From 6dba00a3cfed95b4a900a951b5401bdbe7da2787 Mon Sep 17 00:00:00 2001 From: symforce-org Date: Tue, 19 Dec 2023 19:08:27 +0000 Subject: [PATCH] Regenerate docs from 2650c4bfbe5967f817278ad41932c958c7ddf819 --- _modules/symforce.html | 35 +- _modules/symforce/internal/symbolic.html | 148 ++-- _modules/symforce/opt/factor.html | 2 +- _modules/symforce/opt/optimizer.html | 10 +- .../classsym_1_1DenseCholeskySolver.html | 14 +- .../class/classsym_1_1DenseLinearizer.html | 20 +- .../class/classsym_1_1EigenSparseSolver.html | 18 +- api-cpp/class/classsym_1_1Factor.html | 74 +- api-cpp/class/classsym_1_1GncOptimizer.html | 14 +- api-cpp/class/classsym_1_1ImuFactor.html | 28 +- .../class/classsym_1_1ImuPreintegrator.html | 18 +- ...ssym_1_1ImuWithGravityDirectionFactor.html | 28 +- .../classsym_1_1ImuWithGravityFactor.html | 28 +- api-cpp/class/classsym_1_1Interpolator.html | 6 +- api-cpp/class/classsym_1_1Key.html | 38 +- .../classsym_1_1LevenbergMarquardtSolver.html | 34 +- api-cpp/class/classsym_1_1Linearizer.html | 24 +- api-cpp/class/classsym_1_1Optimizer.html | 82 +- .../classsym_1_1SparseCholeskySolver.html | 40 +- .../class/classsym_1_1SparseSchurSolver.html | 22 +- api-cpp/class/classsym_1_1Values.html | 88 +- api-cpp/file/assert_8h.html | 4 +- api-cpp/file/dense__cholesky__solver_8h.html | 16 +- api-cpp/file/dense__linearizer_8h.html | 36 +- api-cpp/file/dump__graph_8h.html | 4 +- api-cpp/file/eigen__sparse__solver_8h.html | 20 +- api-cpp/file/factor_8h.html | 100 +-- api-cpp/file/gnc__optimizer_8h.html | 18 +- api-cpp/file/imu__factor_8h.html | 108 +-- api-cpp/file/imu__preintegrator_8h.html | 26 +- api-cpp/file/key_8h.html | 60 +- .../file/levenberg__marquardt__solver_8h.html | 68 +- api-cpp/file/linearization_8h.html | 38 +- api-cpp/file/linearizer_8h.html | 62 +- api-cpp/file/optimization__stats_8h.html | 20 +- api-cpp/file/optimizer_8h.html | 122 +-- api-cpp/file/optional_8h.html | 2 +- .../preintegrated__imu__measurements_8h.html | 42 +- api-cpp/file/sparse__cholesky__solver_8h.html | 62 +- api-cpp/file/sparse__schur__solver_8h.html | 34 +- api-cpp/file/templates_8h.html | 36 +- api-cpp/file/util_8h.html | 14 +- api-cpp/file/values_8h.html | 100 +-- api-cpp/namespace/namespacestd.html | 4 +- api-cpp/namespace/namespacesym.html | 782 +++++++++--------- ...structstd_1_1hash_3_01sym_1_1Key_01_4.html | 4 +- ...uctstd_1_1hash_3_01sym_1_1key__t_01_4.html | 4 +- .../structsym_1_1Key_1_1LexicalCompare.html | 2 +- .../struct/structsym_1_1Linearization.html | 18 +- .../structsym_1_1OptimizationStats.html | 12 +- ...ptimizer_1_1ComputeCovariancesStorage.html | 2 +- ...ctsym_1_1PreintegratedImuMeasurements.html | 38 +- ...rseSchurSolver_1_1SparsityInformation.html | 4 +- ...lver_1_1SparsityInformation_1_1CBlock.html | 2 +- ...aits_3_01ReturnType_07Args_8_8_8_08_4.html | 10 +- ...01ReturnType_07Args_8_8_8_08_4_1_1arg.html | 6 +- ...1_1_5_08_07Args_8_8_8_08_01const_01_4.html | 2 +- ...7ClassType_1_1_5_08_07Args_8_8_8_08_4.html | 2 +- ...tion__traits_3_01SYM__BIND__TYPE_01_4.html | 10 +- ...raits_3_01SYM__BIND__TYPE_01_4_1_1arg.html | 6 +- ...m_1_1function__traits_3_01T_01_5_01_4.html | 2 +- ...m_1_1function__traits_3_01T_01_6_01_4.html | 2 +- ...1_1function__traits_3_01T_01_6_6_01_4.html | 2 +- ..._1function__traits_3_01const_01T_01_4.html | 2 +- ...unction__traits_3_01volatile_01T_01_4.html | 2 +- .../struct/structsym_1_1remove__cvref.html | 2 +- api-gen-cpp/class/classsym_1_1Pose2.html | 2 +- api-gen-cpp/class/classsym_1_1Pose3.html | 2 +- .../class/classsym_1_1PosedCamera.html | 6 +- api-gen-cpp/class/classsym_1_1Rot2.html | 2 +- api-gen-cpp/class/classsym_1_1Rot3.html | 8 +- api-gen-cpp/class/classsym_1_1Unit3.html | 4 +- api-gen-cpp/file/atan__camera__cal_8cc.html | 4 +- .../file/atan__reprojection__delta_8h.html | 2 +- .../file/between__factor__pose2_8h.html | 2 +- .../file/between__factor__pose3_8h.html | 2 +- .../between__factor__pose3__position_8h.html | 2 +- .../between__factor__pose3__rotation_8h.html | 2 +- ...__factor__pose3__translation__norm_8h.html | 2 +- .../file/between__factor__rot2_8h.html | 2 +- .../file/between__factor__rot3_8h.html | 2 +- .../file/double__sphere__camera__cal_8cc.html | 4 +- ...ouble__sphere__reprojection__delta_8h.html | 2 +- api-gen-cpp/file/epsilon_8h.html | 2 +- .../equirectangular__camera__cal_8cc.html | 4 +- ...uirectangular__reprojection__delta_8h.html | 2 +- ...__manifold__preintegration__update_8h.html | 2 +- ...egration__update__auto__derivative_8h.html | 2 +- .../file/internal__imu__factor_8h.html | 2 +- ...ternal__imu__unit__gravity__factor_8h.html | 2 +- ...ternal__imu__with__gravity__factor_8h.html | 2 +- ...range__landmark__atan__gnc__factor_8h.html | 2 +- ...dmark__double__sphere__gnc__factor_8h.html | 2 +- ...mark__equirectangular__gnc__factor_8h.html | 2 +- ...nge__landmark__linear__gnc__factor_8h.html | 2 +- ..._landmark__polynomial__gnc__factor_8h.html | 2 +- ...__landmark__spherical__gnc__factor_8h.html | 2 +- api-gen-cpp/file/linear__camera__cal_8cc.html | 4 +- .../file/linear__reprojection__delta_8h.html | 2 +- .../file/polynomial__camera__cal_8cc.html | 4 +- .../polynomial__reprojection__delta_8h.html | 2 +- api-gen-cpp/file/pose2_8cc.html | 4 +- api-gen-cpp/file/pose3_8cc.html | 4 +- api-gen-cpp/file/posed__camera_8h.html | 8 +- api-gen-cpp/file/prior__factor__pose2_8h.html | 2 +- api-gen-cpp/file/prior__factor__pose3_8h.html | 2 +- .../prior__factor__pose3__position_8h.html | 2 +- .../prior__factor__pose3__rotation_8h.html | 2 +- api-gen-cpp/file/prior__factor__rot2_8h.html | 2 +- api-gen-cpp/file/prior__factor__rot3_8h.html | 2 +- api-gen-cpp/file/rot2_8cc.html | 4 +- api-gen-cpp/file/rot3_8cc.html | 4 +- .../file/spherical__camera__cal_8cc.html | 4 +- .../spherical__reprojection__delta_8h.html | 2 +- api-gen-cpp/file/type__ops_8h.html | 6 +- api-gen-cpp/file/unit3_8cc.html | 4 +- api-gen-cpp/namespace/namespacesym.html | 172 ++-- .../namespace/namespacesym_1_1scalar.html | 2 +- ...structsym_1_1GroupOps_3_01double_01_4.html | 2 +- .../structsym_1_1GroupOps_3_01float_01_4.html | 2 +- ..._01ATANCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...eSphereCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...larType_00_01Rows_00_01Cols_01_4_01_4.html | 2 +- ...angularCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...1LinearCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...ynomialCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...oupOps_3_01Pose2_3_01Scalar_01_4_01_4.html | 2 +- ...oupOps_3_01Pose3_3_01Scalar_01_4_01_4.html | 2 +- ...roupOps_3_01Rot2_3_01Scalar_01_4_01_4.html | 2 +- ...roupOps_3_01Rot3_3_01Scalar_01_4_01_4.html | 2 +- ...hericalCameraCal_3_01Scalar_01_4_01_4.html | 2 +- ...oupOps_3_01Unit3_3_01Scalar_01_4_01_4.html | 2 +- ...uctsym_1_1LieGroupOps_3_01double_01_4.html | 2 +- ...ructsym_1_1LieGroupOps_3_01float_01_4.html | 2 +- ...ructsym_1_1StorageOps_3_01double_01_4.html | 2 +- ...tructsym_1_1StorageOps_3_01float_01_4.html | 2 +- .../structsym_1_1scalar_1_1LieGroupOps.html | 2 +- api/modules.html | 18 +- ...erate_matrix_multiplication_benchmark.html | 4 +- api/symforce.html | 43 +- api/symforce.internal.html | 14 +- api/symforce.internal.symbolic.html | 144 ++-- api/symforce.opt.factor.html | 2 +- api/symforce.symbolic.html | 156 ++-- genindex.html | 34 +- objects.inv | Bin 276778 -> 277363 bytes searchindex.js | 2 +- tutorials/cameras_tutorial.ipynb | 88 +- tutorials/codegen_tutorial.html | 8 +- tutorials/codegen_tutorial.ipynb | 120 +-- tutorials/epsilon_tutorial.html | 4 +- tutorials/epsilon_tutorial.ipynb | 404 ++++----- tutorials/geometry_tutorial.html | 18 +- tutorials/geometry_tutorial.ipynb | 278 +++---- tutorials/ops_tutorial.ipynb | 168 ++-- tutorials/sympy_tutorial.ipynb | 56 +- tutorials/values_tutorial.ipynb | 160 ++-- 157 files changed, 2409 insertions(+), 2351 deletions(-) diff --git a/_modules/symforce.html b/_modules/symforce.html index eff0b755..1f4a7dc6 100644 --- a/_modules/symforce.html +++ b/_modules/symforce.html @@ -752,7 +752,7 @@

Source code for symforce

 import os
 import sys
 import typing as T
-import warnings
+from dataclasses import dataclass
 from types import ModuleType
 
 # -------------------------------------------------------------------------------------------------
@@ -875,11 +875,11 @@ 
Source code for symforce
         return symengine
 
 
-_symbolic_api: T.Optional[str] = None
+_symbolic_api: T.Optional[T.Literal["sympy", "symengine"]] = None
 _have_imported_symbolic = False
 
 
-def _set_symbolic_api(sympy_module: str) -> None:
+def _set_symbolic_api(sympy_module: T.Literal["sympy", "symengine"]) -> None:
     # Set this as the default symbolic API
     global _symbolic_api  # pylint: disable=global-statement
     _symbolic_api = sympy_module
@@ -949,16 +949,15 @@ 
Source code for symforce
         logger.debug("No SYMFORCE_SYMBOLIC_API set, found and using symengine.")
         set_symbolic_api("symengine")
     except ImportError:
-        logger.debug("No SYMFORCE_SYMBOLIC_API set, no symengine found, using sympy.")
-        set_symbolic_api("sympy")
+        logger.debug("No SYMFORCE_SYMBOLIC_API set, no symengine found.  Will use sympy.")
+        pass
 
 
-
[docs]def get_symbolic_api() -> str:
+
[docs]def get_symbolic_api() -> T.Literal["sympy", "symengine"]:
     """
     Return the current symbolic API as a string.
     """
-    assert _symbolic_api is not None
-    return _symbolic_api

+    return _symbolic_api or "sympy"

 
 
 # --------------------------------------------------------------------------------
@@ -977,7 +976,7 @@ 
Source code for symforce
     pass

 
 
-_epsilon = 0.0
+_epsilon: T.Any = 0.0
 _have_used_epsilon = False
 
 
@@ -1003,6 +1002,15 @@ 
Source code for symforce
     _epsilon = new_epsilon
 
 
+
[docs]@dataclass
+class SymbolicEpsilon:
+    """
+    An indicator that SymForce should use a symbolic epsilon
+    """
+
+    name: str

+
+
 
[docs]def set_epsilon_to_symbol(name: str = "epsilon") -> None:
     """
     Set the default epsilon for Symforce to a Symbol.
@@ -1013,14 +1021,7 @@ 
Source code for symforce
     Args:
         name: The name of the symbol for the new default epsilon to use
     """
-    if get_symbolic_api() == "sympy":
-        import sympy
-    elif get_symbolic_api() == "symengine":
-        sympy = _find_symengine()
-    else:
-        raise InvalidSymbolicApiError(get_symbolic_api())
-
-    _set_epsilon(sympy.Symbol(name))

+    _set_epsilon(SymbolicEpsilon(name))

 
 
 
[docs]def set_epsilon_to_number(value: T.Any = numeric_epsilon) -> None:
diff --git a/_modules/symforce/internal/symbolic.html b/_modules/symforce/internal/symbolic.html
index be032da2..e1e26e70 100644
--- a/_modules/symforce/internal/symbolic.html
+++ b/_modules/symforce/internal/symbolic.html
@@ -769,6 +769,25 @@ 
Source code for symforce.internal.symbolic
 from symforce import logger
 from symforce import typing as T
 
+if symforce._symbolic_api is None:  # pylint: disable=protected-access
+    import textwrap
+
+    logger.warning(
+        textwrap.dedent(
+            """
+            No SYMFORCE_SYMBOLIC_API set, no symengine found, using sympy.
+
+            For best performance during symbolic manipulation and code generation, use the symengine
+            symbolic API, which should come installed with SymForce.  If you've installed SymForce
+            without intentionally disabling SymEngine, and you are seeing this warning, this is a
+            bug - please submit an issue: https://github.com/symforce-org/symforce/issues.
+
+            To silence this warning, call `symforce.set_symbolic_api("sympy")` or set
+            `SYMFORCE_SYMBOLIC_API=sympy` in your environment before importing `symforce.symbolic`.
+            """
+        )
+    )
+
 # See `symforce/__init__.py` for more information, this is used to check whether things that this
 # module depends on are modified after importing
 symforce._have_imported_symbolic = True  # pylint: disable=protected-access
@@ -982,42 +1001,45 @@ 
Source code for symforce.internal.symbolic
 
 
 # --------------------------------------------------------------------------------
-# Default epsilon
+# Create scopes
 # --------------------------------------------------------------------------------
 
 
-from symforce import numeric_epsilon
+
[docs]def create_named_scope(scopes_list: T.List[str]) -> T.Callable:
+    """
+    Return a context manager that adds to the given list of name scopes. This is used to
+    add scopes to symbol names for namespacing.
+    """
 
+    @contextlib.contextmanager
+    def named_scope(scope: str) -> T.Iterator[None]:
+        scopes_list.append(scope)
 
-
[docs]def epsilon() -> T.Any:
-    """
-    The default epsilon for SymForce
+        # The body of the with block is executed inside the yield, this ensures we release the
+        # scope if something in the block throws
+        try:
+            yield None
+        finally:
+            scopes_list.pop()
 
-    Library functions that require an epsilon argument should use a function signature like::
+    return named_scope

 
-        def foo(x: Scalar, epsilon: Scalar = sf.epsilon()) -> Scalar:
-            ...
 
-    This makes it easy to configure entire expressions that make extensive use of epsilon to either
-    use no epsilon (i.e. 0), or a symbol, or a numerical value.  It also means that by setting the
-    default to a symbol, you can confidently generate code without worrying about having forgotten
-    to pass an epsilon argument to one of these functions.
+# Nested scopes created with `sf.scope`, initialized to empty (symbols created with no added scope)
+__scopes__ = []
 
-    For more information on how we use epsilon to prevent singularities, see the Epsilon Tutorial
-    in the SymForce docs here: https://symforce.org/tutorials/epsilon_tutorial.html
 
-    For purely numerical code that just needs a good default numerical epsilon, see
-    :data:`symforce.symbolic.numeric_epsilon`.
+
[docs]def set_scope(scope: str) -> None:
+    global __scopes__  # pylint: disable=global-statement
+    __scopes__ = scope.split(".") if scope else []

 
-    Returns:
-        The current default epsilon.  This is typically some kind of "Scalar", like a float or a
-        :class:`Symbol <symforce.symbolic.Symbol>`.
-    """
-    symforce._have_used_epsilon = True  # pylint: disable=protected-access
 
-    return symforce._epsilon  # pylint: disable=protected-access

+
[docs]def get_scope() -> str:
+    return ".".join(__scopes__)

 
 
+scope = create_named_scope(__scopes__)
+
 # --------------------------------------------------------------------------------
 # Override Symbol and symbols
 # --------------------------------------------------------------------------------
@@ -1079,6 +1101,48 @@ 
Source code for symforce.internal.symbolic
     raise symforce.InvalidSymbolicApiError(sympy.__package__)
 
 
+# --------------------------------------------------------------------------------
+# Default epsilon
+# --------------------------------------------------------------------------------
+
+
+from symforce import numeric_epsilon
+
+
+
[docs]def epsilon() -> T.Any:
+    """
+    The default epsilon for SymForce
+
+    Library functions that require an epsilon argument should use a function signature like::
+
+        def foo(x: Scalar, epsilon: Scalar = sf.epsilon()) -> Scalar:
+            ...
+
+    This makes it easy to configure entire expressions that make extensive use of epsilon to either
+    use no epsilon (i.e. 0), or a symbol, or a numerical value.  It also means that by setting the
+    default to a symbol, you can confidently generate code without worrying about having forgotten
+    to pass an epsilon argument to one of these functions.
+
+    For more information on how we use epsilon to prevent singularities, see the Epsilon Tutorial
+    in the SymForce docs here: https://symforce.org/tutorials/epsilon_tutorial.html
+
+    For purely numerical code that just needs a good default numerical epsilon, see
+    :data:`symforce.symbolic.numeric_epsilon`.
+
+    Returns:
+        The current default epsilon.  This is typically some kind of "Scalar", like a float or a
+        :class:`Symbol <symforce.symbolic.Symbol>`.
+    """
+    # pylint: disable=protected-access
+
+    if isinstance(symforce._epsilon, symforce.SymbolicEpsilon):
+        symforce._epsilon = sympy.Symbol(symforce._epsilon.name)
+
+    symforce._have_used_epsilon = True
+
+    return symforce._epsilon

+
+
 # --------------------------------------------------------------------------------
 # Typing
 # --------------------------------------------------------------------------------
@@ -1419,46 +1483,6 @@ 
Source code for symforce.internal.symbolic
     )
 else:
     raise symforce.InvalidSymbolicApiError(sympy.__package__)
-
-# --------------------------------------------------------------------------------
-# Create scopes
-# --------------------------------------------------------------------------------
-
-
-
[docs]def create_named_scope(scopes_list: T.List[str]) -> T.Callable:
-    """
-    Return a context manager that adds to the given list of name scopes. This is used to
-    add scopes to symbol names for namespacing.
-    """
-
-    @contextlib.contextmanager
-    def named_scope(scope: str) -> T.Iterator[None]:
-        scopes_list.append(scope)
-
-        # The body of the with block is executed inside the yield, this ensures we release the
-        # scope if something in the block throws
-        try:
-            yield None
-        finally:
-            scopes_list.pop()
-
-    return named_scope

-
-
-# Nested scopes created with `sf.scope`, initialized to empty (symbols created with no added scope)
-__scopes__ = []
-
-
-
[docs]def set_scope(scope: str) -> None:
-    global __scopes__  # pylint: disable=global-statement
-    __scopes__ = scope.split(".") if scope else []

-
-
-
[docs]def get_scope() -> str:
-    return ".".join(__scopes__)

-
-
-scope = create_named_scope(__scopes__)
 

         
       

diff --git a/_modules/symforce/opt/factor.html b/_modules/symforce/opt/factor.html
index 5f1f3700..e2d2c594 100644
--- a/_modules/symforce/opt/factor.html
+++ b/_modules/symforce/opt/factor.html
@@ -919,7 +919,7 @@ 
Source code for symforce.opt.factor
             output_dir: Where the generated linearization function will be output.
             namespace: Namespace of the generated linearization function.
             sparse_linearization: Whether the generated linearization function should use sparse
-                matricies for the jacobian and hessian approximation
+                matrices for the jacobian and hessian approximation
 
         Returns:
             Dict containing locations where the code was generated (e.g. "output_dir" and
diff --git a/_modules/symforce/opt/optimizer.html b/_modules/symforce/opt/optimizer.html
index 228f61b8..bb9ae9a9 100644
--- a/_modules/symforce/opt/optimizer.html
+++ b/_modules/symforce/opt/optimizer.html
@@ -963,6 +963,8 @@ 
Source code for symforce.opt.optimizer
                 set(optimized_keys)
             ), f"Duplicates in optimized keys: {optimized_keys}"
 
+        optimized_keys_set = set(self.optimized_keys)
+
         numeric_factors = []
         for factor in factors:
             if isinstance(factor, Factor):
@@ -970,9 +972,11 @@ 
Source code for symforce.opt.optimizer
                     raise ValueError(
                         "You must specify `optimized_keys` when passing symbolic factors."
                     )
-                # We compute the linearization in the same order as `optimized_keys`
-                # so that e.g. columns of the generated jacobians are in the same order
-                factor_opt_keys = [opt_key for opt_key in optimized_keys if opt_key in factor.keys]
+                # We compute the linearization in the same order as `factor.keys` so that using the
+                # same factor with different problem keys will produce the same generated function
+                factor_opt_keys = [
+                    opt_key for opt_key in factor.keys if opt_key in optimized_keys_set
+                ]
                 if not factor_opt_keys:
                     raise ValueError(
                         f"Factor {factor.name} has no arguments (keys: {factor.keys}) in "
diff --git a/api-cpp/class/classsym_1_1DenseCholeskySolver.html b/api-cpp/class/classsym_1_1DenseCholeskySolver.html
index 5f664c80..65d6ad5f 100644
--- a/api-cpp/class/classsym_1_1DenseCholeskySolver.html
+++ b/api-cpp/class/classsym_1_1DenseCholeskySolver.html
@@ -746,17 +746,17 @@ 
Class sym::DenseCholeskySolver
 

 template<typename Scalar>
class DenseCholeskySolver#

-
A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 

+
A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 

 

 
Public Types

 

 

-using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

+using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

 

 
 

 

-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

 

 
 

@@ -764,7 +764,7 @@ 
Class sym::DenseCholeskySolverPublic Functions

 

 

-inline bool Factorize(const MatrixType &A)#

+inline bool Factorize(const MatrixType &A)#

 
Decompose A into A = P^T * L * D * L^T * P and store internally. 

 

 
Pre:

@@ -778,7 +778,7 @@ 
Class sym::DenseCholeskySolver
 

-template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

 

 
Returns:

 
x for A x = b, where x and b are dense 

@@ -791,7 +791,7 @@ 
Class sym::DenseCholeskySolver
 

-template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

 
Solves in place for x in A x = b, where x and b are dense 

 

 
Pre:

@@ -841,7 +841,7 @@ 
Class sym::DenseCholeskySolver
 

-template<typename Derived>
inline void AnalyzeSparsityPattern(const Eigen::EigenBase<Derived>&)#

+template<typename Derived>
inline void AnalyzeSparsityPattern(const Eigen::EigenBase<Derived>&)#

 
Defined to satisfy interface. No analysis is needed so is a no-op. 

 

 
diff --git a/api-cpp/class/classsym_1_1DenseLinearizer.html b/api-cpp/class/classsym_1_1DenseLinearizer.html
index 35b4b6d4..1c5e32cc 100644
--- a/api-cpp/class/classsym_1_1DenseLinearizer.html
+++ b/api-cpp/class/classsym_1_1DenseLinearizer.html
@@ -750,12 +750,12 @@ 
Class sym::DenseLinearizerPublic Types

 

 

-using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#

+using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#

 

 
 

 

-using LinearizationType = DenseLinearization<Scalar>#

+using LinearizationType = DenseLinearization<Scalar>#

 

 
 

@@ -763,8 +763,8 @@ 
Class sym::DenseLinearizerPublic Functions

 

 

-DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#

-
Construct a Linearizer from factors and optional keys

+DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#

+
Construct a Linearizer from factors and optional keys

 

 
Parameters:

 
    
@@ -780,26 +780,26 @@ 
    Class sym::DenseLinearizer
 
    
 bool IsInitialized() const#
    
-
    Returns whether Relinearize() has already been called once.
    
-
    Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size. 
    
+
    Returns whether Relinearize() has already been called once.
    
+
    Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size. 
    
 

 
 

 

-const std::vector<Key> &Keys() const#

+const std::vector<Key> &Keys() const#

 
The keys to optimize, in the order they appear in the state vector (i.e., in rhs). 

 

 
 

 

-const std::unordered_map<key_t, index_entry_t> &StateIndex() const#

+const std::unordered_map<key_t, index_entry_t> &StateIndex() const#

 
A map from all optimized keys in the problem to an index entry for the corresponding optimized values (where the offset is into the problem state vector, i.e., the rhs of a linearization).

-
Only read if IsInitialized() returns true (i.e., after the first call to Relinearize). 

+
Only read if IsInitialized() returns true (i.e., after the first call to Relinearize). 

 

 
 

 

-void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#

+void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#

 
Update linearization at a new evaluation point. This is more efficient than reconstructing this object repeatedly. On the first call, it will allocate memory and perform analysis needed for efficient repeated relinearization.

