisation point. Use with caution.

Rotation matrix to euler angle

Set Differential Code Bias (DCB)

Set as PPP mode to enable the estimated parameters are self consistent with PPP

Set zero-difference phase bias

Set zero-difference code bias

Solve integer ambiguity by LAMBDA

Sort and unique ephemeris

Sort and unique glonass ephemeris

This must be called before optimization after adding residual blocks and/or marginalizing, since it performs all the lhs and rhs computations on from

Update observation data

Check whether the code type is used

Encode and write NMEA file

Write DataCluster to rosbag

The default constructor

ATX file pack --------------------------------------------------

\brief Default constructor (assumes not fixed).

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

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

\brief Construct with measurement and information matrix @param[in] information The information (weight) matrix.

Base class

DCB file pack --------------------------------------------------

The default constructor