Get timestamp

Get formator type

Get velocity covariance in ECEF

Get velocity covariance in ECEF

Get velocity estimate in ECEF

Get coordinate zero

Convert gici euler angle to IE euler angle

Marginalization when the new state is a GNSS state

Marginalization when the new state is a GNSS state

Marginalization when the new state is a GNSS state

Get a GNSS measurement at given timestamp

Get a GNSS measurement pair at given timestamp

Send GNSS raw data to ROS topics

Sort lanes to groups

Sort lanes to groups for given band

Handle sensors that need frontends

Handle GNSS data

Handle IMU data

Handle Image data

Handle non-time-propagation sensors

Handle non-time-propagation sensors

Handle broken pipe exception from TCP/IP

Handle invalid access to storage

Handle Solution data

Handle time-propagation sensors

Handle time-propagation sensors

ROS callbacks

Send image data to ROS topic

Send IMU data to ROS topic

IMU integration

\brief Get the IMU measurements.

Initialize

Initialize IMU pose with body velocity in world frame

Initialize scale and landmarks at first

\brief Get initialisaiton status. \return Whether or not the 3d position is considered initialised.

Inserts a state inside or at the ends of state window

Get an ionosphere state at given timestamp

Check if it is the first epoch

Check if it is the first epoch

Check if we under good observation environment

* @brief check if parameter block with id is in marginalization term and * hence check if it can be marginalized. * @param param_block_id

Check if a landmark is in estimator

Check a Jacobian with numeric differences.

Info: is this parameter block connected to this marginalization error?

Check if zero position was setted

Shutdown all spin controllers

Get lastest IMU measurement timestamp

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

\brief Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. @param[in] x0 Variable. @param[out] jacobian the

\brief Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. @param[in] x0 Variable. @param[out] jacobian the

\brief Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. @param[out] jacobian the Jacobian (dimension minD

\brief Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. @param[out] jacobian the Jacobian (dimension minD

Load at least one data from file As default, we use the logic of the streaming class to read and decode data For other logic, users should override th

Log ambiguity estimate

Log DD phaserange residual

Log DD pseudorange residual

Log intermediate data