 
On the first call to Relinearize, the matrices in linearization will be allocated and sized correctly. On subsequent calls, the matrices of linearization are expected to already be allocated and sized correctly.

 
TODO(aaron): This should be const except that it can initialize the object 

diff --git a/api-cpp/class/classsym_1_1EigenSparseSolver.html b/api-cpp/class/classsym_1_1EigenSparseSolver.html
index daf811d0..43e66d49 100644
--- a/api-cpp/class/classsym_1_1EigenSparseSolver.html
+++ b/api-cpp/class/classsym_1_1EigenSparseSolver.html
@@ -746,7 +746,7 @@ 
Class sym::EigenSparseSolver
 

 template<typename Scalar, typename EigenSolver>
class EigenSparseSolver#

-
A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

+
A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

 
Can be specialized with anything satisfying the SparseSolver concept.

 
For example, can be used like: 
using LinearSolver =
     sym::EigenSparseSolver<double, Eigen::CholmodDecomposition<Eigen::SparseMatrix<double>>>;
@@ -761,12 +761,12 @@ 
Class sym::EigenSparseSolverPublic Types

 

 

-using MatrixType = Eigen::SparseMatrix<Scalar>#

+using MatrixType = Eigen::SparseMatrix<Scalar>#

 

 
 

 

-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

 

 
 

@@ -774,7 +774,7 @@ 
Class sym::EigenSparseSolverPublic Functions

 

 

-inline bool Factorize(const MatrixType &A)#

+inline bool Factorize(const MatrixType &A)#

 
Factorize A and store internally. 

 

 
Parameters:

@@ -788,7 +788,7 @@ 
Class sym::EigenSparseSolver
 

-template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

 

 
Returns:

 
x for A x = b, where x and b are dense 

@@ -801,7 +801,7 @@ 
Class sym::EigenSparseSolver
 

-template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

 
Solves in place for x in A x = b, where x and b are dense

 
Eigen solvers cannot actually solve in place, so this solves, then copies back into the argument.

 

@@ -813,7 +813,7 @@ 
Class sym::EigenSparseSolver
 

-inline MatrixType L() const#

+inline MatrixType L() const#

 

 
Returns:

 
the lower triangular matrix L such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize and D is a diagonal matrix with positive diagonal entries, and P is a permutation matrix.

@@ -826,7 +826,7 @@ 
Class sym::EigenSparseSolver
 

-inline MatrixType D() const#

+inline MatrixType D() const#

 

 
Returns:

 
the diagonal matrix D such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize, L is lower triangular with unit diagonal, and P is a permutation matrix 

@@ -852,7 +852,7 @@ 
Class sym::EigenSparseSolver
 

-inline void AnalyzeSparsityPattern(const MatrixType &A)#

+inline void AnalyzeSparsityPattern(const MatrixType &A)#

 
Defined to satisfy interface. No analysis is needed so is a no-op. 

 

 
diff --git a/api-cpp/class/classsym_1_1Factor.html b/api-cpp/class/classsym_1_1Factor.html
index 8eb554d9..b873edd4 100644
--- a/api-cpp/class/classsym_1_1Factor.html
+++ b/api-cpp/class/classsym_1_1Factor.html
@@ -747,52 +747,52 @@ 
Class sym::Factor
 template<typename ScalarType>
class Factor#

 
A residual term for optimization.

-
Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation. 

+
Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation. 

 

 
Public Types

 

 

-using Scalar = ScalarType#

+using Scalar = ScalarType#

 

 
 

 

-using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type#

+using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type#

 

 
 

 

-using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type#

+using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type#

 

 
 

 

-template<typename JacobianMatrixType>
using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>#

+template<typename JacobianMatrixType>
using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>#

 

 
 

 

-using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>#

+using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>#

 

 
 

 

-using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>#

+using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>#

 

 
 

 

-template<typename MatrixType>
using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>#

+template<typename MatrixType>
using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>#

 

 
 

 

-using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>#

+using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>#

 

 
 

 

-using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>#

+using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>#

 

 
 

@@ -805,7 +805,7 @@ 
Class sym::Factor
 

-Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

 
Create directly from a (dense/sparse) hessian functor. This is the lowest-level constructor.

 

 
Parameters:

@@ -819,12 +819,12 @@ 
Class sym::Factor
 

-Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

 

 
 

 

-Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

 
Create from a function that computes the (dense/sparse) jacobian. The hessian will be computed using the Gauss Newton approximation: 
H   = J.T * J
 rhs = J.T * b
 

@@ -842,76 +842,76 @@ 
Class sym::Factor
 

-Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

 

 
 

 

-void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output just the numerical values of the residual.

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

 
 

 

-void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

-
This overload can only be called if IsSparse() is false; otherwise, it will throw

+
This overload can only be called if IsSparse() is false; otherwise, it will throw

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

 
 

 

-void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

-
This overload can only be called if IsSparse() is true; otherwise, it will throw

+
This overload can only be called if IsSparse() is true; otherwise, it will throw

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

 
 

 

-void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

-
This overload can only be called if IsSparse() is false; otherwise, it will throw

+
This overload can only be called if IsSparse() is false; otherwise, it will throw

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

 
 

 

-LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

-
This overload can only be called if IsSparse() is false; otherwise, it will throw

+
This overload can only be called if IsSparse() is false; otherwise, it will throw

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

 
 

 

-void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

+void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

 
Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

 
This overload can only be called if IsSparse is true; otherwise, it will throw

 

 
Parameters:

-
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

+
maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries. 

 

 

 

@@ -924,13 +924,13 @@ 
Class sym::Factor
 

-const std::vector<Key> &OptimizedKeys() const#

+const std::vector<Key> &OptimizedKeys() const#

 
Get the optimized keys for this factor 

 

 
 

 

-const std::vector<Key> &AllKeys() const#

+const std::vector<Key> &AllKeys() const#

 
Get all keys required to evaluate this factor 

 

 
@@ -939,14 +939,14 @@ 
Class sym::FactorPublic Static Functions

 

 

-template<typename Functor>
static Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+template<typename Functor>
static Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

 
Create from a function that computes the jacobian. The hessian will be computed using the Gauss Newton approximation: 
H   = J.T * J
 rhs = J.T * b
 

 

 

-
This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

-
If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

+
This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

+
If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

 
See symforce_factor_test.cc for many examples.

 

 
Parameters:

@@ -960,8 +960,8 @@ 
Class sym::Factor
 

-template<typename Functor>
static Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

-
Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

+template<typename Functor>
static Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

+
Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

 
This should be used in cases where computing J^T J using a matrix multiplication is slower than evaluating J^T J symbolically; for instance, if the jacobian is sparse or J^T J has structure so that CSE is very effective.

 
func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=FULL_LINEARIZATION (the default)

 
See symforce_factor_test.cc for many examples.

diff --git a/api-cpp/class/classsym_1_1GncOptimizer.html b/api-cpp/class/classsym_1_1GncOptimizer.html
index ce0a491c..236e0630 100644
--- a/api-cpp/class/classsym_1_1GncOptimizer.html
+++ b/api-cpp/class/classsym_1_1GncOptimizer.html
@@ -745,19 +745,19 @@
 
Class sym::GncOptimizer#

 

 

-template<typename BaseOptimizerType>
class GncOptimizer : public BaseOptimizerType#

-
Subclass of Optimizer for using Graduated Non-Convexity (GNC)

+template<typename BaseOptimizerType>
class GncOptimizer : public BaseOptimizerType#

+
Subclass of Optimizer for using Graduated Non-Convexity (GNC)

 
Assumes the convexity of the cost function is controlled by a hyperparameter mu. When mu == 0 the cost function should be convex and as mu goes to 1 the cost function should smoothly transition to a robust cost. 

 

 
Public Types

 

 

-using BaseOptimizer = BaseOptimizerType#

+using BaseOptimizer = BaseOptimizerType#

 

 
 

 

-using Scalar = typename BaseOptimizer::Scalar#

+using Scalar = typename BaseOptimizer::Scalar#

 

 
 

@@ -765,7 +765,7 @@ 
Class sym::GncOptimizerPublic Functions

 

 

-template<typename ...OptimizerArgs>
inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const Key &gnc_mu_key, OptimizerArgs&&... args)#

+template<typename ...OptimizerArgs>
inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const Key &gnc_mu_key, OptimizerArgs&&... args)#

 
Constructor that copies in factors and keys 

 

 
@@ -776,12 +776,12 @@ 
Class sym::GncOptimizer
 

-inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override#

+inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override#

 

 
 

 

-inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override#

+inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override#

 

 
 

diff --git a/api-cpp/class/classsym_1_1ImuFactor.html b/api-cpp/class/classsym_1_1ImuFactor.html
index e45f94d9..34e05f2f 100644
--- a/api-cpp/class/classsym_1_1ImuFactor.html
+++ b/api-cpp/class/classsym_1_1ImuFactor.html
@@ -752,7 +752,7 @@ 
Class sym::ImuFactorThe gravity argument should be [0, 0, -g] (where g is 9.8, assuming your world frame is gravity aligned so that the -z direction points towards the Earth) unless your IMU reads 0 acceleration while stationary, in which case it should be [0, 0, 0].

 
More generally, the gravity argument should yield the true acceleration when added to the accelerometer measurement (after the measurement has been converted to the world frame).

 
Is a functor so as to store the preintegrated IMU measurements between two times. The residual computed is the local-coordinate difference between the final state (pose and velocity) and the state you would expect given the initial state and the IMU measurements.

-
Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 
Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
+
Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 
Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
 “IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori
 Estimation”, Robotics: Science and Systems (RSS), 2015.
 

@@ -846,27 +846,27 @@ 
Class sym::ImuFactorPublic Types

 

 

-using Pose3 = sym::Pose3<Scalar>#

+using Pose3 = sym::Pose3<Scalar>#

 

 
 

 

-using Vector3 = sym::Vector3<Scalar>#

+using Vector3 = sym::Vector3<Scalar>#

 

 
 

 

-using Preintegrator = sym::ImuPreintegrator<Scalar>#

+using Preintegrator = sym::ImuPreintegrator<Scalar>#

 

 
 

 

-using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

+using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

 

 
 

 

-using SqrtInformation = sym::Matrix99<Scalar>#

+using SqrtInformation = sym::Matrix99<Scalar>#

 

 
 

@@ -874,26 +874,26 @@ 
Class sym::ImuFactorPublic Functions

 

 

-explicit ImuFactor(const Preintegrator &preintegrator)#

-
Construct an ImuFactor from a preintegrator. 

+explicit ImuFactor(const Preintegrator &preintegrator)#

+
Construct an ImuFactor from a preintegrator. 

 

 
 

 

-ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

-
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

+ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

+
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

 

 
 

 

-sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

-
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

+sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

+
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

 
Convenience method to avoid manually specifying which arguments are optimized. 

 

 
 

-

-void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr) const#

+

+void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *rhs = nullptr) const#

 
Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

 
Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

 

diff --git a/api-cpp/class/classsym_1_1ImuPreintegrator.html b/api-cpp/class/classsym_1_1ImuPreintegrator.html
index fa8af453..00ae405b 100644
--- a/api-cpp/class/classsym_1_1ImuPreintegrator.html
+++ b/api-cpp/class/classsym_1_1ImuPreintegrator.html
@@ -747,22 +747,22 @@ 
Class sym::ImuPreintegrator
 template<typename Scalar>
class ImuPreintegrator#

 
Class to on-manifold preintegrate IMU measurements for usage in a SymForce optimization problem.

-
For usage, see the doc-string of ImuFactor in imu_factor.h

+
For usage, see the doc-string of ImuFactor in imu_factor.h

 

 
Public Types

 

 

-using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3#

+using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3#

 

 
 

 

-using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33#

+using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33#

 

 
 

 

-using Matrix99 = Eigen::Matrix<Scalar, 9, 9>#

+using Matrix99 = Eigen::Matrix<Scalar, 9, 9>#

 

 
 

@@ -770,13 +770,13 @@ 
Class sym::ImuPreintegratorPublic Functions

 

 

-ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)#

+ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)#

 
Initialize with given accel_bias and gyro_bias 

 

 
 

-

-void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, const Scalar dt, const Scalar epsilon = kDefaultEpsilon<Scalar>)#

+

+void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, Scalar dt, Scalar epsilon = kDefaultEpsilon<Scalar>)#

 
Integrate a new measurement.

 

 Postcondition:

@@ -807,12 +807,12 @@ 
Class sym::ImuPreintegrator
 

-const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const#

+const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const#

 

 
 

 

-const Matrix99 &Covariance() const#

+const Matrix99 &Covariance() const#

 

 
 

diff --git a/api-cpp/class/classsym_1_1ImuWithGravityDirectionFactor.html b/api-cpp/class/classsym_1_1ImuWithGravityDirectionFactor.html
index 4f466a0a..a3b65dd6 100644
--- a/api-cpp/class/classsym_1_1ImuWithGravityDirectionFactor.html
+++ b/api-cpp/class/classsym_1_1ImuWithGravityDirectionFactor.html
@@ -747,32 +747,32 @@ 
Class sym::ImuWithGravityDirectionFactor
 template<typename Scalar>
class ImuWithGravityDirectionFactor#

 
A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector direction.

-
For full documentation, see ImuFactor. 

+
For full documentation, see ImuFactor. 

 

 
Public Types

 

 

-using Pose3 = sym::Pose3<Scalar>#

+using Pose3 = sym::Pose3<Scalar>#

 

 
 

 

-using Vector3 = sym::Vector3<Scalar>#

+using Vector3 = sym::Vector3<Scalar>#

 

 
 

 

-using Preintegrator = sym::ImuPreintegrator<Scalar>#

+using Preintegrator = sym::ImuPreintegrator<Scalar>#

 

 
 

 

-using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

+using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

 

 
 

 

-using SqrtInformation = sym::Matrix99<Scalar>#

+using SqrtInformation = sym::Matrix99<Scalar>#

 

 
 

@@ -780,26 +780,26 @@ 
Class sym::ImuWithGravityDirectionFactorPublic Functions

 

 

-explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)#

-
Construct an ImuFactor from a preintegrator. 

+explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)#

+
Construct an ImuFactor from a preintegrator. 

 

 
 

 

-ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

-
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

+ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

+
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

 

 
 

 

-sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

-
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

+sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

+
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

 
Convenience method to avoid manually specifying which arguments are optimized. 

 

 
 

-

-void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr) const#

+

+void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, Scalar gravity_norm, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *rhs = nullptr) const#

 
Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

 
Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

 

diff --git a/api-cpp/class/classsym_1_1ImuWithGravityFactor.html b/api-cpp/class/classsym_1_1ImuWithGravityFactor.html
index a99c5f61..39872984 100644
--- a/api-cpp/class/classsym_1_1ImuWithGravityFactor.html
+++ b/api-cpp/class/classsym_1_1ImuWithGravityFactor.html
@@ -747,32 +747,32 @@ 
Class sym::ImuWithGravityFactor
 template<typename Scalar>
class ImuWithGravityFactor#

 
A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector.

-
For full documentation, see ImuFactor. 

+
For full documentation, see ImuFactor. 

 

 
Public Types

 

 

-using Pose3 = sym::Pose3<Scalar>#

+using Pose3 = sym::Pose3<Scalar>#

 

 
 

 

-using Vector3 = sym::Vector3<Scalar>#

+using Vector3 = sym::Vector3<Scalar>#

 

 
 

 

-using Preintegrator = sym::ImuPreintegrator<Scalar>#

+using Preintegrator = sym::ImuPreintegrator<Scalar>#

 

 
 

 

-using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

+using Measurement = sym::PreintegratedImuMeasurements<Scalar>#

 

 
 

 

-using SqrtInformation = sym::Matrix99<Scalar>#

+using SqrtInformation = sym::Matrix99<Scalar>#

 

 
 

@@ -780,26 +780,26 @@ 
Class sym::ImuWithGravityFactorPublic Functions

 

 

-explicit ImuWithGravityFactor(const Preintegrator &preintegrator)#

-
Construct an ImuFactor from a preintegrator. 

+explicit ImuWithGravityFactor(const Preintegrator &preintegrator)#

+
Construct an ImuFactor from a preintegrator. 

 

 
 

 

-ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

-
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

+ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#

+
Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 

 

 
 

 

-sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

-
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

+sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#

+
Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

 
Convenience method to avoid manually specifying which arguments are optimized. 

 

 
 

-

-void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr) const#

+

+void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *rhs = nullptr) const#

 
Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

 
Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

 

diff --git a/api-cpp/class/classsym_1_1Interpolator.html b/api-cpp/class/classsym_1_1Interpolator.html
index d5ccaba3..cb3310e9 100644
--- a/api-cpp/class/classsym_1_1Interpolator.html
+++ b/api-cpp/class/classsym_1_1Interpolator.html
@@ -751,7 +751,7 @@ 
Class sym::InterpolatorPublic Types

 

 

-using Scalar = typename sym::StorageOps<T>::Scalar#

+using Scalar = typename sym::StorageOps<T>::Scalar#

 

 
 

@@ -759,12 +759,12 @@ 
Class sym::InterpolatorPublic Functions

 

 

-inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)#

+inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)#

 

 
 

 

-inline T operator()(const T &a, const T &b, const Scalar t)#

+inline T operator()(const T &a, const T &b, const Scalar t)#

 

 
 

diff --git a/api-cpp/class/classsym_1_1Key.html b/api-cpp/class/classsym_1_1Key.html
index 9b00bdbf..3b605716 100644
--- a/api-cpp/class/classsym_1_1Key.html
+++ b/api-cpp/class/classsym_1_1Key.html
@@ -746,9 +746,9 @@ 
Class sym::Key
 

 class Key#

-
Key type for Values

+
Key type for Values

 
Contains a letter plus an integral subscript and superscript. Can construct with a letter, a letter + sub, or a letter + sub + super, but not letter + super.

-
TODO(hayk): Consider an abstraction where Key contains a type enum. 

+
TODO(hayk): Consider an abstraction where Key contains a type enum. 

 

 
Public Types

 

@@ -758,12 +758,12 @@ 
Class sym::Key
 

-using subscript_t = std::int64_t#

+using subscript_t = std::int64_t#

 

 
 

 

-using superscript_t = std::int64_t#

+using superscript_t = std::int64_t#

 

 
 

@@ -775,8 +775,8 @@ 
Class sym::Key
-

-inline constexpr Key(letter_t letter, subscript_t sub = kInvalidSub, superscript_t super = kInvalidSuper)#

+

+inline constexpr Key(const letter_t letter, const subscript_t sub = kInvalidSub, const superscript_t super = kInvalidSuper)#

 

 
 

@@ -786,32 +786,32 @@ 
Class sym::Key
 

-inline constexpr letter_t Letter() const noexcept#

+inline constexpr letter_t Letter() const noexcept#

 

 
 

 

-inline constexpr subscript_t Sub() const noexcept#

+inline constexpr subscript_t Sub() const noexcept#

 

 
 

 

-inline constexpr superscript_t Super() const noexcept#

+inline constexpr superscript_t Super() const noexcept#

 

 
 

 

-inline constexpr Key WithLetter(const letter_t letter) const#

+inline constexpr Key WithLetter(const letter_t letter) const#

 

 
 

 

-inline constexpr Key WithSub(const subscript_t sub) const#

+inline constexpr Key WithSub(const subscript_t sub) const#

 

 
 

 

-inline constexpr Key WithSuper(const superscript_t super) const#

+inline constexpr Key WithSuper(const superscript_t super) const#

 

 
 

@@ -821,12 +821,12 @@ 
Class sym::Key
 

-inline constexpr bool operator==(const Key &other) const noexcept#

+inline constexpr bool operator==(const Key &other) const noexcept#

 

 
 

 

-inline constexpr bool operator!=(const Key &other) const noexcept#

+inline constexpr bool operator!=(const Key &other) const noexcept#

 

 
 

@@ -834,7 +834,7 @@ 
Class sym::KeyPublic Static Functions

 

 

-static bool LexicalLessThan(const Key &a, const Key &b)#

+static bool LexicalLessThan(const Key &a, const Key &b)#

 
Return true if a is LESS than b, in dictionary order of the tuple (letter, sub, super). 

 

 
@@ -843,17 +843,17 @@ 
Class sym::KeyPublic Static Attributes

 

 

-static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)#

+static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)#

 

 
 

 

-static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()#

+static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()#

 

 
 

 

-static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()#

+static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()#

 

 
 

@@ -865,7 +865,7 @@ 
Class sym::KeyPublic Functions

 

 

-inline bool operator()(const Key &a, const Key &b) const#

+inline bool operator()(const Key &a, const Key &b) const#

 

 
 

diff --git a/api-cpp/class/classsym_1_1LevenbergMarquardtSolver.html b/api-cpp/class/classsym_1_1LevenbergMarquardtSolver.html
index 5287ad12..27afd800 100644
--- a/api-cpp/class/classsym_1_1LevenbergMarquardtSolver.html
+++ b/api-cpp/class/classsym_1_1LevenbergMarquardtSolver.html
@@ -745,9 +745,9 @@
 
Class sym::LevenbergMarquardtSolver#

 

 

-template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
class LevenbergMarquardtSolver#

+template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
class LevenbergMarquardtSolver#

 
Fast Levenberg-Marquardt solver for nonlinear least squares problems specified by a linearization function. Supports on-manifold optimization and sparse solving, and attempts to minimize allocations after the first iteration.

-
This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

+
This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

 
TODO(aaron): Analyze what repeated allocations we do have, and get rid of them if possible

 
Not thread safe! Create one per thread.

 
Example usage: 
constexpr const int M = 9;
@@ -841,27 +841,27 @@ 
Class sym::LevenbergMarquardtSolverPublic Types

 

 

-using Scalar = ScalarType#

+using Scalar = ScalarType#

 

 
 

 

-using LinearSolver = LinearSolverType#

+using LinearSolver = LinearSolverType#

 

 
 

 

-using MatrixType = typename LinearSolverType::MatrixType#

+using MatrixType = typename LinearSolverType::MatrixType#

 

 
 

 

-using StateType = internal::LevenbergMarquardtState<MatrixType>#

+using StateType = internal::LevenbergMarquardtState<MatrixType>#

 

 
 

 

-using LinearizationType = Linearization<MatrixType>#

+using LinearizationType = Linearization<MatrixType>#

 

 
 

@@ -871,7 +871,7 @@ 
Class sym::LevenbergMarquardtSolver
 

-using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>#

+using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>#

 

 
 

@@ -879,12 +879,12 @@ 
Class sym::LevenbergMarquardtSolverPublic Functions

 

 

-inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)#

+inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)#

 

 
 

 

-inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)#

+inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)#

 

 
 

@@ -894,12 +894,12 @@ 
Class sym::LevenbergMarquardtSolver
 

-inline void Reset(const Values<Scalar> &values)#

+inline void Reset(const Values<Scalar> &values)#

 

 
 

 

-inline void ResetState(const Values<Scalar> &values)#

+inline void ResetState(const Values<Scalar> &values)#

 

 
 

@@ -913,23 +913,23 @@ 
Class sym::LevenbergMarquardtSolver
-

-optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, const bool debug_stats = false, const bool include_jacobians = false)#

+

+optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, bool debug_stats = false, bool include_jacobians = false)#

 

 
 

 

-inline const Values<Scalar> &GetBestValues() const#

+inline const Values<Scalar> &GetBestValues() const#

 

 
 

 

-inline const LinearizationType &GetBestLinearization() const#

+inline const LinearizationType &GetBestLinearization() const#

 

 
 

 

-void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)#

+void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)#

 

 
 

diff --git a/api-cpp/class/classsym_1_1Linearizer.html b/api-cpp/class/classsym_1_1Linearizer.html
index 869ed126..048da9c1 100644
--- a/api-cpp/class/classsym_1_1Linearizer.html
+++ b/api-cpp/class/classsym_1_1Linearizer.html
@@ -746,29 +746,29 @@ 
Class sym::Linearizer
 

 template<typename ScalarType>
class Linearizer#

-
Class for evaluating multiple Factors at the linearization point given by a Values.

+
Class for evaluating multiple Factors at the linearization point given by a Values.

 
Stores the original Factors as well as the LinearizedFactors, and provides tools for aggregating keys and building a large jacobian / hessian for optimization.

-
For efficiency, prefer calling Relinearize() instead of re-constructing this object! 

+
For efficiency, prefer calling Relinearize() instead of re-constructing this object! 

 

 
Public Types

 

 

-using Scalar = ScalarType#

+using Scalar = ScalarType#

 

 
 

 

-using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#

+using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#

 

 
 

 

-using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor#

+using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor#

 

 
 

 

-using LinearizationType = SparseLinearization<Scalar>#

+using LinearizationType = SparseLinearization<Scalar>#

 

 
 

@@ -776,8 +776,8 @@ 
Class sym::LinearizerPublic Functions

 

 

-Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#

-
Construct a Linearizer from factors and optional keys

+Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#

+
Construct a Linearizer from factors and optional keys

 

 
Parameters:

 

 
 

 

-const std::vector<Key> &Keys() const#

+const std::vector<Key> &Keys() const#

 

 
 

 

-const std::unordered_map<key_t, index_entry_t> &StateIndex() const#

+const std::unordered_map<key_t, index_entry_t> &StateIndex() const#

 

 
 

diff --git a/api-cpp/class/classsym_1_1Optimizer.html b/api-cpp/class/classsym_1_1Optimizer.html
index aa2fe6e4..e2367cb4 100644
--- a/api-cpp/class/classsym_1_1Optimizer.html
+++ b/api-cpp/class/classsym_1_1Optimizer.html
@@ -745,8 +745,8 @@
 
Class sym::Optimizer#

 

 

-template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
class Optimizer#

-
Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

+template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
class Optimizer#

+
Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

 
Not thread safe! Create one per thread.

 
Example usage: 
// Create a Values
 sym::Key key0{'R', 0};
@@ -798,67 +798,67 @@ 
Class sym::OptimizerPublic Types

 

 

-using Scalar = ScalarType#

+using Scalar = ScalarType#

 

 
 

 

-using NonlinearSolver = NonlinearSolverType#

+using NonlinearSolver = NonlinearSolverType#

 

 
 

 

-using FailureReason = typename NonlinearSolver::FailureReason#

+using FailureReason = typename NonlinearSolver::FailureReason#

 

 
 

 

-using MatrixType = typename NonlinearSolver::MatrixType#

+using MatrixType = typename NonlinearSolver::MatrixType#

 

 
 

 

-using Stats = OptimizationStats<MatrixType>#

+using Stats = OptimizationStats<MatrixType>#

 

 
 

 

-using LinearizerType = internal::LinearizerSelector_t<MatrixType>#

+using LinearizerType = internal::LinearizerSelector_t<MatrixType>#

 

 
 

 

 
Public Functions

 

-

-Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)#

+

+Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)#

 
Base constructor 

 

 
 

-

-template<typename ...NonlinearSolverArgs>
Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)#

+

+template<typename ...NonlinearSolverArgs>
Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)#

 
Constructor that copies in factors and keys, with arguments for the nonlinear solver 

 

 
 

 

-Optimizer(Optimizer&&) = delete#

+Optimizer(Optimizer&&) = delete#

 

 
 

 

-Optimizer &operator=(Optimizer&&) = delete#

+Optimizer &operator=(Optimizer&&) = delete#

 

 
 

 

-Optimizer(const Optimizer&) = delete#

+Optimizer(const Optimizer&) = delete#

 

 
 

 

-Optimizer &operator=(const Optimizer&) = delete#

+Optimizer &operator=(const Optimizer&) = delete#

 

 
 

@@ -868,7 +868,7 @@ 
Class sym::Optimizer
 

-Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)#

+Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)#

 
Optimize the given values in-place

 

 
Parameters:

@@ -885,12 +885,12 @@ 
Class sym::Optimizer
 

-Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)#

+Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)#

 

 
 

 

-virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#

+virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#

 
Optimize the given values in-place

 
This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

 

@@ -898,7 +898,7 @@ 
Class sym::Optimizer
 

 

@@ -906,19 +906,19 @@ 
Class sym::Optimizer
 

-virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)#

+virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)#

 

 
 

 

-void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)#

+void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)#

 
Optimize the given values in-place

 
This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

 

 
Parameters:

 
    
 
  • num_iterations – If < 0 (the default), uses the number of iterations specified by the params at construction 
    • 
-
  • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize()) 
    • 
+
  • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize()) 
    • 
 

 

 

@@ -926,48 +926,48 @@ 
Class sym::Optimizer
 

-void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)#

+void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)#

 

 
 

 

-void Optimize(Values<Scalar> &values, Stats &stats)#

+void Optimize(Values<Scalar> &values, Stats &stats)#

 
Optimize the given values in-place

 
This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

 

 
Parameters:

-
stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize()) 

+
stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize()) 

 

 

 

 
 

 

-void Optimize(Values<Scalar> *values, Stats *stats)#

+void Optimize(Values<Scalar> *values, Stats *stats)#

 

 
 

 

-Linearization<MatrixType> Linearize(const Values<Scalar> &values)#

+Linearization<MatrixType> Linearize(const Values<Scalar> &values)#

 
Linearize the problem around the given values 

 

 
 

 

-void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

+void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

 
Get covariances for each optimized key at the given linearization

-
Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

-
May not be called before either Optimize() or Linearize() has been called. 

+
Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

+
May not be called before either Optimize() or Linearize() has been called. 

 

 
 

 

-void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#

+void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#

 

 
 

 

-void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

+void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

 
Get covariances for the given subset of keys at the given linearization

 
This version is potentially much more efficient than computing the covariances for all keys in the problem.

 
Currently requires that keys corresponds to a set of keys at the start of the list of keys for the full problem, and in the same order. It uses the Schur complement trick, so will be most efficient if the hessian is of the following form, with C block diagonal: 
A = ( B    E )
@@ -980,16 +980,16 @@ 
Class sym::Optimizer
 

-void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#

+void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#

 

 
 

 

-void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)#

+void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)#

 
Get the full problem covariance at the given linearization

 
Unlike ComputeCovariance and ComputeAllCovariances, this includes the off-diagonal blocks, i.e. the cross-covariances between different keys.

 
The ordering of entries here is the same as the ordering of the keys in the linearization, which can be accessed via optimizer.Linearizer().StateIndex().

-
May not be called before either Optimize() or Linearize() has been called.

+
May not be called before either Optimize() or Linearize() has been called.

 

 
Parameters:

 
covariance – A matrix that will be filled out with the full problem covariance. 

@@ -999,25 +999,25 @@ 
Class sym::Optimizer
 

-const std::vector<Key> &Keys() const#

+const std::vector<Key> &Keys() const#

 
Get the optimized keys 

 

 
 

 

-const std::vector<Factor<Scalar>> &Factors() const#

+const std::vector<Factor<Scalar>> &Factors() const#

 
Get the factors 

 

 
 

 

-const LinearizerType &Linearizer() const#

-
Get the Linearizer object 

+const LinearizerType &Linearizer() const#

+
Get the Linearizer object 

 

 
 

 

-LinearizerType &Linearizer()#

+LinearizerType &Linearizer()#

 

 
 

diff --git a/api-cpp/class/classsym_1_1SparseCholeskySolver.html b/api-cpp/class/classsym_1_1SparseCholeskySolver.html
index 1b2d4e0a..638cff87 100644
--- a/api-cpp/class/classsym_1_1SparseCholeskySolver.html
+++ b/api-cpp/class/classsym_1_1SparseCholeskySolver.html
@@ -763,42 +763,42 @@ 
Class sym::SparseCholeskySolver
 

-using MatrixType = _MatrixType#

+using MatrixType = _MatrixType#

 

 
 

 

-using Scalar = typename MatrixType::Scalar#

+using Scalar = typename MatrixType::Scalar#

 

 
 

 

-using StorageIndex = typename MatrixType::StorageIndex#

+using StorageIndex = typename MatrixType::StorageIndex#

 

 
 

 

-using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>#

+using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>#

 

 
 

 

-using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

+using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

 

 
 

 

-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

 

 
 

 

-using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>#

+using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>#

 

 
 

 

-using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>#

+using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>#

 

 
 

@@ -806,7 +806,7 @@ 
Class sym::SparseCholeskySolverPublic Functions

 

 

-inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

+inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

 
Default constructor

 

 
Parameters:

@@ -817,7 +817,7 @@ 
Class sym::SparseCholeskySolver
 

-inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

+inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

 
Construct with a representative sparse matrix

 

 
Parameters:

@@ -842,57 +842,57 @@ 
Class sym::SparseCholeskySolver
 

-void ComputePermutationMatrix(const MatrixType &A)#

+void ComputePermutationMatrix(const MatrixType &A)#

 
Compute an efficient permutation matrix (ordering) for A and store internally. 

 

 
 

 

-void ComputeSymbolicSparsity(const MatrixType &A)#

+void ComputeSymbolicSparsity(const MatrixType &A)#

 
Compute symbolic sparsity pattern for A and store internally. 

 

 
 

 

-bool Factorize(const MatrixType &A)#

+bool Factorize(const MatrixType &A)#

 
Decompose A into A = L * D * L^T and store internally. A must have the same sparsity as the matrix used for construction. Returns true if factorization was successful, and false otherwise. NOTE(brad): Currently always returns true. 

 

 
 

 

-template<typename Rhs>
RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

 
Returns x for A x = b, where x and b are dense. 

 

 
 

 

-template<typename Rhs>
void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

+template<typename Rhs>
void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

 
Solves in place for x in A x = b, where x and b are dense. 

 

 
 

 

-inline const CholMatrixType &L() const#

+inline const CholMatrixType &L() const#

 

 
 

 

-inline const VectorType &D() const#

+inline const VectorType &D() const#

 

 
 

 

-inline const PermutationMatrixType &Permutation() const#

+inline const PermutationMatrixType &Permutation() const#

 

 
 

 

-inline const PermutationMatrixType &InversePermutation() const#

+inline const PermutationMatrixType &InversePermutation() const#

 

 
 

 

-inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)#

+inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)#

 

 
 

diff --git a/api-cpp/class/classsym_1_1SparseSchurSolver.html b/api-cpp/class/classsym_1_1SparseSchurSolver.html
index 6017e536..e418c660 100644
--- a/api-cpp/class/classsym_1_1SparseSchurSolver.html
+++ b/api-cpp/class/classsym_1_1SparseSchurSolver.html
@@ -784,27 +784,27 @@ 
Class sym::SparseSchurSolverPublic Types

 

 

-using MatrixType = _MatrixType#

+using MatrixType = _MatrixType#

 

 
 

 

-using Scalar = typename MatrixType::Scalar#

+using Scalar = typename MatrixType::Scalar#

 

 
 

 

-using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>#

+using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>#

 

 
 

 

-using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

+using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#

 

 
 

 

-using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

+using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#

 

 
 

@@ -812,7 +812,7 @@ 
Class sym::SparseSchurSolverPublic Functions

 

 

-inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())#

+inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())#

 

 
 

@@ -821,23 +821,23 @@ 
Class sym::SparseSchurSolver
-

-void ComputeSymbolicSparsity(const MatrixType &A, const int C_dim)#

+

+void ComputeSymbolicSparsity(const MatrixType &A, int C_dim)#

 

 
 

 

-void Factorize(const MatrixType &A)#

+void Factorize(const MatrixType &A)#

 

 
 

 

-template<typename RhsType>
Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const#

+template<typename RhsType>
Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const#

 

 
 

 

-void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const#

+void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const#

 

 
 

diff --git a/api-cpp/class/classsym_1_1Values.html b/api-cpp/class/classsym_1_1Values.html
index 41c684b0..fd69521f 100644
--- a/api-cpp/class/classsym_1_1Values.html
+++ b/api-cpp/class/classsym_1_1Values.html
@@ -752,17 +752,17 @@ 
Class sym::ValuesPublic Types

 

 

-using MapType = std::unordered_map<Key, index_entry_t>#

+using MapType = std::unordered_map<Key, index_entry_t>#

 

 
 

 

-using ArrayType = std::vector<Scalar>#

+using ArrayType = std::vector<Scalar>#

 

 
 

 

-using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type#

+using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type#

 
Expose the correct LCM type (values_t or valuesf_t) 

 

 
@@ -777,54 +777,54 @@ 
Class sym::Values
 

-explicit Values(std::initializer_list<Values<Scalar>> others)#

-
Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list

-
NOTE(alvin): others Values should not contain overlapping Keys 

+explicit Values(std::initializer_list<Values<Scalar>> others)#

+
Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list

+
NOTE(alvin): others Values should not contain overlapping Keys 

 

 
 

 

-explicit Values(const LcmType &msg)#

+explicit Values(const LcmType &msg)#

 
Construct from serialized form. 

 

 
 

 

-bool Has(const Key &key) const#

+bool Has(const Key &key) const#

 
Return whether the key exists. 

 

 
 

 

-template<typename T>
T At(const Key &key) const#

+template<typename T>
T At(const Key &key) const#

 
Retrieve a value by key. 

 

 
 

 

-template<typename T>
std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)#

+template<typename T>
std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)#

 
Add or update a value by key. Returns true if added, false if updated.

 
Overload for non-Eigen types 

 

 
 

 

-template<typename Derived>
std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)#

+template<typename Derived>
std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)#

 
Add or update a value by key. Returns true if added, false if updated.

 
Overload for Eigen types 

 

 
 

 

-template<typename T>
void SetNew(const Key &key, T &&value)#

+template<typename T>
void SetNew(const Key &key, T &&value)#

 
Add a value by key, throws runtime_error if the key already exists.

 
This is useful when setting up initial values for a problem. 

 

 
 

 

-void UpdateOrSet(const index_t &index, const Values<Scalar> &other)#

-
Update or add keys to this Values base on other Values of different structure.

+void UpdateOrSet(const index_t &index, const Values<Scalar> &other)#

+
Update or add keys to this Values base on other Values of different structure.

 
index MUST be valid for other.

 
NOTE(alvin): it is less efficient than the Update methods below if index objects are created and cached. This method performs map lookup for each key of the index 

 

@@ -842,8 +842,8 @@ 
Class sym::Values
-

-std::vector<Key> Keys(const bool sort_by_offset = true) const#

+

+std::vector<Key> Keys(bool sort_by_offset = true) const#

 
Get all keys.

 

 NOTE(hayk): If we changed key storage to a sorted vector this could automatically be maintained and it would be more embedded friendly, but At(key) would become O(N) for linear search. 

@@ -856,28 +856,28 @@ 
Class sym::Values
 

-const MapType &Items() const#

+const MapType &Items() const#

 
Expose map type to allow iteration. 

 

 
 

 

-const ArrayType &Data() const#

+const ArrayType &Data() const#

 
Raw data buffer. 

 

 
 

 

-template<typename NewScalar>
Values<NewScalar> Cast() const#

+template<typename NewScalar>
Values<NewScalar> Cast() const#

 
Cast to another Scalar type (returns a copy) 

 

 
 

 

-bool Remove(const Key &key)#

+bool Remove(const Key &key)#

 
Remove the given key.

 
Only removes the index entry, does not change the data array. Returns true if removed, false if already not present.

-
Call Cleanup() to re-pack the data array. 

+
Call Cleanup() to re-pack the data array. 

 

 
 

@@ -891,71 +891,71 @@ 
Class sym::Valuessize_t Cleanup()#

 
Repack the data array to get rid of empty space from removed keys.

 
If regularly removing keys, it’s up to the user to call this appropriately to avoid storage growth. Returns the number of Scalar elements cleaned up from the data array.

-
It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex(). 

+
It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex(). 

 

 
 

 

-index_t CreateIndex(const std::vector<Key> &keys) const#

+index_t CreateIndex(const std::vector<Key> &keys) const#

 
Create an index from the given ordered subset of keys. This object can then be used for repeated efficient operations on that subset of keys.

 
If you want an index of all the keys, call values.CreateIndex(values.Keys()).

 
An index will be INVALIDATED if the following happens:

-
1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

+
1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

 
NOTE(hayk): We could also add a simple UpdateIndex(&index) method, since the offset is the only thing that needs to get updated after repacking. 

 

 
 

 

-index_entry_t IndexEntryAt(const Key &key) const#

+index_entry_t IndexEntryAt(const Key &key) const#

 
Retrieve an index entry by key. This performs a map lookup.

 
An index entry will be INVALIDATED if the following happens:

-
1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array 

+
1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array 

 

 
 

 

-optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const#

+optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const#

 
Retrieve an index entry by key, or the empty optional if the key is not present. This performs a map lookup.

 
An index entry will be INVALIDATED if the following happens:

-
1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array 

+
1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array 

 

 
 

 

-template<typename T>
T At(const index_entry_t &entry) const#

+template<typename T>
T At(const index_entry_t &entry) const#

 
Retrieve a value by index entry. This avoids a map lookup compared to At(key). 

 

 
 

 

-template<typename T>
std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)#

+template<typename T>
std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)#

 
Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

 
Overload for non-Eigen types 

 

 
 

 

-template<typename Derived>
std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)#

+template<typename Derived>
std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)#

 
Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

 
Overload for Eigen types 

 

 
 

 

-void Update(const index_t &index, const Values<Scalar> &other)#

+void Update(const index_t &index, const Values<Scalar> &other)#

 
Efficiently update the keys given by this index from other into this. This purely copies slices of the data arrays, the index MUST be valid for both objects! 

 

 
 

 

-void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)#

-
Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

+void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)#

+
Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

 
index_this MUST be valid for this object; index_other MUST be valid for other object. 

 

 
 

-

-void Retract(const index_t &index, const Scalar *delta, const Scalar epsilon)#

+

+void Retract(const index_t &index, const Scalar *delta, Scalar epsilon)#

 
Perform a retraction from an update vector.

 

 
Parameters:

@@ -969,14 +969,14 @@ 
Class sym::Values
-

-VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, const Scalar epsilon)#

-
Express this Values in the local coordinate of others Values, i.e., this \ominus others

+

+VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, Scalar epsilon)#

+
Express this Values in the local coordinate of others Values, i.e., this \ominus others

 

 
Parameters:

 
    
-
  • others – The other Values that the local coordinate is relative to 
    • 
-
  • index – Ordered list of keys to include (MUST be valid for both this and others Values) 
    • 
+
  • others – The other Values that the local coordinate is relative to 
    • 
+
  • index – Ordered list of keys to include (MUST be valid for both this and others Values) 
    • 
 
  • epsilon – Small constant to avoid singularities (do not use zero) 
    • 
 

 

@@ -985,18 +985,18 @@ 
Class sym::Values
 

-void FillLcmType(LcmType &msg, bool sort_keys = false) const#

+void FillLcmType(LcmType &msg, bool sort_keys = false) const#

 
Serialize to LCM. 

 

 
 

 

-void FillLcmType(LcmType *msg, bool sort_keys = false) const#

+void FillLcmType(LcmType *msg, bool sort_keys = false) const#

 

 
 

 

-LcmType GetLcmType(bool sort_keys = false) const#

+LcmType GetLcmType(bool sort_keys = false) const#

 

 
 

diff --git a/api-cpp/file/assert_8h.html b/api-cpp/file/assert_8h.html
index 6d1ea45c..ca8a0310 100644
--- a/api-cpp/file/assert_8h.html
+++ b/api-cpp/file/assert_8h.html
@@ -763,13 +763,13 @@ 
File assert.hFunctions

 

 

-inline std::string FormatFailure(const char *error, const char *func, const char *file, int line)#

+inline std::string FormatFailure(const char *error, const char *func, const char *file, int line)#

 
Format an assertion failure. 

 

 
 

 

-template<typename ...T>
inline std::string FormatFailure(const char *error, const char *func, const char *file, int line, const char *fmt, T&&... args)#

+template<typename ...T>
inline std::string FormatFailure(const char *error, const char *func, const char *file, int line, const char *fmt, T&&... args)#

 
Format an assertion failure with a custom message, and optional additional things to format into the message. 

 

 
diff --git a/api-cpp/file/dense__cholesky__solver_8h.html b/api-cpp/file/dense__cholesky__solver_8h.html
index 3e841af1..da218e89 100644
--- a/api-cpp/file/dense__cholesky__solver_8h.html
+++ b/api-cpp/file/dense__cholesky__solver_8h.html
@@ -751,17 +751,17 @@ 
File dense_cholesky_solver.htemplate<typename Scalar>
class DenseCholeskySolver

 

 #include <dense_cholesky_solver.h>

-
A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 

+
A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 

 

 
Public Types

 

 

-using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

+using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

 

 
 

 

-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

 

 
 

@@ -769,7 +769,7 @@ 
File dense_cholesky_solver.hPublic Functions

 

 

-inline bool Factorize(const MatrixType &A)

+inline bool Factorize(const MatrixType &A)

 
Decompose A into A = P^T * L * D * L^T * P and store internally. 

 

 
Pre:

@@ -783,7 +783,7 @@ 
File dense_cholesky_solver.h
 

-template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const

+template<typename Rhs>
inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const

 

 
Returns:

 
x for A x = b, where x and b are dense 

@@ -796,7 +796,7 @@ 
File dense_cholesky_solver.h
 

-template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const

+template<typename Rhs>
inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const

 
Solves in place for x in A x = b, where x and b are dense 

 

 
Pre:

@@ -846,7 +846,7 @@ 
File dense_cholesky_solver.h
 

-template<typename Derived>
inline void AnalyzeSparsityPattern(const Eigen::EigenBase<Derived>&)

+template<typename Derived>
inline void AnalyzeSparsityPattern(const Eigen::EigenBase<Derived>&)

 
Defined to satisfy interface. No analysis is needed so is a no-op. 

 

 
@@ -855,7 +855,7 @@ 
File dense_cholesky_solver.hPrivate Members

 

 

-Eigen::LDLT<MatrixType> ldlt_#

+Eigen::LDLT<MatrixType> ldlt_#
diff --git a/api-cpp/file/dense__linearizer_8h.html b/api-cpp/file/dense__linearizer_8h.html index 18b6508c..3ebb4724 100644 --- a/api-cpp/file/dense__linearizer_8h.html +++ b/api-cpp/file/dense__linearizer_8h.html @@ -753,12 +753,12 @@

File dense_linearizer.hPublic Types

-using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor
+using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor
-using LinearizationType = DenseLinearization<Scalar>
+using LinearizationType = DenseLinearization<Scalar>
@@ -766,8 +766,8 @@

File dense_linearizer.hPublic Functions

-DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)
-

Construct a Linearizer from factors and optional keys

+DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)
+

Construct a Linearizer from factors and optional keys

Parameters:
    @@ -783,26 +783,26 @@

    File dense_linearizer.h
    bool IsInitialized() const
    -

    Returns whether Relinearize() has already been called once.

    -

    Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size.

    +

    Returns whether Relinearize() has already been called once.

    +

    Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size.

-const std::vector<Key> &Keys() const
+const std::vector<Key> &Keys() const

The keys to optimize, in the order they appear in the state vector (i.e., in rhs).

-const std::unordered_map<key_t, index_entry_t> &StateIndex() const
+const std::unordered_map<key_t, index_entry_t> &StateIndex() const

A map from all optimized keys in the problem to an index entry for the corresponding optimized values (where the offset is into the problem state vector, i.e., the rhs of a linearization).

-

Only read if IsInitialized() returns true (i.e., after the first call to Relinearize).

+

Only read if IsInitialized() returns true (i.e., after the first call to Relinearize).

-void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)
+void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)

Update linearization at a new evaluation point. This is more efficient than reconstructing this object repeatedly. On the first call, it will allocate memory and perform analysis needed for efficient repeated relinearization.

On the first call to Relinearize, the matrices in linearization will be allocated and sized correctly. On subsequent calls, the matrices of linearization are expected to already be allocated and sized correctly.

TODO(aaron): This should be const except that it can initialize the object

@@ -813,7 +813,7 @@

File dense_linearizer.hPrivate Functions

-void InitialLinearization(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#
+void InitialLinearization(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#

Evaluates the linearizations of the factors at values into linearization, caching all values needed for relinearization along the way.

Specifically:

  • Calculates state_index_

    • @@ -831,27 +831,27 @@

    File dense_linearizer.hPrivate Members

    -std::string name_#
    +std::string name_#
    -const std::vector<Factor<Scalar>> *factors_#
    +const std::vector<Factor<Scalar>> *factors_#
    -std::vector<Key> keys_#
    +std::vector<Key> keys_#
    -std::unordered_map<key_t, index_entry_t> state_index_#
    +std::unordered_map<key_t, index_entry_t> state_index_#
    -internal::LinearizedDenseFactorPool<Scalar> linearized_dense_factors_#
    +internal::LinearizedDenseFactorPool<Scalar> linearized_dense_factors_#
    @@ -866,12 +866,12 @@

    File dense_linearizer.h
    -std::vector<std::vector<index_entry_t>> factor_indices_#
    +std::vector<std::vector<index_entry_t>> factor_indices_#

    -std::vector<std::vector<linearization_offsets_t>> factor_keyoffsets_#
    +std::vector<std::vector<linearization_offsets_t>> factor_keyoffsets_#
    diff --git a/api-cpp/file/dump__graph_8h.html b/api-cpp/file/dump__graph_8h.html index 8745eea0..5d59f981 100644 --- a/api-cpp/file/dump__graph_8h.html +++ b/api-cpp/file/dump__graph_8h.html @@ -750,9 +750,9 @@

    File dump_graph.hFunctions

    -template<typename Scalar>
    void DumpGraph(const     std::string &name, const std::vector<Key> &keys, const std::vector<Factor<Scalar>> &factors, std::ostream &out)#
    +template<typename Scalar>
    void DumpGraph(const std::string &name, const std::vector<Key> &keys, const std::vector<Factor<Scalar>> &factors, std::ostream &out)#

    Write the factor graph in .dot format to the given stream

    -

    The factor graph is represented as keys and factors. For example, these can be obtained from an Optimizer as optimizer.Keys() and optimizer.Factors().

    +

    The factor graph is represented as keys and factors. For example, these can be obtained from an Optimizer as optimizer.Keys() and optimizer.Factors().

    Parameters:
      diff --git a/api-cpp/file/eigen__sparse__solver_8h.html b/api-cpp/file/eigen__sparse__solver_8h.html index d5c68c08..2d010b3c 100644 --- a/api-cpp/file/eigen__sparse__solver_8h.html +++ b/api-cpp/file/eigen__sparse__solver_8h.html @@ -751,7 +751,7 @@

      File eigen_sparse_solver.htemplate<typename Scalar, typename EigenSolver>
      class EigenSparseSolver
      #include <eigen_sparse_solver.h>
      -

      A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

      +

      A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

      Can be specialized with anything satisfying the SparseSolver concept.

      For example, can be used like: 

      using LinearSolver =
     sym::EigenSparseSolver<double, Eigen::CholmodDecomposition<Eigen::SparseMatrix<double>>>;
@@ -766,12 +766,12 @@ 
      File eigen_sparse_solver.hPublic Types
      
 
      
 
      
-using MatrixType = Eigen::SparseMatrix<Scalar>
      
+using MatrixType = Eigen::SparseMatrix<Scalar>
      
 
      
 
 
      
 
      
-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
      
+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
      @@ -779,7 +779,7 @@

      File eigen_sparse_solver.hPublic Functions

      -inline bool Factorize(const MatrixType &A)
      +inline bool Factorize(const MatrixType &A)

      Factorize A and store internally.

      Parameters:
      @@ -793,7 +793,7 @@

      File eigen_sparse_solver.h
      -template<typename Rhs>
      inline       RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const
      +template<typename Rhs>
      inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const
      Returns:

      x for A x = b, where x and b are dense

      @@ -806,7 +806,7 @@

      File eigen_sparse_solver.h
      -template<typename Rhs>
      inline void SolveInPlace(Eigen::MatrixBase<      Rhs> &b) const
      +template<typename Rhs>
      inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const

      Solves in place for x in A x = b, where x and b are dense

      Eigen solvers cannot actually solve in place, so this solves, then copies back into the argument.

      @@ -818,7 +818,7 @@

      File eigen_sparse_solver.h
      -inline MatrixType L() const
      +inline MatrixType L() const
      Returns:

      the lower triangular matrix L such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize and D is a diagonal matrix with positive diagonal entries, and P is a permutation matrix.

      @@ -831,7 +831,7 @@

      File eigen_sparse_solver.h
      -inline MatrixType D() const
      +inline MatrixType D() const
      Returns:

      the diagonal matrix D such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize, L is lower triangular with unit diagonal, and P is a permutation matrix

      @@ -857,7 +857,7 @@

      File eigen_sparse_solver.h
      -inline void AnalyzeSparsityPattern(const MatrixType &A)
      +inline void AnalyzeSparsityPattern(const MatrixType &A)

      Defined to satisfy interface. No analysis is needed so is a no-op.

      @@ -866,7 +866,7 @@

      File eigen_sparse_solver.hPrivate Members

      -EigenSolver solver_#
      +EigenSolver solver_#

      diff --git a/api-cpp/file/factor_8h.html b/api-cpp/file/factor_8h.html index e9217c33..e51ff9cc 100644 --- a/api-cpp/file/factor_8h.html +++ b/api-cpp/file/factor_8h.html @@ -750,12 +750,12 @@

      File factor.hTypedefs

      -using Factord = Factor<double>#
      +using Factord = Factor<double>#
      -using Factorf = Factor<float>#
      +using Factorf = Factor<float>#
      @@ -763,38 +763,38 @@

      File factor.hFunctions

      -template<typename Scalar>
      std::ostream &operator<<(std::ostream &os, const sym::Factor<Scalar> &factor)#
      +template<typename Scalar>
      std::ostream &operator<<(std::ostream &os, const sym::Factor<Scalar> &factor)#
      -std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factor_t &factor)#
      +std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factor_t &factor)#
      -std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factorf_t &factor)#
      +std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factorf_t &factor)#
      -std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factor_t &factor)#
      +std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factor_t &factor)#
      -std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factorf_t &factor)#
      +std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factorf_t &factor)#
      -template<typename Scalar, typename Compare>
      std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors, Compare key_compare)#
      +template<typename Scalar, typename Compare>
      std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors, Compare key_compare)#

      Compute the combined set of keys to optimize from the given factors. Order using the given comparison function.

      -template<typename Scalar>
      std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors)#
      +template<typename Scalar>
      std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors)#
      @@ -804,52 +804,52 @@

      File factor.h #include <factor.h>

      A residual term for optimization.

      -

      Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation.

      +

      Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation.

      Public Types

      -using Scalar = ScalarType
      +using Scalar = ScalarType
      -using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type
      +using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type
      -using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type
      +using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type
      -template<typename JacobianMatrixType>
      using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>
      +template<typename JacobianMatrixType>
      using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>
      -using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>
      +using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>
      -using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>
      +using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>
      -template<typename MatrixType>
      using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>
      +template<typename MatrixType>
      using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>
      -using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>
      +using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>
      -using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>
      +using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>
      @@ -862,7 +862,7 @@

      File factor.h
      -Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
      +Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})

      Create directly from a (dense/sparse) hessian functor. This is the lowest-level constructor.

      Parameters:
      @@ -876,12 +876,12 @@

      File factor.h
      -Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
      +Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})

      -Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
      +Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})

      Create from a function that computes the (dense/sparse) jacobian. The hessian will be computed using the Gauss Newton approximation: 

      H   = J.T * J
 rhs = J.T * b
      @@ -899,76 +899,76 @@

      File factor.h
      -Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
      +Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})

      -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output just the numerical values of the residual.

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

      -

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      +

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

      -

      This overload can only be called if IsSparse() is true; otherwise, it will throw

      +

      This overload can only be called if IsSparse() is true; otherwise, it will throw

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      -void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

      -

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      +

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      -LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

      -

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      +

      This overload can only be called if IsSparse() is false; otherwise, it will throw

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      -void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const
      +void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const

      Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

      This overload can only be called if IsSparse is true; otherwise, it will throw

      Parameters:
      -

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      +

      maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

      @@ -981,13 +981,13 @@

      File factor.h
      -const std::vector<Key> &OptimizedKeys() const
      +const std::vector<Key> &OptimizedKeys() const

      Get the optimized keys for this factor

    -const std::vector<Key> &AllKeys() const
    +const std::vector<Key> &AllKeys() const

    Get all keys required to evaluate this factor

    @@ -996,14 +996,14 @@

    File factor.hPublic Static Functions

    -template<typename Functor>
    static     Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
    +template<typename Functor>
    static Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})

    Create from a function that computes the jacobian. The hessian will be computed using the Gauss Newton approximation: 

    H   = J.T * J
 rhs = J.T * b

    -

    This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

    -

    If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

    +

    This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

    +

    If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

    See symforce_factor_test.cc for many examples.

    Parameters:
    @@ -1017,8 +1017,8 @@

    File factor.h
    -template<typename Functor>
    static     Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
    -

    Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

    +template<typename Functor>
    static Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})
    +

    Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

    This should be used in cases where computing J^T J using a matrix multiplication is slower than evaluating J^T J symbolically; for instance, if the jacobian is sparse or J^T J has structure so that CSE is very effective.

    func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=FULL_LINEARIZATION (the default)

    See symforce_factor_test.cc for many examples.

    @@ -1037,22 +1037,22 @@

    File factor.hPrivate Members

    -DenseHessianFunc hessian_func_#
    +DenseHessianFunc hessian_func_#
    -SparseHessianFunc sparse_hessian_func_#
    +SparseHessianFunc sparse_hessian_func_#
    -std::vector<Key> keys_to_optimize_#
    +std::vector<Key> keys_to_optimize_#
    -std::vector<Key> keys_#
    +std::vector<Key> keys_#
    diff --git a/api-cpp/file/gnc__optimizer_8h.html b/api-cpp/file/gnc__optimizer_8h.html index 4ff4e2a9..e37208e3 100644 --- a/api-cpp/file/gnc__optimizer_8h.html +++ b/api-cpp/file/gnc__optimizer_8h.html @@ -748,21 +748,21 @@

    File gnc_optimizer.hnamespace sym
    -template<typename BaseOptimizerType>
    class GncOptimizer : public     BaseOptimizerType
    +template<typename BaseOptimizerType>
    class GncOptimizer : public BaseOptimizerType
    #include <gnc_optimizer.h>
    -

    Subclass of Optimizer for using Graduated Non-Convexity (GNC)

    +

    Subclass of Optimizer for using Graduated Non-Convexity (GNC)

    Assumes the convexity of the cost function is controlled by a hyperparameter mu. When mu == 0 the cost function should be convex and as mu goes to 1 the cost function should smoothly transition to a robust cost.

    Public Types

    -using BaseOptimizer = BaseOptimizerType
    +using BaseOptimizer = BaseOptimizerType
    -using Scalar = typename BaseOptimizer::Scalar
    +using Scalar = typename BaseOptimizer::Scalar
    @@ -770,7 +770,7 @@

    File gnc_optimizer.hPublic Functions

    -template<typename ...OptimizerArgs>
    inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const     Key &gnc_mu_key, OptimizerArgs&&... args)
    +template<typename ...OptimizerArgs>
    inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const Key &gnc_mu_key, OptimizerArgs&&... args)

    Constructor that copies in factors and keys

    @@ -781,12 +781,12 @@

    File gnc_optimizer.h
    -inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override
    +inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override

    -inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override
    +inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override
    @@ -794,7 +794,7 @@

    File gnc_optimizer.hPrivate Functions

    -inline void OptimizeContinue(Values<Scalar> &values, const int num_iterations, const bool populate_best_linearization, typename BaseOptimizer::Stats &stats)#
    +inline void OptimizeContinue(Values<Scalar> &values, const int num_iterations, const bool populate_best_linearization, typename BaseOptimizer::Stats &stats)#
    @@ -807,7 +807,7 @@

    File gnc_optimizer.h
    -Key gnc_mu_key_#
    +Key gnc_mu_key_#

    diff --git a/api-cpp/file/imu__factor_8h.html b/api-cpp/file/imu__factor_8h.html index ee6dc140..158c4ee0 100644 --- a/api-cpp/file/imu__factor_8h.html +++ b/api-cpp/file/imu__factor_8h.html @@ -750,32 +750,32 @@

    File imu_factor.hTypedefs

    -using ImuFactord = ImuFactor<double>#
    +using ImuFactord = ImuFactor<double>#
    -using ImuFactorf = ImuFactor<float>#
    +using ImuFactorf = ImuFactor<float>#
    -using ImuWithGravityFactord = ImuWithGravityFactor<double>#
    +using ImuWithGravityFactord = ImuWithGravityFactor<double>#
    -using ImuWithGravityFactorf = ImuWithGravityFactor<float>#
    +using ImuWithGravityFactorf = ImuWithGravityFactor<float>#
    -using ImuWithGravityDirectionFactord = ImuWithGravityDirectionFactor<double>#
    +using ImuWithGravityDirectionFactord = ImuWithGravityDirectionFactor<double>#
    -using ImuWithGravityDirectionFactorf = ImuWithGravityDirectionFactor<float>#
    +using ImuWithGravityDirectionFactorf = ImuWithGravityDirectionFactor<float>#
    @@ -790,7 +790,7 @@

    File imu_factor.h[0, 0, -g] (where g is 9.8, assuming your world frame is gravity aligned so that the -z direction points towards the Earth) unless your IMU reads 0 acceleration while stationary, in which case it should be [0, 0, 0].

    More generally, the gravity argument should yield the true acceleration when added to the accelerometer measurement (after the measurement has been converted to the world frame).

    Is a functor so as to store the preintegrated IMU measurements between two times. The residual computed is the local-coordinate difference between the final state (pose and velocity) and the state you would expect given the initial state and the IMU measurements.

    -

    Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 

    Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
+
    Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 
    Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
 “IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori
 Estimation”, Robotics: Science and Systems (RSS), 2015.
 
    
@@ -884,27 +884,27 @@ 
    File imu_factor.hPublic Types
    
 
    
 
    
-using Pose3 = sym::Pose3<Scalar>
    
+using Pose3 = sym::Pose3<Scalar>
    
 
    
 
 
    
 
    
-using Vector3 = sym::Vector3<Scalar>
    
+using Vector3 = sym::Vector3<Scalar>
    
 
    
 
 
    
 
    
-using Preintegrator = sym::ImuPreintegrator<Scalar>
    
+using Preintegrator = sym::ImuPreintegrator<Scalar>
    
 
    
 
 
    
 
    
-using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    
+using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    
 
    
 
 
    
 
    
-using SqrtInformation = sym::Matrix99<Scalar>
    
+using SqrtInformation = sym::Matrix99<Scalar>
    
 
    
 
 
    
@@ -912,26 +912,26 @@ 
    File imu_factor.hPublic Functions
    
 
    
 
    
-explicit ImuFactor(const Preintegrator &preintegrator)
    
-
    Construct an ImuFactor from a preintegrator. 
    
+explicit ImuFactor(const Preintegrator &preintegrator)
    
+
    Construct an ImuFactor from a preintegrator. 
    
 
    
 
 
    
 
    
-ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    
-
    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 
    
+ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    
+
    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 
    
 
    
 
 
    
 
    
-sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    
-
    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.
    
+sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    
+
    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.
    
 
    Convenience method to avoid manually specifying which arguments are optimized. 
    
 
    
 
 
    
-
    
-void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr) const
    
+
    
+void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *rhs = nullptr) const
    
 
    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.
    
 
    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.
    
 
    
@@ -959,12 +959,12 @@ 
    File imu_factor.hPrivate Members
    
 
    
 
    
-Measurement measurement_#
    
+Measurement measurement_#
    
 
    
 
 
    
 
    
-SqrtInformation sqrt_information_#
    
+SqrtInformation sqrt_information_#
    @@ -976,32 +976,32 @@

    File imu_factor.h #include <imu_factor.h>

    A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector direction.

    -

    For full documentation, see ImuFactor.

    +

    For full documentation, see ImuFactor.

    Public Types

    -using Pose3 = sym::Pose3<Scalar>
    +using Pose3 = sym::Pose3<Scalar>
    -using Vector3 = sym::Vector3<Scalar>
    +using Vector3 = sym::Vector3<Scalar>
    -using Preintegrator = sym::ImuPreintegrator<Scalar>
    +using Preintegrator = sym::ImuPreintegrator<Scalar>
    -using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    +using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    -using SqrtInformation = sym::Matrix99<Scalar>
    +using SqrtInformation = sym::Matrix99<Scalar>
    @@ -1009,26 +1009,26 @@

    File imu_factor.hPublic Functions

    -explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)
    -

    Construct an ImuFactor from a preintegrator.

    +explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)
    +

    Construct an ImuFactor from a preintegrator.

    -ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    -

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    +ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    +

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    -sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    -

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    +sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    +

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    Convenience method to avoid manually specifying which arguments are optimized.

    -
    -void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr) const
    +
    +void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, Scalar gravity_norm, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *rhs = nullptr) const

    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -1057,12 +1057,12 @@

    File imu_factor.hPrivate Members

    -Measurement measurement_#
    +Measurement measurement_#
    -SqrtInformation sqrt_information_#
    +SqrtInformation sqrt_information_#
    @@ -1074,32 +1074,32 @@

    File imu_factor.h #include <imu_factor.h>

    A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector.

    -

    For full documentation, see ImuFactor.

    +

    For full documentation, see ImuFactor.

    Public Types

    -using Pose3 = sym::Pose3<Scalar>
    +using Pose3 = sym::Pose3<Scalar>
    -using Vector3 = sym::Vector3<Scalar>
    +using Vector3 = sym::Vector3<Scalar>
    -using Preintegrator = sym::ImuPreintegrator<Scalar>
    +using Preintegrator = sym::ImuPreintegrator<Scalar>
    -using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    +using Measurement = sym::PreintegratedImuMeasurements<Scalar>
    -using SqrtInformation = sym::Matrix99<Scalar>
    +using SqrtInformation = sym::Matrix99<Scalar>
    @@ -1107,26 +1107,26 @@

    File imu_factor.hPublic Functions

    -explicit ImuWithGravityFactor(const Preintegrator &preintegrator)
    -

    Construct an ImuFactor from a preintegrator.

    +explicit ImuWithGravityFactor(const Preintegrator &preintegrator)
    +

    Construct an ImuFactor from a preintegrator.

    -ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    -

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    +ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)
    +

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    -sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    -

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    +sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const
    +

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    Convenience method to avoid manually specifying which arguments are optimized.

    -
    -void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr) const
    +
    +void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *rhs = nullptr) const

    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -1154,12 +1154,12 @@

    File imu_factor.hPrivate Members

    -Measurement measurement_#
    +Measurement measurement_#
    -SqrtInformation sqrt_information_#
    +SqrtInformation sqrt_information_#
    diff --git a/api-cpp/file/imu__preintegrator_8h.html b/api-cpp/file/imu__preintegrator_8h.html index 357cca06..114a394f 100644 --- a/api-cpp/file/imu__preintegrator_8h.html +++ b/api-cpp/file/imu__preintegrator_8h.html @@ -750,12 +750,12 @@

    File imu_preintegrator.hTypedefs

    -using ImuPreintegratord = ImuPreintegrator<double>#
    +using ImuPreintegratord = ImuPreintegrator<double>#
    -using ImuPreintegratorf = ImuPreintegrator<float>#
    +using ImuPreintegratorf = ImuPreintegrator<float>#
    @@ -765,22 +765,22 @@

    File imu_preintegrator.h #include <imu_preintegrator.h>

    Class to on-manifold preintegrate IMU measurements for usage in a SymForce optimization problem.

    -

    For usage, see the doc-string of ImuFactor in imu_factor.h

    +

    For usage, see the doc-string of ImuFactor in imu_factor.h

    Public Types

    -using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3
    +using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3
    -using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33
    +using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33
    -using Matrix99 = Eigen::Matrix<Scalar, 9, 9>
    +using Matrix99 = Eigen::Matrix<Scalar, 9, 9>
    @@ -788,13 +788,13 @@

    File imu_preintegrator.hPublic Functions

    -ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)
    +ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)

    Initialize with given accel_bias and gyro_bias

    -
    -void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, const Scalar dt, const Scalar epsilon = kDefaultEpsilon<Scalar>)
    +
    +void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, Scalar dt, Scalar epsilon = kDefaultEpsilon<Scalar>)

    Integrate a new measurement.

    Postcondition:

    @@ -825,12 +825,12 @@

    File imu_preintegrator.h
    -const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const
    +const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const

    -const Matrix99 &Covariance() const
    +const Matrix99 &Covariance() const
    @@ -838,12 +838,12 @@

    File imu_preintegrator.hPrivate Members

    -PreintegratedImuMeasurements<Scalar> preintegrated_measurements_#
    +PreintegratedImuMeasurements<Scalar> preintegrated_measurements_#
    -Matrix99 covariance_#
    +Matrix99 covariance_#
    diff --git a/api-cpp/file/key_8h.html b/api-cpp/file/key_8h.html index ce6cc5c9..ef7b5d71 100644 --- a/api-cpp/file/key_8h.html +++ b/api-cpp/file/key_8h.html @@ -745,12 +745,12 @@

    File key.h#

    -template<>
    struct hash<sym::Key>#
    +template<>
    struct hash<sym::Key>#

    Public Functions

    -std::size_t operator()(const sym::Key &key) const#
    +std::size_t operator()(const sym::Key &key) const#
    @@ -758,12 +758,12 @@

    File key.h
    -template<>
    struct hash<    sym::key_t>#
    +template<>
    struct hash<sym::key_t>#

    Public Functions

    -std::size_t operator()(const sym::key_t &key) const#
    +std::size_t operator()(const sym::key_t &key) const#
    @@ -776,8 +776,8 @@

    File key.hFunctions

    -std::ostream &operator<<(std::ostream &os, const sym::Key &key)#
    -

    Print implementation for Key.

    +std::ostream &operator<<(std::ostream &os, const sym::Key &key)#
    +

    Print implementation for Key.

    Examples: 

    Key('C', 13) -> "C_13"
 Key('f') -> "f"
 Key('f', 32, 2) -> "f_32_2"
@@ -794,9 +794,9 @@ 
    File key.hclass Key
    
 
    
 #include <key.h>
    
-
    Key type for Values
    
+
    Key type for Values
    
 
    Contains a letter plus an integral subscript and superscript. Can construct with a letter, a letter + sub, or a letter + sub + super, but not letter + super.
    
-
    TODO(hayk): Consider an abstraction where Key contains a type enum. 
    
+
    TODO(hayk): Consider an abstraction where Key contains a type enum. 
    
 
    
 
    Public Types
    
 
    
@@ -806,12 +806,12 @@ 
    File key.h
 
    
-using subscript_t = std::int64_t
    
+using subscript_t = std::int64_t
    
 
    
 
 
    
 
    
-using superscript_t = std::int64_t
    
+using superscript_t = std::int64_t
    
 
    
 
 
    
@@ -823,8 +823,8 @@ 
    File key.h
-
    
-inline constexpr Key(letter_t letter, subscript_t sub = kInvalidSub, superscript_t super = kInvalidSuper)
    
+
    
+inline constexpr Key(const letter_t letter, const subscript_t sub = kInvalidSub, const superscript_t super = kInvalidSuper)
    @@ -834,32 +834,32 @@

    File key.h
    -inline constexpr letter_t Letter() const noexcept
    +inline constexpr letter_t Letter() const noexcept

    -inline constexpr subscript_t Sub() const noexcept
    +inline constexpr subscript_t Sub() const noexcept
    -inline constexpr superscript_t Super() const noexcept
    +inline constexpr superscript_t Super() const noexcept
    -inline constexpr Key WithLetter(const letter_t letter) const
    +inline constexpr Key WithLetter(const letter_t letter) const
    -inline constexpr Key WithSub(const subscript_t sub) const
    +inline constexpr Key WithSub(const subscript_t sub) const
    -inline constexpr Key WithSuper(const superscript_t super) const
    +inline constexpr Key WithSuper(const superscript_t super) const
    @@ -869,12 +869,12 @@

    File key.h
    -inline constexpr bool operator==(const Key &other) const noexcept
    +inline constexpr bool operator==(const Key &other) const noexcept

    -inline constexpr bool operator!=(const Key &other) const noexcept
    +inline constexpr bool operator!=(const Key &other) const noexcept
    @@ -882,7 +882,7 @@

    File key.hPublic Static Functions

    -static bool LexicalLessThan(const Key &a, const Key &b)
    +static bool LexicalLessThan(const Key &a, const Key &b)

    Return true if a is LESS than b, in dictionary order of the tuple (letter, sub, super).

    @@ -891,17 +891,17 @@

    File key.hPublic Static Attributes

    -static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)
    +static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)
    -static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()
    +static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()
    -static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()
    +static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()
    @@ -909,17 +909,17 @@

    File key.hProtected Attributes

    -letter_t letter_ = {kInvalidLetter}#
    +letter_t letter_ = {kInvalidLetter}#
    -subscript_t sub_ = {kInvalidSub}#
    +subscript_t sub_ = {kInvalidSub}#
    -superscript_t super_ = {kInvalidSuper}#
    +superscript_t super_ = {kInvalidSuper}#
    @@ -933,7 +933,7 @@

    File key.hPublic Functions

    -inline bool operator()(const Key &a, const Key &b) const
    +inline bool operator()(const Key &a, const Key &b) const
    @@ -954,7 +954,7 @@

    File key.hPublic Functions

    -std::size_t operator()(const sym::Key &key) const#
    +std::size_t operator()(const sym::Key &key) const#
    @@ -967,7 +967,7 @@

    File key.hPublic Functions

    -std::size_t operator()(const sym::key_t &key) const#
    +std::size_t operator()(const sym::key_t &key) const#
    diff --git a/api-cpp/file/levenberg__marquardt__solver_8h.html b/api-cpp/file/levenberg__marquardt__solver_8h.html index 4b2c55ef..02ccaf45 100644 --- a/api-cpp/file/levenberg__marquardt__solver_8h.html +++ b/api-cpp/file/levenberg__marquardt__solver_8h.html @@ -748,11 +748,11 @@

    File levenberg_marquardt_solver.hnamespace sym
    -template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
    class LevenbergMarquardtSolver
    +template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
    class LevenbergMarquardtSolver
    #include <levenberg_marquardt_solver.h>

    Fast Levenberg-Marquardt solver for nonlinear least squares problems specified by a linearization function. Supports on-manifold optimization and sparse solving, and attempts to minimize allocations after the first iteration.

    -

    This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

    +

    This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

    TODO(aaron): Analyze what repeated allocations we do have, and get rid of them if possible

    Not thread safe! Create one per thread.

    Example usage: 

    constexpr const int M = 9;
@@ -846,27 +846,27 @@ 
    File levenberg_marquardt_solver.hPublic Types
    
 
    
 
    
-using Scalar = ScalarType
    
+using Scalar = ScalarType
    
 
    
 
 
    
 
    
-using LinearSolver = LinearSolverType
    
+using LinearSolver = LinearSolverType
    
 
    
 
 
    
 
    
-using MatrixType = typename LinearSolverType::MatrixType
    
+using MatrixType = typename LinearSolverType::MatrixType
    
 
    
 
 
    
 
    
-using StateType = internal::LevenbergMarquardtState<MatrixType>
    
+using StateType = internal::LevenbergMarquardtState<MatrixType>
    
 
    
 
 
    
 
    
-using LinearizationType = Linearization<MatrixType>
    
+using LinearizationType = Linearization<MatrixType>
    
 
    
 
 
    
@@ -876,7 +876,7 @@ 
    File levenberg_marquardt_solver.h
 
    
-using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>
    
+using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>
    @@ -884,12 +884,12 @@

    File levenberg_marquardt_solver.hPublic Functions

    -inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)
    +inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)
    -inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)
    +inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)
    @@ -899,12 +899,12 @@

    File levenberg_marquardt_solver.h
    -inline void Reset(const Values<Scalar> &values)
    +inline void Reset(const Values<Scalar> &values)

    -inline void ResetState(const Values<Scalar> &values)
    +inline void ResetState(const Values<Scalar> &values)
    @@ -918,46 +918,46 @@

    File levenberg_marquardt_solver.h -
    -optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, const bool debug_stats = false, const bool include_jacobians = false)
    +
    +optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, bool debug_stats = false, bool include_jacobians = false)

    -inline const Values<Scalar> &GetBestValues() const
    +inline const Values<Scalar> &GetBestValues() const
    -inline const LinearizationType &GetBestLinearization() const
    +inline const LinearizationType &GetBestLinearization() const
    -void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)
    +void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)

    Private Functions

    -
    -MatrixType DampHessian(const MatrixType &hessian_lower, bool &have_max_diagonal, VectorX<Scalar> &max_diagonal, const Scalar lambda) const#
    +
    +MatrixType DampHessian(const MatrixType &hessian_lower, bool &have_max_diagonal, VectorX<Scalar> &max_diagonal, Scalar lambda) const#
    -
    -void CheckHessianDiagonal(const MatrixType &hessian_lower_damped)#
    +
    +void CheckHessianDiagonal(const MatrixType &hessian_lower_damped, Scalar lambda)#
    -
    -void PopulateIterationStats(optimization_iteration_t &iteration_stats, const StateType &state, const Scalar new_error, const Scalar relative_reduction, const bool debug_stats, const bool include_jacobians) const#
    +
    +void PopulateIterationStats(optimization_iteration_t &iteration_stats, const StateType &state, Scalar new_error, Scalar relative_reduction, bool debug_stats, bool include_jacobians) const#
    -void Update(const Values<Scalar> &values, const index_t &index, const VectorX<Scalar> &update, Values<Scalar> &updated_values) const#
    +void Update(const Values<Scalar> &values, const index_t &index, const VectorX<Scalar> &update, Values<Scalar> &updated_values) const#
    @@ -970,22 +970,22 @@

    File levenberg_marquardt_solver.h
    -std::string id_#
    +std::string id_#

    -Scalar epsilon_#
    +Scalar epsilon_#
    -StateType state_#
    +StateType state_#
    -LinearSolver linear_solver_ = {}#
    +LinearSolver linear_solver_ = {}#
    @@ -1000,12 +1000,12 @@

    File levenberg_marquardt_solver.h
    -VectorX<Scalar> max_diagonal_#
    +VectorX<Scalar> max_diagonal_#

    -Scalar current_lambda_#
    +Scalar current_lambda_#
    @@ -1015,7 +1015,7 @@

    File levenberg_marquardt_solver.h
    -VectorX<Scalar> last_update_#
    +VectorX<Scalar> last_update_#

    @@ -1025,12 +1025,12 @@

    File levenberg_marquardt_solver.h
    -VectorX<Scalar> update_#
    +VectorX<Scalar> update_#

    -MatrixType H_damped_#
    +MatrixType H_damped_#
    @@ -1040,7 +1040,7 @@

    File levenberg_marquardt_solver.h
    -std::vector<int> zero_diagonal_indices_#
    +std::vector<int> zero_diagonal_indices_#

    diff --git a/api-cpp/file/linearization_8h.html b/api-cpp/file/linearization_8h.html index d3a3c39e..ec501091 100644 --- a/api-cpp/file/linearization_8h.html +++ b/api-cpp/file/linearization_8h.html @@ -750,32 +750,32 @@

    File linearization.hTypedefs

    -template<typename Scalar>
    using SparseLinearization =     Linearization<Eigen::SparseMatrix<Scalar>>#
    +template<typename Scalar>
    using SparseLinearization = Linearization<Eigen::SparseMatrix<Scalar>>#
    -using SparseLinearizationd = SparseLinearization<double>#
    +using SparseLinearizationd = SparseLinearization<double>#
    -using SparseLinearizationf = SparseLinearization<float>#
    +using SparseLinearizationf = SparseLinearization<float>#
    -template<typename Scalar>
    using DenseLinearization = Linearization<MatrixX<Scalar>>#
    +template<typename Scalar>
    using DenseLinearization = Linearization<MatrixX<Scalar>>#
    -using DenseLinearizationd = DenseLinearization<double>#
    +using DenseLinearizationd = DenseLinearization<double>#
    -using DenseLinearizationf = DenseLinearization<float>#
    +using DenseLinearizationf = DenseLinearization<float>#
    @@ -783,19 +783,19 @@

    File linearization.hFunctions

    -template<typename Scalar>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::SparseMatrix<    Scalar> &matrix)#
    +template<typename Scalar>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::SparseMatrix<Scalar> &matrix)#

    Returns the sparse matrix structure of matrix.

    -template<typename Derived>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::EigenBase<Derived>&)#
    +template<typename Derived>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::EigenBase<Derived>&)#

    Return a default initialized sparse structure because arg is dense.

    -template<typename Scalar>
    Eigen::Map<const VectorX<Scalar>> JacobianValues(const Eigen::SparseMatrix<Scalar> &matrix)#
    +template<typename Scalar>
    Eigen::Map<const VectorX<Scalar>> JacobianValues(const Eigen::SparseMatrix<Scalar> &matrix)#

    Returns coefficients of matrix. Overloads exist for both dense and sparse matrices to make writing generic code easier.

    This version returns the non-zero values of an Eigen::SparseMatrix

    Note: it returns a map, so be careful about mutating or disposing of matrix before you are finished with the output.

    @@ -803,7 +803,7 @@

    File linearization.h
    -template<typename Scalar>
    const     MatrixX<Scalar> &JacobianValues(const MatrixX<Scalar> &matrix)#
    +template<typename Scalar>
    const MatrixX<Scalar> &JacobianValues(const MatrixX<Scalar> &matrix)#

    Returns coefficients of matrix. Overloads exist for both dense and sparse matrices to make writing generic code easier.

    Returns a const-ref to the argument.

    @@ -814,23 +814,23 @@

    File linearization.htemplate<typename MatrixType>
    struct Linearization    #
    #include <linearization.h>
    -

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    +

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    MatrixType is expected to be an Eigen MatrixX or SparseMatrix.

    Public Types

    -using Scalar = typename MatrixType::Scalar#
    +using Scalar = typename MatrixType::Scalar#
    -using Vector = VectorX<Scalar>#
    +using Vector = VectorX<Scalar>#
    -using Matrix = MatrixType#
    +using Matrix = MatrixType#
    @@ -860,7 +860,7 @@

    File linearization.h
    -inline double LinearError(const Vector &x_update) const#
    +inline double LinearError(const Vector &x_update) const#

    @@ -868,22 +868,22 @@

    File linearization.hPublic Members

    -Vector residual#
    +Vector residual#
    -Matrix hessian_lower#
    +Matrix hessian_lower#
    -Matrix jacobian#
    +Matrix jacobian#
    -Vector rhs#
    +Vector rhs#
    diff --git a/api-cpp/file/linearizer_8h.html b/api-cpp/file/linearizer_8h.html index 096014be..e1732fb8 100644 --- a/api-cpp/file/linearizer_8h.html +++ b/api-cpp/file/linearizer_8h.html @@ -750,8 +750,8 @@

    File linearizer.hFunctions

    -template<typename Scalar>
    SparseLinearization<Scalar> Linearize(const std::vector<Factor<Scalar>> &factors, const Values<Scalar> &values, const std::vector<Key> &keys_to_optimize = {}, const std::string &linearizer_name = "Linearizer")#
    -

    Free function as an alternate way to call the Linearizer

    +template<typename Scalar>
    SparseLinearization<Scalar> Linearize(const std::vector<Factor<Scalar>> &factors, const Values<Scalar> &values, const std::vector<Key> &keys_to_optimize = {}, const std::string &linearizer_name = "Linearizer")#
    +

    Free function as an alternate way to call the Linearizer

    @@ -760,29 +760,29 @@

    File linearizer.htemplate<typename ScalarType>
    class Linearizer
    #include <linearizer.h>
    -

    Class for evaluating multiple Factors at the linearization point given by a Values.

    +

    Class for evaluating multiple Factors at the linearization point given by a Values.

    Stores the original Factors as well as the LinearizedFactors, and provides tools for aggregating keys and building a large jacobian / hessian for optimization.

    -

    For efficiency, prefer calling Relinearize() instead of re-constructing this object!

    +

    For efficiency, prefer calling Relinearize() instead of re-constructing this object!

    Public Types

    -using Scalar = ScalarType
    +using Scalar = ScalarType
    -using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor
    +using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor
    -using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor
    +using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor
    -using LinearizationType = SparseLinearization<Scalar>
    +using LinearizationType = SparseLinearization<Scalar>
    @@ -790,8 +790,8 @@

    File linearizer.hPublic Functions

    -Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)
    -

    Construct a Linearizer from factors and optional keys

    +Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)
    +

    Construct a Linearizer from factors and optional keys

    Parameters:
    -const std::vector<Key> &Keys() const
    +const std::vector<Key> &Keys() const
    -const std::unordered_map<key_t, index_entry_t> &StateIndex() const
    +const std::unordered_map<key_t, index_entry_t> &StateIndex() const
    @@ -836,36 +836,36 @@

    File linearizer.hPrivate Functions

    -void BuildInitialLinearization(const Values<Scalar> &values)#
    +void BuildInitialLinearization(const Values<Scalar> &values)#

    Allocate all factor storage and compute sparsity pattern. This does a lot of index computation on the first linearization, such that repeated linearization can be fast.

    -void UpdateFromLinearizedDenseFactorIntoSparse(const LinearizedDenseFactor &linearized_factor, const linearization_dense_factor_helper_t &factor_helper, SparseLinearization<Scalar> &linearization) const#
    +void UpdateFromLinearizedDenseFactorIntoSparse(const LinearizedDenseFactor &linearized_factor, const linearization_dense_factor_helper_t &factor_helper, SparseLinearization<Scalar> &linearization) const#

    Update the sparse combined problem linearization from a single factor.

    -void UpdateFromLinearizedSparseFactorIntoSparse(const LinearizedSparseFactor &linearized_factor, const linearization_sparse_factor_helper_t &factor_helper, SparseLinearization<Scalar> &linearization) const#
    +void UpdateFromLinearizedSparseFactorIntoSparse(const LinearizedSparseFactor &linearized_factor, const linearization_sparse_factor_helper_t &factor_helper, SparseLinearization<Scalar> &linearization) const#
    -void UpdateFromDenseFactorIntoTripletLists(const LinearizedDenseFactor &linearized_factor, const linearization_dense_factor_helper_t &factor_helper, std::vector<Eigen::Triplet<Scalar>> &jacobian_triplets, std::vector<Eigen::Triplet<Scalar>> &hessian_lower_triplets) const#
    +void UpdateFromDenseFactorIntoTripletLists(const LinearizedDenseFactor &linearized_factor, const linearization_dense_factor_helper_t &factor_helper, std::vector<Eigen::Triplet<Scalar>> &jacobian_triplets, std::vector<Eigen::Triplet<Scalar>> &hessian_lower_triplets) const#

    Update the combined residual and rhs, along with triplet lists for the sparse matrices, from a single factor

    -void UpdateFromSparseFactorIntoTripletLists(const LinearizedSparseFactor &linearized_factor, const linearization_sparse_factor_helper_t &factor_helper, std::vector<Eigen::Triplet<Scalar>> &jacobian_triplets, std::vector<Eigen::Triplet<Scalar>> &hessian_lower_triplets) const#
    +void UpdateFromSparseFactorIntoTripletLists(const LinearizedSparseFactor &linearized_factor, const linearization_sparse_factor_helper_t &factor_helper, std::vector<Eigen::Triplet<Scalar>> &jacobian_triplets, std::vector<Eigen::Triplet<Scalar>> &hessian_lower_triplets) const#
    -void EnsureLinearizationHasCorrectSize(SparseLinearization<Scalar> &linearization) const#
    -

    Check if a Linearization has the correct sizes, and if not, initialize it

    +void EnsureLinearizationHasCorrectSize(SparseLinearization<Scalar> &linearization) const#
    +

    Check if a Linearization has the correct sizes, and if not, initialize it

    @@ -878,17 +878,17 @@

    File linearizer.h
    -std::string name_#
    +std::string name_#

    -const std::vector<Factor<Scalar>> *factors_#
    +const std::vector<Factor<Scalar>> *factors_#
    -std::vector<std::vector<index_entry_t>> factor_indices_#
    +std::vector<std::vector<index_entry_t>> factor_indices_#
    @@ -898,37 +898,37 @@

    File linearizer.h
    -internal::LinearizedDenseFactorPool<Scalar> linearized_dense_factors_#
    +internal::LinearizedDenseFactorPool<Scalar> linearized_dense_factors_#

    -std::vector<LinearizedSparseFactor> linearized_sparse_factors_#
    +std::vector<LinearizedSparseFactor> linearized_sparse_factors_#
    -std::vector<Key> keys_#
    +std::vector<Key> keys_#
    -std::unordered_map<key_t, index_entry_t> state_index_#
    +std::unordered_map<key_t, index_entry_t> state_index_#
    -std::vector<linearization_dense_factor_helper_t> dense_factor_update_helpers_#
    +std::vector<linearization_dense_factor_helper_t> dense_factor_update_helpers_#
    -std::vector<linearization_sparse_factor_helper_t> sparse_factor_update_helpers_#
    +std::vector<linearization_sparse_factor_helper_t> sparse_factor_update_helpers_#
    -SparseLinearization<Scalar> init_linearization_#
    +SparseLinearization<Scalar> init_linearization_#
    diff --git a/api-cpp/file/optimization__stats_8h.html b/api-cpp/file/optimization__stats_8h.html index e1ca9f9c..b2594d94 100644 --- a/api-cpp/file/optimization__stats_8h.html +++ b/api-cpp/file/optimization__stats_8h.html @@ -750,22 +750,22 @@

    File optimization_stats.hTypedefs

    -template<typename Scalar>
    using SparseOptimizationStats =     OptimizationStats<Eigen::SparseMatrix<Scalar>>#
    +template<typename Scalar>
    using SparseOptimizationStats = OptimizationStats<Eigen::SparseMatrix<Scalar>>#
    -template<typename Scalar>
    using DenseOptimizationStats = OptimizationStats<MatrixX<Scalar>>#
    +template<typename Scalar>
    using DenseOptimizationStats = OptimizationStats<MatrixX<Scalar>>#
    -using OptimizationStatsd = SparseOptimizationStats<double>#
    +using OptimizationStatsd = SparseOptimizationStats<double>#
    -using OptimizationStatsf = SparseOptimizationStats<float>#
    +using OptimizationStatsf = SparseOptimizationStats<float>#
    @@ -794,13 +794,13 @@

    File optimization_stats.hPublic Members

    -std::vector<optimization_iteration_t> iterations#
    +std::vector<optimization_iteration_t> iterations#
    int32_t best_index = {0}#
    -

    Index into iterations of the best iteration (containing the optimal Values)

    +

    Index into iterations of the best iteration (containing the optimal Values)

    @@ -817,7 +817,7 @@

    File optimization_stats.h
    -optional<Linearization<MatrixType>> best_linearization = {}#
    +optional<Linearization<MatrixType>> best_linearization = {}#

    The linearization at best_index (at optimized_values), filled out if populate_best_linearization=true

    @@ -825,21 +825,21 @@

    File optimization_stats.h sparse_matrix_structure_t jacobian_sparsity#

    The sparsity pattern of the problem jacobian

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    Eigen::VectorXi linear_solver_ordering#

    The permutation used by the linear solver

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    sparse_matrix_structure_t cholesky_factor_sparsity#

    The sparsity pattern of the cholesky factor

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    diff --git a/api-cpp/file/optimizer_8h.html b/api-cpp/file/optimizer_8h.html index e251a6e8..bb3796fe 100644 --- a/api-cpp/file/optimizer_8h.html +++ b/api-cpp/file/optimizer_8h.html @@ -750,12 +750,12 @@

    File optimizer.hTypedefs

    -using Optimizerd = Optimizer<double>#
    +using Optimizerd = Optimizer<double>#
    -using Optimizerf = Optimizer<float>#
    +using Optimizerf = Optimizer<float>#
    @@ -763,28 +763,28 @@

    File optimizer.hFunctions

    -template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> &values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> &values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#

    Simple wrapper to make it one function call.

    -template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> *values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> *values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    optimizer_params_t DefaultOptimizerParams()#
    -

    Sensible default parameters for Optimizer

    +

    Sensible default parameters for Optimizer

    -template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
    class Optimizer
    +template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
    class Optimizer
    #include <optimizer.h>
    -

    Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

    +

    Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

    Not thread safe! Create one per thread.

    Example usage: 

    // Create a Values
 sym::Key key0{'R', 0};
@@ -836,67 +836,67 @@ 
    File optimizer.hPublic Types
    
 
    
 
    
-using Scalar = ScalarType
    
+using Scalar = ScalarType
    
 
    
 
 
    
 
    
-using NonlinearSolver = NonlinearSolverType
    
+using NonlinearSolver = NonlinearSolverType
    
 
    
 
 
    
 
    
-using FailureReason = typename NonlinearSolver::FailureReason
    
+using FailureReason = typename NonlinearSolver::FailureReason
    
 
    
 
 
    
 
    
-using MatrixType = typename NonlinearSolver::MatrixType
    
+using MatrixType = typename NonlinearSolver::MatrixType
    
 
    
 
 
    
 
    
-using Stats = OptimizationStats<MatrixType>
    
+using Stats = OptimizationStats<MatrixType>
    
 
    
 
 
    
 
    
-using LinearizerType = internal::LinearizerSelector_t<MatrixType>
    
+using LinearizerType = internal::LinearizerSelector_t<MatrixType>

    Public Functions

    -
    -Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)
    +
    +Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)

    Base constructor

    -
    -template<typename ...NonlinearSolverArgs>
    Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)
    +
    +template<typename ...NonlinearSolverArgs>
    Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)

    Constructor that copies in factors and keys, with arguments for the nonlinear solver

    -Optimizer(Optimizer&&) = delete
    +Optimizer(Optimizer&&) = delete
    -Optimizer &operator=(Optimizer&&) = delete
    +Optimizer &operator=(Optimizer&&) = delete
    -Optimizer(const Optimizer&) = delete
    +Optimizer(const Optimizer&) = delete
    -Optimizer &operator=(const Optimizer&) = delete
    +Optimizer &operator=(const Optimizer&) = delete
    @@ -906,7 +906,7 @@

    File optimizer.h
    -Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)
    +Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)

    Optimize the given values in-place

    Parameters:
    @@ -923,12 +923,12 @@

    File optimizer.h
    -Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)
    +Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)

    -virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)
    +virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    @@ -936,7 +936,7 @@

    File optimizer.h

    @@ -944,19 +944,19 @@

    File optimizer.h
    -virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)
    +virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)

    -void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)
    +void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    Parameters:

    • num_iterations – If < 0 (the default), uses the number of iterations specified by the params at construction

      • -

    • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

      • +

    • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    @@ -964,48 +964,48 @@

    File optimizer.h
    -void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)
    +void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)

    -void Optimize(Values<Scalar> &values, Stats &stats)
    +void Optimize(Values<Scalar> &values, Stats &stats)

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    Parameters:
    -

    stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    +

    stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    -void Optimize(Values<Scalar> *values, Stats *stats)
    +void Optimize(Values<Scalar> *values, Stats *stats)
    -Linearization<MatrixType> Linearize(const Values<Scalar> &values)
    +Linearization<MatrixType> Linearize(const Values<Scalar> &values)

    Linearize the problem around the given values

    -void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)
    +void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)

    Get covariances for each optimized key at the given linearization

    -

    Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

    -

    May not be called before either Optimize() or Linearize() has been called.

    +

    Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

    +

    May not be called before either Optimize() or Linearize() has been called.

    -void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)
    +void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)
    -void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)
    +void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)

    Get covariances for the given subset of keys at the given linearization

    This version is potentially much more efficient than computing the covariances for all keys in the problem.

    Currently requires that keys corresponds to a set of keys at the start of the list of keys for the full problem, and in the same order. It uses the Schur complement trick, so will be most efficient if the hessian is of the following form, with C block diagonal: 

    A = ( B    E )
@@ -1018,16 +1018,16 @@ 
    File optimizer.h
 
    
-void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)
    
+void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)
    -void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)
    +void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)

    Get the full problem covariance at the given linearization

    Unlike ComputeCovariance and ComputeAllCovariances, this includes the off-diagonal blocks, i.e. the cross-covariances between different keys.

    The ordering of entries here is the same as the ordering of the keys in the linearization, which can be accessed via optimizer.Linearizer().StateIndex().

    -

    May not be called before either Optimize() or Linearize() has been called.

    +

    May not be called before either Optimize() or Linearize() has been called.

    Parameters:

    covariance – A matrix that will be filled out with the full problem covariance.

    @@ -1037,25 +1037,25 @@

    File optimizer.h
    -const std::vector<Key> &Keys() const
    +const std::vector<Key> &Keys() const

    Get the optimized keys

    -const std::vector<Factor<Scalar>> &Factors() const
    +const std::vector<Factor<Scalar>> &Factors() const

    Get the factors

    -const LinearizerType &Linearizer() const
    -

    Get the Linearizer object

    +const LinearizerType &Linearizer() const
    +

    Get the Linearizer object

    -LinearizerType &Linearizer()
    +LinearizerType &Linearizer()
    @@ -1075,13 +1075,13 @@

    File optimizer.hProtected Functions

    -void IterateToConvergence(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#
    +void IterateToConvergence(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#

    Call nonlinear_solver_.Iterate() on the given values (updating in place) until out of iterations or converged

    -
    -NonlinearSolver::LinearizeFunc BuildLinearizeFunc(const bool check_derivatives)#
    +
    +NonlinearSolver::LinearizeFunc BuildLinearizeFunc(bool check_derivatives)#

    Build the linearize_func functor for the underlying nonlinear solver

    @@ -1092,13 +1092,13 @@

    File optimizer.h
    -void Initialize(const Values<Scalar> &values)#
    +void Initialize(const Values<Scalar> &values)#

    Do initialization that depends on having a values

    -const std::string &GetName()#
    +const std::string &GetName()#
    @@ -1106,25 +1106,25 @@

    File optimizer.hProtected Attributes

    -std::vector<Factor<Scalar>> factors_#
    -

    Store a copy of the nonlinear factors. The Linearization object in the state keeps a pointer to this memory.

    +std::vector<Factor<Scalar>> factors_#
    +

    Store a copy of the nonlinear factors. The Linearization object in the state keeps a pointer to this memory.

    -std::string name_#
    +std::string name_#

    The name of this optimizer to be used for printing debug information.

    -NonlinearSolver nonlinear_solver_#
    +NonlinearSolver nonlinear_solver_#

    Underlying nonlinear solver class.

    -Scalar epsilon_#
    +Scalar epsilon_#
    @@ -1139,7 +1139,7 @@

    File optimizer.h
    -std::vector<Key> keys_#
    +std::vector<Key> keys_#

    @@ -1149,7 +1149,7 @@

    File optimizer.h
    -LinearizerType linearizer_#
    +LinearizerType linearizer_#

    @@ -1159,7 +1159,7 @@

    File optimizer.h
    -NonlinearSolver::LinearizeFunc linearize_func_#
    +NonlinearSolver::LinearizeFunc linearize_func_#

    Functor for interfacing with the optimizer.

    @@ -1171,12 +1171,12 @@

    File optimizer.hPublic Members

    -sym::MatrixX<Scalar> covariance#
    +sym::MatrixX<Scalar> covariance#
    -MatrixType H_damped#
    +MatrixType H_damped#

    diff --git a/api-cpp/file/optional_8h.html b/api-cpp/file/optional_8h.html index 87b4a67f..4985c395 100644 --- a/api-cpp/file/optional_8h.html +++ b/api-cpp/file/optional_8h.html @@ -750,7 +750,7 @@

    File optional.hTypedefs

    -template<typename T>
    using optional = tl::optional<    T>#
    +template<typename T>
    using optional = tl::optional<T>#
    diff --git a/api-cpp/file/preintegrated__imu__measurements_8h.html b/api-cpp/file/preintegrated__imu__measurements_8h.html index ee7d2596..74e29437 100644 --- a/api-cpp/file/preintegrated__imu__measurements_8h.html +++ b/api-cpp/file/preintegrated__imu__measurements_8h.html @@ -750,12 +750,12 @@

    File preintegrated_imu_measurements.hTypedefs

    -using PreintegratedImuMeasurementsd = PreintegratedImuMeasurements<double>#
    +using PreintegratedImuMeasurementsd = PreintegratedImuMeasurements<double>#
    -using PreintegratedImuMeasurementsf = PreintegratedImuMeasurements<float>#
    +using PreintegratedImuMeasurementsf = PreintegratedImuMeasurements<float>#
    @@ -769,17 +769,17 @@

    File preintegrated_imu_measurements.hPublic Types

    -using Rot3 = sym::Rot3<Scalar>#
    +using Rot3 = sym::Rot3<Scalar>#
    -using Vector3 = sym::Vector3<Scalar>#
    +using Vector3 = sym::Vector3<Scalar>#
    -using Matrix33 = sym::Matrix33<Scalar>#
    +using Matrix33 = sym::Matrix33<Scalar>#
    @@ -787,13 +787,13 @@

    File preintegrated_imu_measurements.hPublic Functions

    -PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)#
    +PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)#

    Initialize instance struct with accel_bias and gyro_bias and all other values zeroed out (scalars, vectors, and matrices) or set to the identity (DR).

    -Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const#
    +Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const#
    @@ -806,42 +806,42 @@

    File preintegrated_imu_measurements.hPublic Members

    -Vector3 accel_bias#
    +Vector3 accel_bias#
    -Vector3 gyro_bias#
    +Vector3 gyro_bias#
    -Delta delta#
    +Delta delta#
    -Matrix33 DR_D_gyro_bias#
    +Matrix33 DR_D_gyro_bias#
    -Matrix33 Dv_D_accel_bias#
    +Matrix33 Dv_D_accel_bias#
    -Matrix33 Dv_D_gyro_bias#
    +Matrix33 Dv_D_gyro_bias#
    -Matrix33 Dp_D_accel_bias#
    +Matrix33 Dp_D_accel_bias#
    -Matrix33 Dp_D_gyro_bias#
    +Matrix33 Dp_D_gyro_bias#
    @@ -849,7 +849,7 @@

    File preintegrated_imu_measurements.hPublic Static Functions

    -static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)#
    +static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)#
    @@ -871,22 +871,22 @@

    File preintegrated_imu_measurements.hPublic Members

    -Scalar Dt = {0}#
    +Scalar Dt = {0}#
    -Rot3 DR = {Rot3::Identity()}#
    +Rot3 DR = {Rot3::Identity()}#
    -Vector3 Dv = {Vector3::Zero()}#
    +Vector3 Dv = {Vector3::Zero()}#
    -Vector3 Dp = {Vector3::Zero()}#
    +Vector3 Dp = {Vector3::Zero()}#
    @@ -894,7 +894,7 @@

    File preintegrated_imu_measurements.hPublic Static Functions

    -static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)#
    +static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)#
    diff --git a/api-cpp/file/sparse__cholesky__solver_8h.html b/api-cpp/file/sparse__cholesky__solver_8h.html index f4da4591..c4d2bcd4 100644 --- a/api-cpp/file/sparse__cholesky__solver_8h.html +++ b/api-cpp/file/sparse__cholesky__solver_8h.html @@ -768,42 +768,42 @@

    File sparse_cholesky_solver.h
    -using MatrixType = _MatrixType#
    +using MatrixType = _MatrixType#

    -using Scalar = typename MatrixType::Scalar#
    +using Scalar = typename MatrixType::Scalar#
    -using StorageIndex = typename MatrixType::StorageIndex#
    +using StorageIndex = typename MatrixType::StorageIndex#
    -using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>#
    +using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>#
    -using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    +using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    -using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    +using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    -using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>#
    +using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>#
    -using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>#
    +using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>#
    @@ -811,7 +811,7 @@

    File sparse_cholesky_solver.hPublic Functions

    -inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#
    +inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

    Default constructor

    Parameters:
    @@ -822,7 +822,7 @@

    File sparse_cholesky_solver.h
    -inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#
    +inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())#

    Construct with a representative sparse matrix

    Parameters:
    @@ -847,57 +847,57 @@

    File sparse_cholesky_solver.h
    -void ComputePermutationMatrix(const MatrixType &A)#
    +void ComputePermutationMatrix(const MatrixType &A)#

    Compute an efficient permutation matrix (ordering) for A and store internally.

    -void ComputeSymbolicSparsity(const MatrixType &A)#
    +void ComputeSymbolicSparsity(const MatrixType &A)#

    Compute symbolic sparsity pattern for A and store internally.

    -bool Factorize(const MatrixType &A)#
    +bool Factorize(const MatrixType &A)#

    Decompose A into A = L * D * L^T and store internally. A must have the same sparsity as the matrix used for construction. Returns true if factorization was successful, and false otherwise. NOTE(brad): Currently always returns true.

    -template<typename Rhs>
    RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#
    +template<typename Rhs>
    RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#

    Returns x for A x = b, where x and b are dense.

    -template<typename Rhs>
    void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#
    +template<typename Rhs>
    void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

    Solves in place for x in A x = b, where x and b are dense.

    -inline const CholMatrixType &L() const#
    +inline const CholMatrixType &L() const#
    -inline const VectorType &D() const#
    +inline const VectorType &D() const#
    -inline const PermutationMatrixType &Permutation() const#
    +inline const PermutationMatrixType &Permutation() const#
    -inline const PermutationMatrixType &InversePermutation() const#
    +inline const PermutationMatrixType &InversePermutation() const#
    -inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)#
    +inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)#
    @@ -910,57 +910,57 @@

    File sparse_cholesky_solver.h
    -Ordering ordering_#
    +Ordering ordering_#

    -CholMatrixType L_#
    +CholMatrixType L_#
    -VectorType D_#
    +VectorType D_#
    -PermutationMatrixType permutation_#
    +PermutationMatrixType permutation_#
    -PermutationMatrixType inv_permutation_#
    +PermutationMatrixType inv_permutation_#
    -Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> parent_#
    +Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> parent_#
    -Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> nnz_per_col_#
    +Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> nnz_per_col_#
    -CholMatrixType A_permuted_#
    +CholMatrixType A_permuted_#
    -Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> visited_#
    +Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> visited_#
    -Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> L_k_pattern_#
    +Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> L_k_pattern_#
    -Eigen::Matrix<Scalar, Eigen::Dynamic, 1> D_agg_#
    +Eigen::Matrix<Scalar, Eigen::Dynamic, 1> D_agg_#
    diff --git a/api-cpp/file/sparse__schur__solver_8h.html b/api-cpp/file/sparse__schur__solver_8h.html index 14038625..22b48b4f 100644 --- a/api-cpp/file/sparse__schur__solver_8h.html +++ b/api-cpp/file/sparse__schur__solver_8h.html @@ -789,27 +789,27 @@

    File sparse_schur_solver.hPublic Types

    -using MatrixType = _MatrixType#
    +using MatrixType = _MatrixType#
    -using Scalar = typename MatrixType::Scalar#
    +using Scalar = typename MatrixType::Scalar#
    -using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>#
    +using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>#
    -using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    +using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    -using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    +using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    @@ -817,7 +817,7 @@

    File sparse_schur_solver.hPublic Functions

    -inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())#
    +inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())#
    @@ -826,23 +826,23 @@

    File sparse_schur_solver.h -
    -void ComputeSymbolicSparsity(const MatrixType &A, const int C_dim)#
    +
    +void ComputeSymbolicSparsity(const MatrixType &A, int C_dim)#

    -void Factorize(const MatrixType &A)#
    +void Factorize(const MatrixType &A)#
    -template<typename RhsType>
    Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const#
    +template<typename RhsType>
    Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const#
    -void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const#
    +void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const#
    @@ -865,7 +865,7 @@

    File sparse_schur_solver.h
    -SMatrixSolverType S_solver_#
    +SMatrixSolverType S_solver_#

    @@ -876,17 +876,17 @@

    File sparse_schur_solver.hPublic Members

    -Eigen::SparseMatrix<Scalar> C_inv_lower#
    +Eigen::SparseMatrix<Scalar> C_inv_lower#
    -Eigen::SparseMatrix<Scalar> E_transpose#
    +Eigen::SparseMatrix<Scalar> E_transpose#
    -Eigen::SparseMatrix<Scalar> S_lower#
    +Eigen::SparseMatrix<Scalar> S_lower#
    @@ -914,7 +914,7 @@

    File sparse_schur_solver.h
    -std::vector<CBlock> C_blocks_#
    +std::vector<CBlock> C_blocks_#

    @@ -935,7 +935,7 @@

    File sparse_schur_solver.h
    -std::vector<int> col_starts_in_C_inv#
    +std::vector<int> col_starts_in_C_inv#

    diff --git a/api-cpp/file/templates_8h.html b/api-cpp/file/templates_8h.html index 02480990..3a65c587 100644 --- a/api-cpp/file/templates_8h.html +++ b/api-cpp/file/templates_8h.html @@ -745,12 +745,12 @@

    File templates.h#

    -template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...)> : public sym::function_traits<ReturnType(Args...)>#
    +template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...)> : public sym::function_traits<ReturnType(Args...)>#
    -template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...) const> : public sym::function_traits<ReturnType(Args...)>#
    +template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...) const> : public sym::function_traits<ReturnType(Args...)>#
    @@ -772,7 +772,7 @@

    File templates.h
    -template<typename T>
    struct function_traits<const     T> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<const T> : public sym::function_traits<T>#

    @@ -788,7 +788,7 @@

    File templates.h
    -using base_return_type = typename std::decay_t<return_type>#
    +using base_return_type = typename std::decay_t<return_type>#

    @@ -796,23 +796,23 @@

    File templates.hPublic Static Attributes

    -static constexpr std::size_t num_arguments = sizeof...(Args)#
    +static constexpr std::size_t num_arguments = sizeof...(Args)#
    -template<std::size_t N>
    struct arg#
    +template<std::size_t N>
    struct arg#

    Public Types

    -using type = typename std::tuple_element<N, std::tuple<Args...>>::type#
    +using type = typename std::tuple_element<N, std::tuple<Args...>>::type#
    -using base_type = typename std::decay_t<type>#
    +using base_type = typename std::decay_t<type>#
    @@ -842,7 +842,7 @@

    File templates.h
    -using base_return_type = typename std::decay_t<return_type>#
    +using base_return_type = typename std::decay_t<return_type>#

    @@ -850,7 +850,7 @@

    File templates.hPublic Static Attributes

    -static constexpr std::size_t num_arguments = signature::N#
    +static constexpr std::size_t num_arguments = signature::N#
    @@ -869,17 +869,17 @@

    File templates.h
    -template<std::size_t N>
    struct arg#
    +template<std::size_t N>
    struct arg#

    Public Types

    -using type = typename std::tuple_element<N, typename signature::type>::type#
    +using type = typename std::tuple_element<N, typename signature::type>::type#
    -using base_type = typename std::decay_t<type>#
    +using base_type = typename std::decay_t<type>#
    @@ -889,22 +889,22 @@

    File templates.h
    -template<typename T>
    struct function_traits<    T&> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<T&> : public sym::function_traits<T>#

    -template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>#
    -template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>#
    -template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>#
    @@ -914,7 +914,7 @@

    File templates.hPublic Types

    -using type = std::remove_cv_t<std::remove_reference_t<T>>#
    +using type = std::remove_cv_t<std::remove_reference_t<T>>#
    diff --git a/api-cpp/file/util_8h.html b/api-cpp/file/util_8h.html index d6c36d8f..6f2bce74 100644 --- a/api-cpp/file/util_8h.html +++ b/api-cpp/file/util_8h.html @@ -772,7 +772,7 @@

    File util.h
    -template<typename F, typename X>
    auto NumericalDerivative(const     F f, const X &x, const typename sym::StorageOps<X>::Scalar epsilon = kDefaultEpsilon<typename StorageOps<X>::Scalar>, const typename sym::StorageOps<X>::Scalar delta = 1e-2f)#
    +template<typename F, typename X>
    auto NumericalDerivative(const F f, const X &x, const typename sym::StorageOps<X>::Scalar epsilon = kDefaultEpsilon<typename StorageOps<X>::Scalar>, const typename sym::StorageOps<X>::Scalar delta = 1e-2f)#

    Compute the numerical derivative of a function using a central difference approximation

    TODO(aaron): Add a higher-order approximation to the derivative either as an option or as the default

    @@ -790,12 +790,12 @@

    File util.h
    -template<typename T>
    std::enable_if_t<kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)#
    +template<typename T>
    std::enable_if_t<kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)#

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)#
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)#
    @@ -809,7 +809,7 @@

    File util.hPublic Types

    -using Scalar = typename sym::StorageOps<T>::Scalar#
    +using Scalar = typename sym::StorageOps<T>::Scalar#
    @@ -817,12 +817,12 @@

    File util.hPublic Functions

    -inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    -inline T operator()(const T &a, const T &b, const Scalar t)#
    +inline T operator()(const T &a, const T &b, const Scalar t)#
    @@ -830,7 +830,7 @@

    File util.hPrivate Members

    -const Scalar epsilon_#
    +const Scalar epsilon_#
    diff --git a/api-cpp/file/values_8h.html b/api-cpp/file/values_8h.html index 222418a4..e2f77761 100644 --- a/api-cpp/file/values_8h.html +++ b/api-cpp/file/values_8h.html @@ -750,12 +750,12 @@

    File values.hTypedefs

    -using Valuesd = Values<double>#
    +using Valuesd = Values<double>#
    -using Valuesf = Values<float>#
    +using Valuesf = Values<float>#
    @@ -763,7 +763,7 @@

    File values.hFunctions

    -template<typename Scalar>
    std::ostream &operator<<(std::ostream &os, const Values<Scalar> &v)#
    +template<typename Scalar>
    std::ostream &operator<<(std::ostream &os, const Values<Scalar> &v)#

    Prints entries with their keys, data slices, and values, like: 

    Valuesd entries=4 array=8 storage_dim=7 tangent_dim=6
   R_1 [0:4] --> <Rot3d [0.563679, 0.0939464, 0, 0.820634]>
   f_1 [5:6] --> 4.2
@@ -787,17 +787,17 @@ 
    File values.hPublic Types
    
 
    
 
    
-using MapType = std::unordered_map<Key, index_entry_t>#
    
+using MapType = std::unordered_map<Key, index_entry_t>#
    
 
    
 
 
    
 
    
-using ArrayType = std::vector<Scalar>#
    
+using ArrayType = std::vector<Scalar>#
    
 
    
 
 
    
 
    
-using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type#
    
+using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type#
    
 
    Expose the correct LCM type (values_t or valuesf_t) 
    
 
    
 
@@ -812,54 +812,54 @@ 
    File values.h
 
    
-explicit Values(std::initializer_list<Values<Scalar>> others)#
    
-
    Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list
    
-
    NOTE(alvin): others Values should not contain overlapping Keys 
    
+explicit Values(std::initializer_list<Values<Scalar>> others)#
    
+
    Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list
    
+
    NOTE(alvin): others Values should not contain overlapping Keys
    -explicit Values(const LcmType &msg)#
    +explicit Values(const LcmType &msg)#

    Construct from serialized form.

    -bool Has(const Key &key) const#
    +bool Has(const Key &key) const#

    Return whether the key exists.

    -template<typename T>
    T At(const Key &key) const#
    +template<typename T>
    T At(const Key &key) const#

    Retrieve a value by key.

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)#
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)#

    Add or update a value by key. Returns true if added, false if updated.

    Overload for non-Eigen types

    -template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)#
    +template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)#

    Add or update a value by key. Returns true if added, false if updated.

    Overload for Eigen types

    -template<typename T>
    void SetNew(const Key &key, T &&value)#
    +template<typename T>
    void SetNew(const Key &key, T &&value)#

    Add a value by key, throws runtime_error if the key already exists.

    This is useful when setting up initial values for a problem.

    -void UpdateOrSet(const index_t &index, const Values<Scalar> &other)#
    -

    Update or add keys to this Values base on other Values of different structure.

    +void UpdateOrSet(const index_t &index, const Values<Scalar> &other)#
    +

    Update or add keys to this Values base on other Values of different structure.

    index MUST be valid for other.

    NOTE(alvin): it is less efficient than the Update methods below if index objects are created and cached. This method performs map lookup for each key of the index

    @@ -877,8 +877,8 @@

    File values.h -
    -std::vector<Key> Keys(const bool sort_by_offset = true) const#
    +
    +std::vector<Key> Keys(bool sort_by_offset = true) const#

    Get all keys.

    NOTE(hayk): If we changed key storage to a sorted vector this could automatically be maintained and it would be more embedded friendly, but At(key) would become O(N) for linear search.

    @@ -891,28 +891,28 @@

    File values.h
    -const MapType &Items() const#
    +const MapType &Items() const#

    Expose map type to allow iteration.

    -const ArrayType &Data() const#
    +const ArrayType &Data() const#

    Raw data buffer.

    -template<typename NewScalar>
    Values<NewScalar> Cast() const#
    +template<typename NewScalar>
    Values<NewScalar> Cast() const#

    Cast to another Scalar type (returns a copy)

    -bool Remove(const Key &key)#
    +bool Remove(const Key &key)#

    Remove the given key.

    Only removes the index entry, does not change the data array. Returns true if removed, false if already not present.

    -

    Call Cleanup() to re-pack the data array.

    +

    Call Cleanup() to re-pack the data array.

    @@ -926,71 +926,71 @@

    File values.hsize_t Cleanup()#

    Repack the data array to get rid of empty space from removed keys.

    If regularly removing keys, it’s up to the user to call this appropriately to avoid storage growth. Returns the number of Scalar elements cleaned up from the data array.

    -

    It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex().

    +

    It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex().

    -index_t CreateIndex(const std::vector<Key> &keys) const#
    +index_t CreateIndex(const std::vector<Key> &keys) const#

    Create an index from the given ordered subset of keys. This object can then be used for repeated efficient operations on that subset of keys.

    If you want an index of all the keys, call values.CreateIndex(values.Keys()).

    An index will be INVALIDATED if the following happens:

    -

    1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    NOTE(hayk): We could also add a simple UpdateIndex(&index) method, since the offset is the only thing that needs to get updated after repacking.

    -index_entry_t IndexEntryAt(const Key &key) const#
    +index_entry_t IndexEntryAt(const Key &key) const#

    Retrieve an index entry by key. This performs a map lookup.

    An index entry will be INVALIDATED if the following happens:

    -

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    -optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const#
    +optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const#

    Retrieve an index entry by key, or the empty optional if the key is not present. This performs a map lookup.

    An index entry will be INVALIDATED if the following happens:

    -

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    -template<typename T>
    T At(const index_entry_t &entry) const#
    +template<typename T>
    T At(const index_entry_t &entry) const#

    Retrieve a value by index entry. This avoids a map lookup compared to At(key).

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)#
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)#

    Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

    Overload for non-Eigen types

    -template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)#
    +template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)#

    Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

    Overload for Eigen types

    -void Update(const index_t &index, const Values<Scalar> &other)#
    +void Update(const index_t &index, const Values<Scalar> &other)#

    Efficiently update the keys given by this index from other into this. This purely copies slices of the data arrays, the index MUST be valid for both objects!

    -void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)#
    -

    Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

    +void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)#
    +

    Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

    index_this MUST be valid for this object; index_other MUST be valid for other object.

    -
    -void Retract(const index_t &index, const Scalar *delta, const Scalar epsilon)#
    +
    +void Retract(const index_t &index, const Scalar *delta, Scalar epsilon)#

    Perform a retraction from an update vector.

    Parameters:
    @@ -1004,14 +1004,14 @@

    File values.h -
    -VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, const Scalar epsilon)#
    -

    Express this Values in the local coordinate of others Values, i.e., this \ominus others

    +
    +VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, Scalar epsilon)#
    +

    Express this Values in the local coordinate of others Values, i.e., this \ominus others

    Parameters:
      -

    • others – The other Values that the local coordinate is relative to

      • -

    • index – Ordered list of keys to include (MUST be valid for both this and others Values)

      • +

    • others – The other Values that the local coordinate is relative to

      • +

    • index – Ordered list of keys to include (MUST be valid for both this and others Values)

    • epsilon – Small constant to avoid singularities (do not use zero)

    @@ -1020,18 +1020,18 @@

    File values.h
    -void FillLcmType(LcmType &msg, bool sort_keys = false) const#
    +void FillLcmType(LcmType &msg, bool sort_keys = false) const#

    Serialize to LCM.

    -void FillLcmType(LcmType *msg, bool sort_keys = false) const#
    +void FillLcmType(LcmType *msg, bool sort_keys = false) const#
    -LcmType GetLcmType(bool sort_keys = false) const#
    +LcmType GetLcmType(bool sort_keys = false) const#
    @@ -1039,7 +1039,7 @@

    File values.hProtected Functions

    -template<typename T>
    bool SetInternal(const     sym::Key &key, const T &value)#
    +template<typename T>
    bool SetInternal(const sym::Key &key, const T &value)#
    @@ -1052,12 +1052,12 @@

    File values.hProtected Attributes

    -MapType map_#
    +MapType map_#
    -ArrayType data_#
    +ArrayType data_#
    diff --git a/api-cpp/namespace/namespacestd.html b/api-cpp/namespace/namespacestd.html index 767d28c1..4dfcb8f1 100644 --- a/api-cpp/namespace/namespacestd.html +++ b/api-cpp/namespace/namespacestd.html @@ -754,7 +754,7 @@

    Namespace stdPublic Functions

    -std::size_t operator()(const sym::Key &key) const#
    +std::size_t operator()(const sym::Key &key) const#
    @@ -767,7 +767,7 @@

    Namespace stdPublic Functions

    -std::size_t operator()(const sym::key_t &key) const#
    +std::size_t operator()(const sym::key_t &key) const#
    diff --git a/api-cpp/namespace/namespacesym.html b/api-cpp/namespace/namespacesym.html index aec084f0..39e1a24f 100644 --- a/api-cpp/namespace/namespacesym.html +++ b/api-cpp/namespace/namespacesym.html @@ -750,77 +750,77 @@

    Namespace symTypedefs

    -using Factord = Factor<double>#
    +using Factord = Factor<double>#
    -using Factorf = Factor<float>#
    +using Factorf = Factor<float>#
    -template<typename Scalar>
    using SparseLinearization = Linearization<Eigen::SparseMatrix<Scalar>>#
    +template<typename Scalar>
    using SparseLinearization = Linearization<Eigen::SparseMatrix<Scalar>>#
    -using SparseLinearizationd = SparseLinearization<double>#
    +using SparseLinearizationd = SparseLinearization<double>#
    -using SparseLinearizationf = SparseLinearization<float>#
    +using SparseLinearizationf = SparseLinearization<float>#
    -template<typename Scalar>
    using DenseLinearization = Linearization<MatrixX<Scalar>>#
    +template<typename Scalar>
    using DenseLinearization = Linearization<MatrixX<Scalar>>#
    -using DenseLinearizationd = DenseLinearization<double>#
    +using DenseLinearizationd = DenseLinearization<double>#
    -using DenseLinearizationf = DenseLinearization<float>#
    +using DenseLinearizationf = DenseLinearization<float>#
    -template<typename Scalar>
    using SparseOptimizationStats = OptimizationStats<Eigen::SparseMatrix<Scalar>>#
    +template<typename Scalar>
    using SparseOptimizationStats = OptimizationStats<Eigen::SparseMatrix<Scalar>>#
    -template<typename Scalar>
    using DenseOptimizationStats = OptimizationStats<MatrixX<Scalar>>#
    +template<typename Scalar>
    using DenseOptimizationStats = OptimizationStats<MatrixX<Scalar>>#
    -using OptimizationStatsd = SparseOptimizationStats<double>#
    +using OptimizationStatsd = SparseOptimizationStats<double>#
    -using OptimizationStatsf = SparseOptimizationStats<float>#
    +using OptimizationStatsf = SparseOptimizationStats<float>#
    -using Optimizerd = Optimizer<double>#
    +using Optimizerd = Optimizer<double>#
    -using Optimizerf = Optimizer<float>#
    +using Optimizerf = Optimizer<float>#
    -template<typename T>
    using optional = tl::optional<T>#
    +template<typename T>
    using optional = tl::optional<T>#
    @@ -830,62 +830,62 @@

    Namespace sym
    -using Valuesd = Values<double>
    +using Valuesd = Values<double>

    -using Valuesf = Values<float>
    +using Valuesf = Values<float>
    -using ImuFactord = ImuFactor<double>#
    +using ImuFactord = ImuFactor<double>#
    -using ImuFactorf = ImuFactor<float>#
    +using ImuFactorf = ImuFactor<float>#
    -using ImuWithGravityFactord = ImuWithGravityFactor<double>#
    +using ImuWithGravityFactord = ImuWithGravityFactor<double>#
    -using ImuWithGravityFactorf = ImuWithGravityFactor<float>#
    +using ImuWithGravityFactorf = ImuWithGravityFactor<float>#
    -using ImuWithGravityDirectionFactord = ImuWithGravityDirectionFactor<double>#
    +using ImuWithGravityDirectionFactord = ImuWithGravityDirectionFactor<double>#
    -using ImuWithGravityDirectionFactorf = ImuWithGravityDirectionFactor<float>#
    +using ImuWithGravityDirectionFactorf = ImuWithGravityDirectionFactor<float>#
    -using ImuPreintegratord = ImuPreintegrator<double>#
    +using ImuPreintegratord = ImuPreintegrator<double>#
    -using ImuPreintegratorf = ImuPreintegrator<float>#
    +using ImuPreintegratorf = ImuPreintegrator<float>#
    -using PreintegratedImuMeasurementsd = PreintegratedImuMeasurements<double>#
    +using PreintegratedImuMeasurementsd = PreintegratedImuMeasurements<double>#
    -using PreintegratedImuMeasurementsf = PreintegratedImuMeasurements<float>#
    +using PreintegratedImuMeasurementsf = PreintegratedImuMeasurements<float>#
    @@ -893,21 +893,21 @@

    Namespace symFunctions

    -inline std::string FormatFailure(const char *error, const char *func, const char *file, int line)#
    +inline std::string FormatFailure(const char *error, const char *func, const char *file, int line)#

    Format an assertion failure.

    -template<typename ...T>
    inline std::string FormatFailure(const char *error, const char *func, const char *file, int line, const char *fmt, T&&... args)#
    +template<typename ...T>
    inline std::string FormatFailure(const char *error, const char *func, const char *file, int line, const char *fmt, T&&... args)#

    Format an assertion failure with a custom message, and optional additional things to format into the message.

    -template<typename Scalar>
    void DumpGraph(const std::string &name, const std::vector<Key> &keys, const std::vector<Factor<Scalar>> &factors, std::ostream &out)#
    +template<typename Scalar>
    void DumpGraph(const std::string &name, const std::vector<Key> &keys, const std::vector<Factor<Scalar>> &factors, std::ostream &out)#

    Write the factor graph in .dot format to the given stream

    -

    The factor graph is represented as keys and factors. For example, these can be obtained from an Optimizer as optimizer.Keys() and optimizer.Factors().

    +

    The factor graph is represented as keys and factors. For example, these can be obtained from an Optimizer as optimizer.Keys() and optimizer.Factors().

    Parameters:
    -std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factor_t &factor)#
    +std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factor_t &factor)#
    -std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factorf_t &factor)#
    +std::ostream &operator<<(std::ostream &os, const sym::linearized_dense_factorf_t &factor)#
    -std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factor_t &factor)#
    +std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factor_t &factor)#
    -std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factorf_t &factor)#
    +std::ostream &operator<<(std::ostream &os, const sym::linearized_sparse_factorf_t &factor)#
    -template<typename Scalar, typename Compare>
    std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors, Compare key_compare)#
    +template<typename Scalar, typename Compare>
    std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors, Compare key_compare)#

    Compute the combined set of keys to optimize from the given factors. Order using the given comparison function.

    -template<typename Scalar>
    std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors)#
    +template<typename Scalar>
    std::vector<Key> ComputeKeysToOptimize(const std::vector<Factor<Scalar>> &factors)#
    -std::ostream &operator<<(std::ostream &os, const sym::Key &key)#
    -

    Print implementation for Key.

    +std::ostream &operator<<(std::ostream &os, const sym::Key &key)#
    +

    Print implementation for Key.

    Examples: 

    Key('C', 13) -> "C_13"
 Key('f') -> "f"
 Key('f', 32, 2) -> "f_32_2"
@@ -982,19 +982,19 @@ 
    Namespace sym
 
    
-template<typename Scalar>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::SparseMatrix<    Scalar> &matrix)#
    
+template<typename Scalar>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::SparseMatrix<Scalar> &matrix)#
    
 
    Returns the sparse matrix structure of matrix.
    -template<typename Derived>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::EigenBase<Derived>&)#
    +template<typename Derived>
    sparse_matrix_structure_t GetSparseStructure(const Eigen::EigenBase<Derived>&)#

    Return a default initialized sparse structure because arg is dense.

    -template<typename Scalar>
    Eigen::Map<const VectorX<Scalar>> JacobianValues(const Eigen::SparseMatrix<Scalar> &matrix)#
    +template<typename Scalar>
    Eigen::Map<const VectorX<Scalar>> JacobianValues(const Eigen::SparseMatrix<Scalar> &matrix)#

    Returns coefficients of matrix. Overloads exist for both dense and sparse matrices to make writing generic code easier.

    This version returns the non-zero values of an Eigen::SparseMatrix

    Note: it returns a map, so be careful about mutating or disposing of matrix before you are finished with the output.

    @@ -1002,32 +1002,32 @@

    Namespace sym
    -template<typename Scalar>
    const     MatrixX<Scalar> &JacobianValues(const MatrixX<Scalar> &matrix)#
    +template<typename Scalar>
    const MatrixX<Scalar> &JacobianValues(const MatrixX<Scalar> &matrix)#

    Returns coefficients of matrix. Overloads exist for both dense and sparse matrices to make writing generic code easier.

    Returns a const-ref to the argument.

    -template<typename Scalar>
    SparseLinearization<Scalar> Linearize(const std::vector<Factor<Scalar>> &factors, const Values<Scalar> &values, const std::vector<Key> &keys_to_optimize = {}, const std::string &linearizer_name = "Linearizer")#
    -

    Free function as an alternate way to call the Linearizer

    +template<typename Scalar>
    SparseLinearization<Scalar> Linearize(const std::vector<Factor<Scalar>> &factors, const Values<Scalar> &values, const std::vector<Key> &keys_to_optimize = {}, const std::string &linearizer_name = "Linearizer")#
    +

    Free function as an alternate way to call the Linearizer

    -template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> &values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> &values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#

    Simple wrapper to make it one function call.

    -template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> *values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +template<typename Scalar, typename NonlinearSolverType = LevenbergMarquardtSolver<Scalar>>
    Optimizer<Scalar, NonlinearSolverType>::Stats Optimize(const optimizer_params_t &params, const std::vector<Factor<Scalar>> &factors, Values<Scalar> *values, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    optimizer_params_t DefaultOptimizerParams()#
    -

    Sensible default parameters for Optimizer

    +

    Sensible default parameters for Optimizer

    @@ -1054,7 +1054,7 @@

    Namespace sym
    -template<typename F, typename X>
    auto NumericalDerivative(const     F f, const X &x, const typename sym::StorageOps<X>::Scalar epsilon = kDefaultEpsilon<typename StorageOps<X>::Scalar>, const typename sym::StorageOps<X>::Scalar delta = 1e-2f)
    +template<typename F, typename X>
    auto NumericalDerivative(const F f, const X &x, const typename sym::StorageOps<X>::Scalar epsilon = kDefaultEpsilon<typename StorageOps<X>::Scalar>, const typename sym::StorageOps<X>::Scalar delta = 1e-2f)

    Compute the numerical derivative of a function using a central difference approximation

    TODO(aaron): Add a higher-order approximation to the derivative either as an option or as the default

    @@ -1072,17 +1072,17 @@

    Namespace sym
    -template<typename T>
    std::enable_if_t<kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)
    +template<typename T>
    std::enable_if_t<kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> IsApprox(const T &a, const T &b, const typename StorageOps<T>::Scalar epsilon)
    -template<typename Scalar>
    std::ostream &operator<<(std::ostream &os, const Values<Scalar> &v)
    +template<typename Scalar>
    std::ostream &operator<<(std::ostream &os, const Values<Scalar> &v)

    Prints entries with their keys, data slices, and values, like: 

    Valuesd entries=4 array=8 storage_dim=7 tangent_dim=6
   R_1 [0:4] --> <Rot3d [0.563679, 0.0939464, 0, 0.820634]>
   f_1 [5:6] --> 4.2
@@ -1100,17 +1100,17 @@ 
    Namespace symtemplate<typename Scalar>
    class DenseCholeskySolver    #
    
 
    
 #include <dense_cholesky_solver.h>
    
-
    A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 
    
+
    A thin wrapper around Eigen::LDLT for use in nonlinear solver classes like sym::LevenbergMarquardtSolver. 
    
 
    
 
    Public Types
    
 
    
 
    
-using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    
+using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>#
    
 
    
 
 
    
 
    
-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    
+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    
 
    
 
 
    
@@ -1118,7 +1118,7 @@ 
    Namespace symPublic Functions
    
 
    
 
    
-inline bool Factorize(const MatrixType &A)#
    
+inline bool Factorize(const MatrixType &A)#
    
 
    Decompose A into A = P^T * L * D * L^T * P and store internally. 
    
 
    
 
    Pre:
    
@@ -1132,7 +1132,7 @@ 
    Namespace sym
 
    
-template<typename Rhs>
    inline     RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#
    
+template<typename Rhs>
    inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#
    
 
    
 
    Returns:
    
 
    x for A x = b, where x and b are dense 
    
@@ -1145,7 +1145,7 @@ 
    Namespace sym
 
    
-template<typename Rhs>
    inline void SolveInPlace(Eigen::MatrixBase<    Rhs> &b) const#
    
+template<typename Rhs>
    inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#
    
 
    Solves in place for x in A x = b, where x and b are dense 
    
 
    
 
    Pre:
    
@@ -1195,7 +1195,7 @@ 
    Namespace sym
 
    
-template<typename Derived>
    inline void AnalyzeSparsityPattern(const Eigen::EigenBase<    Derived>&)#
    
+template<typename Derived>
    inline void AnalyzeSparsityPattern(const Eigen::EigenBase<Derived>&)#
    
 
    Defined to satisfy interface. No analysis is needed so is a no-op. 
    
 
    
 
@@ -1209,12 +1209,12 @@ 
    Namespace symPublic Types
    
 
    
 
    
-using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#
    
+using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#
    
 
    
 
 
    
 
    
-using LinearizationType = DenseLinearization<Scalar>#
    
+using LinearizationType = DenseLinearization<Scalar>#
    @@ -1222,8 +1222,8 @@

    Namespace symPublic Functions

    -DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#
    -

    Construct a Linearizer from factors and optional keys

    +DenseLinearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#
    +

    Construct a Linearizer from factors and optional keys

    Parameters:
      @@ -1239,26 +1239,26 @@

      Namespace sym
      bool IsInitialized() const#
      -

      Returns whether Relinearize() has already been called once.

      -

      Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size.

      +

      Returns whether Relinearize() has already been called once.

      +

      Matters because many calculations need to be called only on the first linearization that are then cached for subsequent use. Also, if Relinearize() has already been called, then the matrices in the linearization are expected to already be allocated to the right size.

    -const std::vector<Key> &Keys() const#
    +const std::vector<Key> &Keys() const#

    The keys to optimize, in the order they appear in the state vector (i.e., in rhs).

    -const std::unordered_map<key_t, index_entry_t> &StateIndex() const#
    +const std::unordered_map<key_t, index_entry_t> &StateIndex() const#

    A map from all optimized keys in the problem to an index entry for the corresponding optimized values (where the offset is into the problem state vector, i.e., the rhs of a linearization).

    -

    Only read if IsInitialized() returns true (i.e., after the first call to Relinearize).

    +

    Only read if IsInitialized() returns true (i.e., after the first call to Relinearize).

    -void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#
    +void Relinearize(const Values<Scalar> &values, DenseLinearization<Scalar> &linearization)#

    Update linearization at a new evaluation point. This is more efficient than reconstructing this object repeatedly. On the first call, it will allocate memory and perform analysis needed for efficient repeated relinearization.

    On the first call to Relinearize, the matrices in linearization will be allocated and sized correctly. On subsequent calls, the matrices of linearization are expected to already be allocated and sized correctly.

    TODO(aaron): This should be const except that it can initialize the object

    @@ -1272,7 +1272,7 @@

    Namespace symtemplate<typename Scalar, typename EigenSolver>
    class EigenSparseSolver    #
    #include <eigen_sparse_solver.h>
    -

    A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

    +

    A thin wrapper around Eigen’s Sparse Solver interface for use in nonlinear solver classes like sym::LevenbergMarquardtSolver.

    Can be specialized with anything satisfying the SparseSolver concept.

    For example, can be used like: 

    using LinearSolver =
     sym::EigenSparseSolver<double, Eigen::CholmodDecomposition<Eigen::SparseMatrix<double>>>;
@@ -1287,12 +1287,12 @@ 
    Namespace symPublic Types
    
 
    
 
    
-using MatrixType = Eigen::SparseMatrix<Scalar>#
    
+using MatrixType = Eigen::SparseMatrix<Scalar>#
    
 
    
 
 
    
 
    
-using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    
+using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>#
    @@ -1300,7 +1300,7 @@

    Namespace symPublic Functions

    -inline bool Factorize(const MatrixType &A)#
    +inline bool Factorize(const MatrixType &A)#

    Factorize A and store internally.

    Parameters:
    @@ -1314,7 +1314,7 @@

    Namespace sym
    -template<typename Rhs>
    inline     RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#
    +template<typename Rhs>
    inline RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const#
    Returns:

    x for A x = b, where x and b are dense

    @@ -1327,7 +1327,7 @@

    Namespace sym
    -template<typename Rhs>
    inline void SolveInPlace(Eigen::MatrixBase<    Rhs> &b) const#
    +template<typename Rhs>
    inline void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const#

    Solves in place for x in A x = b, where x and b are dense

    Eigen solvers cannot actually solve in place, so this solves, then copies back into the argument.

    @@ -1339,7 +1339,7 @@

    Namespace sym
    -inline MatrixType L() const#
    +inline MatrixType L() const#
    Returns:

    the lower triangular matrix L such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize and D is a diagonal matrix with positive diagonal entries, and P is a permutation matrix.

    @@ -1352,7 +1352,7 @@

    Namespace sym
    -inline MatrixType D() const#
    +inline MatrixType D() const#
    Returns:

    the diagonal matrix D such that P^T * L * D * L^T * P = A, where A is the last matrix to have been factorized with this->Factorize, L is lower triangular with unit diagonal, and P is a permutation matrix

    @@ -1378,7 +1378,7 @@

    Namespace sym
    -inline void AnalyzeSparsityPattern(const MatrixType &A)#
    +inline void AnalyzeSparsityPattern(const MatrixType &A)#

    Defined to satisfy interface. No analysis is needed so is a no-op.

    @@ -1391,52 +1391,52 @@

    Namespace sym #include <factor.h>

    A residual term for optimization.

    -

    Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation.

    +

    Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation point, generates a linear approximation to the residual function. Contains templated helper constructors to simplify creation.

    Public Types

    -using Scalar = ScalarType#
    +using Scalar = ScalarType#
    -using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type#
    +using LinearizedDenseFactor = typename LinearizedDenseFactorTypeHelper<Scalar>::Type#
    -using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type#
    +using LinearizedSparseFactor = typename LinearizedSparseFactorTypeHelper<Scalar>::Type#
    -template<typename JacobianMatrixType>
    using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>#
    +template<typename JacobianMatrixType>
    using JacobianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, JacobianMatrixType*)>#
    -using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>#
    +using DenseJacobianFunc = JacobianFunc<MatrixX<Scalar>>#
    -using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>#
    +using SparseJacobianFunc = JacobianFunc<Eigen::SparseMatrix<Scalar>>#
    -template<typename MatrixType>
    using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>#
    +template<typename MatrixType>
    using HessianFunc = std::function<void(const Values<Scalar>&, const std::vector<index_entry_t>&, VectorX<Scalar>*, MatrixType*, MatrixType*, VectorX<Scalar>*)>#
    -using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>#
    +using DenseHessianFunc = HessianFunc<MatrixX<Scalar>>#
    -using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>#
    +using SparseHessianFunc = HessianFunc<Eigen::SparseMatrix<Scalar>>#
    @@ -1449,7 +1449,7 @@

    Namespace sym
    -Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +Factor(DenseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

    Create directly from a (dense/sparse) hessian functor. This is the lowest-level constructor.

    Parameters:
    @@ -1463,12 +1463,12 @@

    Namespace sym
    -Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +Factor(SparseHessianFunc hessian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

    -Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +Factor(const DenseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

    Create from a function that computes the (dense/sparse) jacobian. The hessian will be computed using the Gauss Newton approximation: 

    H   = J.T * J
 rhs = J.T * b
    @@ -1486,76 +1486,76 @@

    Namespace sym
    -Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +Factor(const SparseJacobianFunc &jacobian_func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

    -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output just the numerical values of the residual.

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, MatrixX<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

    -

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    +

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    -void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +void Linearize(const Values<Scalar> &values, VectorX<Scalar> *residual, Eigen::SparseMatrix<Scalar> *jacobian, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.

    -

    This overload can only be called if IsSparse() is true; otherwise, it will throw

    +

    This overload can only be called if IsSparse() is true; otherwise, it will throw

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    -void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +void Linearize(const Values<Scalar> &values, LinearizedDenseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

    -

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    +

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    -LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +LinearizedDenseFactor Linearize(const Values<Scalar> &values, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

    -

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    +

    This overload can only be called if IsSparse() is false; otherwise, it will throw

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    -void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#
    +void Linearize(const Values<Scalar> &values, LinearizedSparseFactor &linearized_factor, const std::vector<index_entry_t> *maybe_index_entry_cache = nullptr) const#

    Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that contains the numerical values of the residual, jacobian, hessian, and right-hand-side.

    This overload can only be called if IsSparse is true; otherwise, it will throw

    Parameters:
    -

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    +

    maybe_index_entry_cache – Optional. If provided, should be the index entries for each of the inputs to the factor in the given Values. For repeated linearization, caching this prevents repeated hash lookups. Can be computed as values.CreateIndex(factor.AllKeys()).entries.

    @@ -1568,13 +1568,13 @@

    Namespace sym
    -const std::vector<Key> &OptimizedKeys() const#
    +const std::vector<Key> &OptimizedKeys() const#

    Get the optimized keys for this factor

    -const std::vector<Key> &AllKeys() const#
    +const std::vector<Key> &AllKeys() const#

    Get all keys required to evaluate this factor

    @@ -1583,14 +1583,14 @@

    Namespace symPublic Static Functions

    -template<typename Functor>
    static     Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +template<typename Functor>
    static Factor Jacobian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#

    Create from a function that computes the jacobian. The hessian will be computed using the Gauss Newton approximation: 

    H   = J.T * J
 rhs = J.T * b

    -

    This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

    -

    If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

    +

    This version handles a variety of functors that take in individual input arguments rather than a Values object - the last two arguments to func should be outputs for the residual and jacobian; arguments before that should be inputs to func.

    +

    If generating this factor from a single Python function, you probably want to use the Factor::Hessian constructor instead (it’ll likely result in faster linearization). If you really want to generate a factor and use this constructor, func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=STACKED_JACOBIAN

    See symforce_factor_test.cc for many examples.

    Parameters:
    @@ -1604,8 +1604,8 @@

    Namespace sym
    -template<typename Functor>
    static     Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    -

    Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

    +template<typename Functor>
    static Factor Hessian(Functor &&func, const std::vector<Key> &keys_to_func, const std::vector<Key> &keys_to_optimize = {})#
    +

    Create from a functor that computes the full linearization, but takes in individual input arguments rather than a Values object. The last four arguments to func should be outputs for the residual, jacobian, hessian, and rhs; arguments before that should be inputs to func.

    This should be used in cases where computing J^T J using a matrix multiplication is slower than evaluating J^T J symbolically; for instance, if the jacobian is sparse or J^T J has structure so that CSE is very effective.

    func can be generated easily by creating a Codegen object from a Python function which returns the residual, then calling with_linearization with linearization_mode=FULL_LINEARIZATION (the default)

    See symforce_factor_test.cc for many examples.

    @@ -1630,7 +1630,7 @@

    Namespace sym
    -template<typename T>
    struct function_traits<const     T> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<const T> : public sym::function_traits<T>

    @@ -1646,7 +1646,7 @@

    Namespace sym
    -using base_return_type = typename std::decay_t<return_type>
    +using base_return_type = typename std::decay_t<return_type>

    @@ -1654,23 +1654,23 @@

    Namespace symPublic Static Attributes

    -static constexpr std::size_t num_arguments = sizeof...(Args)
    +static constexpr std::size_t num_arguments = sizeof...(Args)
    -template<std::size_t N>
    struct arg
    +template<std::size_t N>
    struct arg

    Public Types

    -using type = typename std::tuple_element<N, std::tuple<Args...>>::type
    +using type = typename std::tuple_element<N, std::tuple<Args...>>::type
    -using base_type = typename std::decay_t<type>
    +using base_type = typename std::decay_t<type>
    @@ -1700,7 +1700,7 @@

    Namespace sym
    -using base_return_type = typename std::decay_t<return_type>
    +using base_return_type = typename std::decay_t<return_type>

    @@ -1708,23 +1708,23 @@

    Namespace symPublic Static Attributes

    -static constexpr std::size_t num_arguments = signature::N
    +static constexpr std::size_t num_arguments = signature::N
    -template<std::size_t N>
    struct arg
    +template<std::size_t N>
    struct arg

    Public Types

    -using type = typename std::tuple_element<N, typename signature::type>::type
    +using type = typename std::tuple_element<N, typename signature::type>::type
    -using base_type = typename std::decay_t<type>
    +using base_type = typename std::decay_t<type>
    @@ -1734,41 +1734,41 @@

    Namespace sym
    -template<typename T>
    struct function_traits<    T&> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<T&> : public sym::function_traits<T>

    -template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>
    -template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>
    -template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>
    -template<typename BaseOptimizerType>
    class GncOptimizer : public BaseOptimizerType#
    +template<typename BaseOptimizerType>
    class GncOptimizer : public BaseOptimizerType#
    #include <gnc_optimizer.h>
    -

    Subclass of Optimizer for using Graduated Non-Convexity (GNC)

    +

    Subclass of Optimizer for using Graduated Non-Convexity (GNC)

    Assumes the convexity of the cost function is controlled by a hyperparameter mu. When mu == 0 the cost function should be convex and as mu goes to 1 the cost function should smoothly transition to a robust cost.

    Public Types

    -using BaseOptimizer = BaseOptimizerType#
    +using BaseOptimizer = BaseOptimizerType#
    -using Scalar = typename BaseOptimizer::Scalar#
    +using Scalar = typename BaseOptimizer::Scalar#
    @@ -1776,7 +1776,7 @@

    Namespace symPublic Functions

    -template<typename ...OptimizerArgs>
    inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const     Key &gnc_mu_key, OptimizerArgs&&... args)#
    +template<typename ...OptimizerArgs>
    inline GncOptimizer(const optimizer_params_t &optimizer_params, const optimizer_gnc_params_t &gnc_params, const Key &gnc_mu_key, OptimizerArgs&&... args)#

    Constructor that copies in factors and keys

    @@ -1787,12 +1787,12 @@

    Namespace sym
    -inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override#
    +inline void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats &stats) override#

    -inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override#
    +inline void Optimize(Values<Scalar> *const values, int num_iterations, bool populate_best_linearization, typename BaseOptimizer::Stats *const stats) override#
    @@ -1809,7 +1809,7 @@

    Namespace sym[0, 0, -g] (where g is 9.8, assuming your world frame is gravity aligned so that the -z direction points towards the Earth) unless your IMU reads 0 acceleration while stationary, in which case it should be [0, 0, 0].

    More generally, the gravity argument should yield the true acceleration when added to the accelerometer measurement (after the measurement has been converted to the world frame).

    Is a functor so as to store the preintegrated IMU measurements between two times. The residual computed is the local-coordinate difference between the final state (pose and velocity) and the state you would expect given the initial state and the IMU measurements.

    -

    Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 

    Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
+
    Based heavily on the on manifold ImuFactor found in GTSAM and on the paper: 
    Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza,
 “IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori
 Estimation”, Robotics: Science and Systems (RSS), 2015.
 
    
@@ -1903,27 +1903,27 @@ 
    Namespace symPublic Types
    
 
    
 
    
-using Pose3 = sym::Pose3<Scalar>#
    
+using Pose3 = sym::Pose3<Scalar>#
    
 
    
 
 
    
 
    
-using Vector3 = sym::Vector3<Scalar>#
    
+using Vector3 = sym::Vector3<Scalar>#
    
 
    
 
 
    
 
    
-using Preintegrator = sym::ImuPreintegrator<Scalar>#
    
+using Preintegrator = sym::ImuPreintegrator<Scalar>#
    
 
    
 
 
    
 
    
-using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    
+using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    
 
    
 
 
    
 
    
-using SqrtInformation = sym::Matrix99<Scalar>#
    
+using SqrtInformation = sym::Matrix99<Scalar>#
    
 
    
 
 
    
@@ -1931,26 +1931,26 @@ 
    Namespace symPublic Functions
    
 
    
 
    
-explicit ImuFactor(const Preintegrator &preintegrator)#
    
-
    Construct an ImuFactor from a preintegrator. 
    
+explicit ImuFactor(const Preintegrator &preintegrator)#
    
+
    Construct an ImuFactor from a preintegrator. 
    
 
    
 
 
    
 
    
-ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    
-
    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 
    
+ImuFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    
+
    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information. 
    
 
    
 
 
    
 
    
-sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    
-
    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.
    
+sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    
+
    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.
    
 
    Convenience method to avoid manually specifying which arguments are optimized. 
    
 
    
 
 
    
-
    
-void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr) const#
    
+
    
+void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 24> *jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *rhs = nullptr) const#
    
 
    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.
    
 
    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.
    
 
    
@@ -1982,22 +1982,22 @@ 
    Namespace sym
 #include <imu_preintegrator.h>

    Class to on-manifold preintegrate IMU measurements for usage in a SymForce optimization problem.

    -

    For usage, see the doc-string of ImuFactor in imu_factor.h

    +

    For usage, see the doc-string of ImuFactor in imu_factor.h

    Public Types

    -using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3#
    +using Vector3 = typename PreintegratedImuMeasurements<Scalar>::Vector3#
    -using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33#
    +using Matrix33 = typename PreintegratedImuMeasurements<Scalar>::Matrix33#
    -using Matrix99 = Eigen::Matrix<Scalar, 9, 9>#
    +using Matrix99 = Eigen::Matrix<Scalar, 9, 9>#
    @@ -2005,13 +2005,13 @@

    Namespace symPublic Functions

    -ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)#
    +ImuPreintegrator(const Vector3 &accel_bias, const Vector3 &gyro_bias)#

    Initialize with given accel_bias and gyro_bias

    -
    -void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, const Scalar dt, const Scalar epsilon = kDefaultEpsilon<Scalar>)#
    +
    +void IntegrateMeasurement(const Vector3 &measured_accel, const Vector3 &measured_gyro, const Vector3 &accel_cov, const Vector3 &gyro_cov, Scalar dt, Scalar epsilon = kDefaultEpsilon<Scalar>)#

    Integrate a new measurement.

    Postcondition:

    @@ -2042,12 +2042,12 @@

    Namespace sym
    -const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const#
    +const PreintegratedImuMeasurements<Scalar> &PreintegratedMeasurements() const#

    -const Matrix99 &Covariance() const#
    +const Matrix99 &Covariance() const#

    @@ -2059,32 +2059,32 @@

    Namespace sym #include <imu_factor.h>

    A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector direction.

    -

    For full documentation, see ImuFactor.

    +

    For full documentation, see ImuFactor.

    Public Types

    -using Pose3 = sym::Pose3<Scalar>#
    +using Pose3 = sym::Pose3<Scalar>#
    -using Vector3 = sym::Vector3<Scalar>#
    +using Vector3 = sym::Vector3<Scalar>#
    -using Preintegrator = sym::ImuPreintegrator<Scalar>#
    +using Preintegrator = sym::ImuPreintegrator<Scalar>#
    -using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    +using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    -using SqrtInformation = sym::Matrix99<Scalar>#
    +using SqrtInformation = sym::Matrix99<Scalar>#
    @@ -2092,26 +2092,26 @@

    Namespace symPublic Functions

    -explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)#
    -

    Construct an ImuFactor from a preintegrator.

    +explicit ImuWithGravityDirectionFactor(const Preintegrator &preintegrator)#
    +

    Construct an ImuFactor from a preintegrator.

    -ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    -

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    +ImuWithGravityDirectionFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    +

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    -sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    -

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    +sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    +

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    Convenience method to avoid manually specifying which arguments are optimized.

    -
    -void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr) const#
    +
    +void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Unit3<Scalar> &gravity_direction, Scalar gravity_norm, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 26> *jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *rhs = nullptr) const#

    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -2144,32 +2144,32 @@

    Namespace sym #include <imu_factor.h>

    A factor for using on-manifold IMU preintegration in a SymForce optimization problem, with the ability to optimize the gravity vector.

    -

    For full documentation, see ImuFactor.

    +

    For full documentation, see ImuFactor.

    Public Types

    -using Pose3 = sym::Pose3<Scalar>#
    +using Pose3 = sym::Pose3<Scalar>#
    -using Vector3 = sym::Vector3<Scalar>#
    +using Vector3 = sym::Vector3<Scalar>#
    -using Preintegrator = sym::ImuPreintegrator<Scalar>#
    +using Preintegrator = sym::ImuPreintegrator<Scalar>#
    -using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    +using Measurement = sym::PreintegratedImuMeasurements<Scalar>#
    -using SqrtInformation = sym::Matrix99<Scalar>#
    +using SqrtInformation = sym::Matrix99<Scalar>#
    @@ -2177,26 +2177,26 @@

    Namespace symPublic Functions

    -explicit ImuWithGravityFactor(const Preintegrator &preintegrator)#
    -

    Construct an ImuFactor from a preintegrator.

    +explicit ImuWithGravityFactor(const Preintegrator &preintegrator)#
    +

    Construct an ImuFactor from a preintegrator.

    -ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    -

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    +ImuWithGravityFactor(const Measurement &measurement, const SqrtInformation &sqrt_information)#
    +

    Construct an ImuFactor from a (preintegrated) measurement and its corresponding sqrt information.

    -sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    -

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    +sym::Factor<Scalar> Factor(const std::vector<Key> &keys_to_func) const#
    +

    Construct a Factor object that can be passed to an Optimizer object given the keys to be passed to the function.

    Convenience method to avoid manually specifying which arguments are optimized.

    -
    -void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr) const#
    +
    +void operator()(const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const Vector3 &accel_bias_i, const Vector3 &gyro_bias_i, const Vector3 &gravity, Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *residual = nullptr, Eigen::Matrix<Scalar, 9, 27> *jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *rhs = nullptr) const#

    Calculate a between factor on the product manifold of the pose and velocity where the prior is calculated from the preintegrated IMU measurements.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -2232,7 +2232,7 @@

    Namespace symPublic Types

    -using Scalar = typename sym::StorageOps<T>::Scalar
    +using Scalar = typename sym::StorageOps<T>::Scalar
    @@ -2240,12 +2240,12 @@

    Namespace symPublic Functions

    -inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)
    +inline explicit Interpolator(const Scalar epsilon = kDefaultEpsilon<Scalar>)
    -inline T operator()(const T &a, const T &b, const Scalar t)
    +inline T operator()(const T &a, const T &b, const Scalar t)
    @@ -2256,9 +2256,9 @@

    Namespace symclass Key#
    #include <key.h>
    -

    Key type for Values

    +

    Key type for Values

    Contains a letter plus an integral subscript and superscript. Can construct with a letter, a letter + sub, or a letter + sub + super, but not letter + super.

    -

    TODO(hayk): Consider an abstraction where Key contains a type enum.

    +

    TODO(hayk): Consider an abstraction where Key contains a type enum.

    Public Types

    @@ -2268,12 +2268,12 @@

    Namespace sym
    -using subscript_t = std::int64_t#
    +using subscript_t = std::int64_t#

    -using superscript_t = std::int64_t#
    +using superscript_t = std::int64_t#
    @@ -2285,8 +2285,8 @@

    Namespace sym -
    -inline constexpr Key(letter_t letter, subscript_t sub = kInvalidSub, superscript_t super = kInvalidSuper)#
    +
    +inline constexpr Key(const letter_t letter, const subscript_t sub = kInvalidSub, const superscript_t super = kInvalidSuper)#

    @@ -2296,32 +2296,32 @@

    Namespace sym
    -inline constexpr letter_t Letter() const noexcept#
    +inline constexpr letter_t Letter() const noexcept#

    -inline constexpr subscript_t Sub() const noexcept#
    +inline constexpr subscript_t Sub() const noexcept#
    -inline constexpr superscript_t Super() const noexcept#
    +inline constexpr superscript_t Super() const noexcept#
    -inline constexpr Key WithLetter(const letter_t letter) const#
    +inline constexpr Key WithLetter(const letter_t letter) const#
    -inline constexpr Key WithSub(const subscript_t sub) const#
    +inline constexpr Key WithSub(const subscript_t sub) const#
    -inline constexpr Key WithSuper(const superscript_t super) const#
    +inline constexpr Key WithSuper(const superscript_t super) const#
    @@ -2331,12 +2331,12 @@

    Namespace sym
    -inline constexpr bool operator==(const Key &other) const noexcept#
    +inline constexpr bool operator==(const Key &other) const noexcept#

    -inline constexpr bool operator!=(const Key &other) const noexcept#
    +inline constexpr bool operator!=(const Key &other) const noexcept#
    @@ -2344,7 +2344,7 @@

    Namespace symPublic Static Functions

    -static bool LexicalLessThan(const Key &a, const Key &b)#
    +static bool LexicalLessThan(const Key &a, const Key &b)#

    Return true if a is LESS than b, in dictionary order of the tuple (letter, sub, super).

    @@ -2353,17 +2353,17 @@

    Namespace symPublic Static Attributes

    -static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)#
    +static constexpr letter_t kInvalidLetter = static_cast<letter_t>(0)#
    -static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()#
    +static constexpr subscript_t kInvalidSub = std::numeric_limits<subscript_t>::min()#
    -static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()#
    +static constexpr superscript_t kInvalidSuper = std::numeric_limits<superscript_t>::min()#
    @@ -2377,7 +2377,7 @@

    Namespace symPublic Functions

    -inline bool operator()(const Key &a, const Key &b) const#
    +inline bool operator()(const Key &a, const Key &b) const#
    @@ -2387,11 +2387,11 @@

    Namespace sym
    -template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
    class LevenbergMarquardtSolver#
    +template<typename ScalarType, typename LinearSolverType = sym::SparseCholeskySolver<Eigen::SparseMatrix<ScalarType>>>
    class LevenbergMarquardtSolver#
    #include <levenberg_marquardt_solver.h>

    Fast Levenberg-Marquardt solver for nonlinear least squares problems specified by a linearization function. Supports on-manifold optimization and sparse solving, and attempts to minimize allocations after the first iteration.

    -

    This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

    +

    This assumes the problem structure is the same for the lifetime of the object - if the problem structure changes, create a new LevenbergMarquardtSolver.

    TODO(aaron): Analyze what repeated allocations we do have, and get rid of them if possible

    Not thread safe! Create one per thread.

    Example usage: 

    constexpr const int M = 9;
@@ -2485,27 +2485,27 @@ 
    Namespace symPublic Types
    
 
    
 
    
-using Scalar = ScalarType#
    
+using Scalar = ScalarType#
    
 
    
 
 
    
 
    
-using LinearSolver = LinearSolverType#
    
+using LinearSolver = LinearSolverType#
    
 
    
 
 
    
 
    
-using MatrixType = typename LinearSolverType::MatrixType#
    
+using MatrixType = typename LinearSolverType::MatrixType#
    
 
    
 
 
    
 
    
-using StateType = internal::LevenbergMarquardtState<MatrixType>#
    
+using StateType = internal::LevenbergMarquardtState<MatrixType>#
    
 
    
 
 
    
 
    
-using LinearizationType = Linearization<MatrixType>#
    
+using LinearizationType = Linearization<MatrixType>#
    
 
    
 
 
    
@@ -2515,7 +2515,7 @@ 
    Namespace sym
 
    
-using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>#
    
+using LinearizeFunc = std::function<void(const Values<Scalar>&, LinearizationType&)>#
    @@ -2523,12 +2523,12 @@

    Namespace symPublic Functions

    -inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)#
    +inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon)#
    -inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)#
    +inline LevenbergMarquardtSolver(const optimizer_params_t &p, const std::string &id, const Scalar epsilon, const LinearSolver &linear_solver)#
    @@ -2538,12 +2538,12 @@

    Namespace sym
    -inline void Reset(const Values<Scalar> &values)#
    +inline void Reset(const Values<Scalar> &values)#

    -inline void ResetState(const Values<Scalar> &values)#
    +inline void ResetState(const Values<Scalar> &values)#
    @@ -2557,23 +2557,23 @@

    Namespace sym -
    -optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, const bool debug_stats = false, const bool include_jacobians = false)#
    +
    +optional<std::pair<optimization_status_t, FailureReason>> Iterate(const LinearizeFunc &func, OptimizationStats<MatrixType> &stats, bool debug_stats = false, bool include_jacobians = false)#

    -inline const Values<Scalar> &GetBestValues() const#
    +inline const Values<Scalar> &GetBestValues() const#
    -inline const LinearizationType &GetBestLinearization() const#
    +inline const LinearizationType &GetBestLinearization() const#
    -void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)#
    +void ComputeCovariance(const MatrixType &hessian_lower, MatrixX<Scalar> &covariance)#

    @@ -2584,23 +2584,23 @@

    Namespace symtemplate<typename MatrixType>
    struct Linearization    #
    #include <linearization.h>
    -

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    +

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    MatrixType is expected to be an Eigen MatrixX or SparseMatrix.

    Public Types

    -using Scalar = typename MatrixType::Scalar#
    +using Scalar = typename MatrixType::Scalar#
    -using Vector = VectorX<Scalar>#
    +using Vector = VectorX<Scalar>#
    -using Matrix = MatrixType#
    +using Matrix = MatrixType#
    @@ -2630,7 +2630,7 @@

    Namespace sym
    -inline double LinearError(const Vector &x_update) const#
    +inline double LinearError(const Vector &x_update) const#

    @@ -2638,22 +2638,22 @@

    Namespace symPublic Members

    -Vector residual#
    +Vector residual#
    -Matrix hessian_lower#
    +Matrix hessian_lower#
    -Matrix jacobian#
    +Matrix jacobian#
    -Vector rhs#
    +Vector rhs#
    @@ -2746,29 +2746,29 @@

    Namespace symtemplate<typename ScalarType>
    class Linearizer    #
    #include <linearizer.h>
    -

    Class for evaluating multiple Factors at the linearization point given by a Values.

    +

    Class for evaluating multiple Factors at the linearization point given by a Values.

    Stores the original Factors as well as the LinearizedFactors, and provides tools for aggregating keys and building a large jacobian / hessian for optimization.

    -

    For efficiency, prefer calling Relinearize() instead of re-constructing this object!

    +

    For efficiency, prefer calling Relinearize() instead of re-constructing this object!

    Public Types

    -using Scalar = ScalarType#
    +using Scalar = ScalarType#
    -using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#
    +using LinearizedDenseFactor = typename Factor<Scalar>::LinearizedDenseFactor#
    -using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor#
    +using LinearizedSparseFactor = typename Factor<Scalar>::LinearizedSparseFactor#
    -using LinearizationType = SparseLinearization<Scalar>#
    +using LinearizationType = SparseLinearization<Scalar>#
    @@ -2776,8 +2776,8 @@

    Namespace symPublic Functions

    -Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#
    -

    Construct a Linearizer from factors and optional keys

    +Linearizer(const std::string &name, const std::vector<Factor<Scalar>> &factors, const std::vector<Key> &key_order = {}, bool include_jacobians = false)#
    +

    Construct a Linearizer from factors and optional keys

    Parameters:
    -const std::vector<Key> &Keys() const#
    +const std::vector<Key> &Keys() const#
    -const std::unordered_map<key_t, index_entry_t> &StateIndex() const#
    +const std::unordered_map<key_t, index_entry_t> &StateIndex() const#
    @@ -2845,13 +2845,13 @@

    Namespace symPublic Members

    -std::vector<optimization_iteration_t> iterations#
    +std::vector<optimization_iteration_t> iterations#
    int32_t best_index = {0}#
    -

    Index into iterations of the best iteration (containing the optimal Values)

    +

    Index into iterations of the best iteration (containing the optimal Values)

    @@ -2868,7 +2868,7 @@

    Namespace sym
    -optional<Linearization<MatrixType>> best_linearization = {}#
    +optional<Linearization<MatrixType>> best_linearization = {}#

    The linearization at best_index (at optimized_values), filled out if populate_best_linearization=true

    @@ -2876,21 +2876,21 @@

    Namespace sym sparse_matrix_structure_t jacobian_sparsity#

    The sparsity pattern of the problem jacobian

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    Eigen::VectorXi linear_solver_ordering#

    The permutation used by the linear solver

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    sparse_matrix_structure_t cholesky_factor_sparsity#

    The sparsity pattern of the cholesky factor

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    @@ -2898,10 +2898,10 @@

    Namespace sym
    -template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
    class Optimizer#
    +template<typename ScalarType, typename NonlinearSolverType = LevenbergMarquardtSolver<ScalarType>>
    class Optimizer#
    #include <optimizer.h>
    -

    Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

    +

    Class for optimizing a nonlinear least-squares problem specified as a list of Factors. For efficient use, create once and call Optimize() multiple times with different initial guesses, as long as the factors remain constant and the structure of the Values is identical.

    Not thread safe! Create one per thread.

    Example usage: 

    // Create a Values
 sym::Key key0{'R', 0};
@@ -2953,67 +2953,67 @@ 
    Namespace symPublic Types
    
 
    
 
    
-using Scalar = ScalarType#
    
+using Scalar = ScalarType#
    
 
    
 
 
    
 
    
-using NonlinearSolver = NonlinearSolverType#
    
+using NonlinearSolver = NonlinearSolverType#
    
 
    
 
 
    
 
    
-using FailureReason = typename NonlinearSolver::FailureReason#
    
+using FailureReason = typename NonlinearSolver::FailureReason#
    
 
    
 
 
    
 
    
-using MatrixType = typename NonlinearSolver::MatrixType#
    
+using MatrixType = typename NonlinearSolver::MatrixType#
    
 
    
 
 
    
 
    
-using Stats = OptimizationStats<MatrixType>#
    
+using Stats = OptimizationStats<MatrixType>#
    
 
    
 
 
    
 
    
-using LinearizerType = internal::LinearizerSelector_t<MatrixType>#
    
+using LinearizerType = internal::LinearizerSelector_t<MatrixType>#

    Public Functions

    -
    -Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)#
    +
    +Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon = kDefaultEpsilon<Scalar>, const std::string &name = "sym::Optimize", std::vector<Key> keys = {}, bool debug_stats = false, bool check_derivatives = false, bool include_jacobians = false)#

    Base constructor

    -
    -template<typename ...NonlinearSolverArgs>
    Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, const Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)#
    +
    +template<typename ...NonlinearSolverArgs>
    Optimizer(const optimizer_params_t &params, std::vector<Factor<Scalar>> factors, Scalar epsilon, const std::string &name, std::vector<Key> keys, bool debug_stats, bool check_derivatives, bool include_jacobians, NonlinearSolverArgs&&... args)#

    Constructor that copies in factors and keys, with arguments for the nonlinear solver

    -Optimizer(Optimizer&&) = delete#
    +Optimizer(Optimizer&&) = delete#
    -Optimizer &operator=(Optimizer&&) = delete#
    +Optimizer &operator=(Optimizer&&) = delete#
    -Optimizer(const Optimizer&) = delete#
    +Optimizer(const Optimizer&) = delete#
    -Optimizer &operator=(const Optimizer&) = delete#
    +Optimizer &operator=(const Optimizer&) = delete#
    @@ -3023,7 +3023,7 @@

    Namespace sym
    -Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)#
    +Stats Optimize(Values<Scalar> &values, int num_iterations = -1, bool populate_best_linearization = false)#

    Optimize the given values in-place

    Parameters:
    @@ -3040,12 +3040,12 @@

    Namespace sym
    -Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)#
    +Stats Optimize(Values<Scalar> *values, int num_iterations = -1, bool populate_best_linearization = false)#

    -virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#
    +virtual void Optimize(Values<Scalar> &values, int num_iterations, bool populate_best_linearization, Stats &stats)#

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    @@ -3053,7 +3053,7 @@

    Namespace sym

    @@ -3061,19 +3061,19 @@

    Namespace sym
    -virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)#
    +virtual void Optimize(Values<Scalar> *values, int num_iterations, bool populate_best_linearization, Stats *stats)#

    -void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)#
    +void Optimize(Values<Scalar> &values, int num_iterations, Stats &stats)#

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    Parameters:

    • num_iterations – If < 0 (the default), uses the number of iterations specified by the params at construction

      • -

    • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

      • +

    • stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    @@ -3081,48 +3081,48 @@

    Namespace sym
    -void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)#
    +void Optimize(Values<Scalar> *values, int num_iterations, Stats *stats)#

    -void Optimize(Values<Scalar> &values, Stats &stats)#
    +void Optimize(Values<Scalar> &values, Stats &stats)#

    Optimize the given values in-place

    This overload takes the stats as an argument, and stores into there. This allows users to avoid reallocating memory for any of the entries in the stats, for use cases where that’s important.

    Parameters:
    -

    stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    +

    stats – An OptimizationStats to fill out with the result - if filling out dynamically allocated fields here, will not reallocate if memory is already allocated in the required shape (e.g. for repeated calls to Optimize())

    -void Optimize(Values<Scalar> *values, Stats *stats)#
    +void Optimize(Values<Scalar> *values, Stats *stats)#
    -Linearization<MatrixType> Linearize(const Values<Scalar> &values)#
    +Linearization<MatrixType> Linearize(const Values<Scalar> &values)#

    Linearize the problem around the given values

    -void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#
    +void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

    Get covariances for each optimized key at the given linearization

    -

    Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

    -

    May not be called before either Optimize() or Linearize() has been called.

    +

    Will reuse entries in covariances_by_key, allocating new entries so that the result contains exactly the set of keys optimized by this Optimizer. covariances_by_key must not contain any keys that are not optimized by this Optimizer.

    +

    May not be called before either Optimize() or Linearize() has been called.

    -void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#
    +void ComputeAllCovariances(const Linearization<MatrixType> &linearization, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#
    -void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#
    +void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> &covariances_by_key)#

    Get covariances for the given subset of keys at the given linearization

    This version is potentially much more efficient than computing the covariances for all keys in the problem.

    Currently requires that keys corresponds to a set of keys at the start of the list of keys for the full problem, and in the same order. It uses the Schur complement trick, so will be most efficient if the hessian is of the following form, with C block diagonal: 

    A = ( B    E )
@@ -3135,16 +3135,16 @@ 
    Namespace sym
 
    
-void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#
    
+void ComputeCovariances(const Linearization<MatrixType> &linearization, const std::vector<Key> &keys, std::unordered_map<Key, MatrixX<Scalar>> *covariances_by_key)#
    -void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)#
    +void ComputeFullCovariance(const Linearization<MatrixType> &linearization, MatrixX<Scalar> &covariance)#

    Get the full problem covariance at the given linearization

    Unlike ComputeCovariance and ComputeAllCovariances, this includes the off-diagonal blocks, i.e. the cross-covariances between different keys.

    The ordering of entries here is the same as the ordering of the keys in the linearization, which can be accessed via optimizer.Linearizer().StateIndex().

    -

    May not be called before either Optimize() or Linearize() has been called.

    +

    May not be called before either Optimize() or Linearize() has been called.

    Parameters:

    covariance – A matrix that will be filled out with the full problem covariance.

    @@ -3154,25 +3154,25 @@

    Namespace sym
    -const std::vector<Key> &Keys() const#
    +const std::vector<Key> &Keys() const#

    Get the optimized keys

    -const std::vector<Factor<Scalar>> &Factors() const#
    +const std::vector<Factor<Scalar>> &Factors() const#

    Get the factors

    -const LinearizerType &Linearizer() const#
    -

    Get the Linearizer object

    +const LinearizerType &Linearizer() const#
    +

    Get the Linearizer object

    -LinearizerType &Linearizer()#
    +LinearizerType &Linearizer()#
    @@ -3200,17 +3200,17 @@

    Namespace symPublic Types

    -using Rot3 = sym::Rot3<Scalar>#
    +using Rot3 = sym::Rot3<Scalar>#
    -using Vector3 = sym::Vector3<Scalar>#
    +using Vector3 = sym::Vector3<Scalar>#
    -using Matrix33 = sym::Matrix33<Scalar>#
    +using Matrix33 = sym::Matrix33<Scalar>#

    @@ -3218,13 +3218,13 @@

    Namespace symPublic Functions

    -PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)#
    +PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)#

    Initialize instance struct with accel_bias and gyro_bias and all other values zeroed out (scalars, vectors, and matrices) or set to the identity (DR).

    -Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const#
    +Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const#
    @@ -3237,42 +3237,42 @@

    Namespace symPublic Members

    -Vector3 accel_bias#
    +Vector3 accel_bias#
    -Vector3 gyro_bias#
    +Vector3 gyro_bias#
    -Delta delta#
    +Delta delta#
    -Matrix33 DR_D_gyro_bias#
    +Matrix33 DR_D_gyro_bias#
    -Matrix33 Dv_D_accel_bias#
    +Matrix33 Dv_D_accel_bias#
    -Matrix33 Dv_D_gyro_bias#
    +Matrix33 Dv_D_gyro_bias#
    -Matrix33 Dp_D_accel_bias#
    +Matrix33 Dp_D_accel_bias#
    -Matrix33 Dp_D_gyro_bias#
    +Matrix33 Dp_D_gyro_bias#

    @@ -3280,7 +3280,7 @@

    Namespace symPublic Static Functions

    -static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)#
    +static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)#
    @@ -3302,22 +3302,22 @@

    Namespace symPublic Members

    -Scalar Dt = {0}#
    +Scalar Dt = {0}#
    -Rot3 DR = {Rot3::Identity()}#
    +Rot3 DR = {Rot3::Identity()}#
    -Vector3 Dv = {Vector3::Zero()}#
    +Vector3 Dv = {Vector3::Zero()}#
    -Vector3 Dp = {Vector3::Zero()}#
    +Vector3 Dp = {Vector3::Zero()}#
    @@ -3325,7 +3325,7 @@

    Namespace symPublic Static Functions

    -static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)#
    +static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)#
    @@ -3340,7 +3340,7 @@

    Namespace symPublic Types

    -using type = std::remove_cv_t<std::remove_reference_t<T>>
    +using type = std::remove_cv_t<std::remove_reference_t<T>>
    @@ -3368,42 +3368,42 @@

    Namespace sym
    -using MatrixType = _MatrixType
    +using MatrixType = _MatrixType

    -using Scalar = typename MatrixType::Scalar
    +using Scalar = typename MatrixType::Scalar
    -using StorageIndex = typename MatrixType::StorageIndex
    +using StorageIndex = typename MatrixType::StorageIndex
    -using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>
    +using CholMatrixType = Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>
    -using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
    +using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
    -using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
    +using RhsType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
    -using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>
    +using PermutationMatrixType = Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, StorageIndex>
    -using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>
    +using Ordering = std::function<void(const MatrixType&, PermutationMatrixType&)>
    @@ -3411,7 +3411,7 @@

    Namespace symPublic Functions

    -inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())
    +inline SparseCholeskySolver(const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())

    Default constructor

    Parameters:
    @@ -3422,7 +3422,7 @@

    Namespace sym
    -inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())
    +inline explicit SparseCholeskySolver(const MatrixType &A, const Ordering &ordering = Eigen::MetisOrdering<StorageIndex>())

    Construct with a representative sparse matrix

    Parameters:
    @@ -3447,57 +3447,57 @@

    Namespace sym
    -void ComputePermutationMatrix(const MatrixType &A)
    +void ComputePermutationMatrix(const MatrixType &A)

    Compute an efficient permutation matrix (ordering) for A and store internally.

    -void ComputeSymbolicSparsity(const MatrixType &A)
    +void ComputeSymbolicSparsity(const MatrixType &A)

    Compute symbolic sparsity pattern for A and store internally.

    -bool Factorize(const MatrixType &A)
    +bool Factorize(const MatrixType &A)

    Decompose A into A = L * D * L^T and store internally. A must have the same sparsity as the matrix used for construction. Returns true if factorization was successful, and false otherwise. NOTE(brad): Currently always returns true.

    -template<typename Rhs>
    RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const
    +template<typename Rhs>
    RhsType Solve(const Eigen::MatrixBase<Rhs> &b) const

    Returns x for A x = b, where x and b are dense.

    -template<typename Rhs>
    void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const
    +template<typename Rhs>
    void SolveInPlace(Eigen::MatrixBase<Rhs> &b) const

    Solves in place for x in A x = b, where x and b are dense.

    -inline const CholMatrixType &L() const
    +inline const CholMatrixType &L() const
    -inline const VectorType &D() const
    +inline const VectorType &D() const
    -inline const PermutationMatrixType &Permutation() const
    +inline const PermutationMatrixType &Permutation() const
    -inline const PermutationMatrixType &InversePermutation() const
    +inline const PermutationMatrixType &InversePermutation() const
    -inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)
    +inline void AnalyzeSparsityPattern(const Eigen::SparseMatrix<Scalar> &matrix)
    @@ -3546,27 +3546,27 @@

    Namespace symPublic Types

    -using MatrixType = _MatrixType
    +using MatrixType = _MatrixType
    -using Scalar = typename MatrixType::Scalar
    +using Scalar = typename MatrixType::Scalar
    -using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>
    +using SMatrixSolverType = SparseCholeskySolver<MatrixType, Eigen::Lower>
    -using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
    +using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
    -using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
    +using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
    @@ -3574,7 +3574,7 @@

    Namespace symPublic Functions

    -inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())
    +inline SparseSchurSolver(const typename SMatrixSolverType::Ordering &ordering = Eigen::MetisOrdering<typename SMatrixSolverType::StorageIndex>())
    @@ -3583,23 +3583,23 @@

    Namespace sym -
    -void ComputeSymbolicSparsity(const MatrixType &A, const int C_dim)
    +
    +void ComputeSymbolicSparsity(const MatrixType &A, int C_dim)

    -void Factorize(const MatrixType &A)
    +void Factorize(const MatrixType &A)
    -template<typename RhsType>
    Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const
    +template<typename RhsType>
    Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Solve(const Eigen::MatrixBase<RhsType> &rhs) const
    -void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const
    +void SInvInPlace(Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &x_and_rhs) const
    @@ -3616,17 +3616,17 @@

    Namespace symPublic Types

    -using MapType = std::unordered_map<Key, index_entry_t>
    +using MapType = std::unordered_map<Key, index_entry_t>
    -using ArrayType = std::vector<Scalar>
    +using ArrayType = std::vector<Scalar>
    -using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type
    +using LcmType = typename ValuesLcmTypeHelper<Scalar>::Type

    Expose the correct LCM type (values_t or valuesf_t)

    @@ -3641,54 +3641,54 @@

    Namespace sym
    -explicit Values(std::initializer_list<Values<Scalar>> others)
    -

    Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list

    -

    NOTE(alvin): others Values should not contain overlapping Keys

    +explicit Values(std::initializer_list<Values<Scalar>> others)
    +

    Construct from a list of other Values objects. The order of Keys are preserved by the order of the Values in the initializer list

    +

    NOTE(alvin): others Values should not contain overlapping Keys

    -explicit Values(const LcmType &msg)
    +explicit Values(const LcmType &msg)

    Construct from serialized form.

    -bool Has(const Key &key) const
    +bool Has(const Key &key) const

    Return whether the key exists.

    -template<typename T>
    T At(const Key &key) const
    +template<typename T>
    T At(const Key &key) const

    Retrieve a value by key.

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>, bool> Set(const Key &key, const T &value)

    Add or update a value by key. Returns true if added, false if updated.

    Overload for non-Eigen types

    -template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)
    +template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>, bool> Set(const Key &key, const Derived &value)

    Add or update a value by key. Returns true if added, false if updated.

    Overload for Eigen types

    -template<typename T>
    void SetNew(const Key &key, T &&value)
    +template<typename T>
    void SetNew(const Key &key, T &&value)

    Add a value by key, throws runtime_error if the key already exists.

    This is useful when setting up initial values for a problem.

    -void UpdateOrSet(const index_t &index, const Values<Scalar> &other)
    -

    Update or add keys to this Values base on other Values of different structure.

    +void UpdateOrSet(const index_t &index, const Values<Scalar> &other)
    +

    Update or add keys to this Values base on other Values of different structure.

    index MUST be valid for other.

    NOTE(alvin): it is less efficient than the Update methods below if index objects are created and cached. This method performs map lookup for each key of the index

    @@ -3706,8 +3706,8 @@

    Namespace sym -
    -std::vector<Key> Keys(const bool sort_by_offset = true) const
    +
    +std::vector<Key> Keys(bool sort_by_offset = true) const

    Get all keys.

    NOTE(hayk): If we changed key storage to a sorted vector this could automatically be maintained and it would be more embedded friendly, but At(key) would become O(N) for linear search.

    @@ -3720,28 +3720,28 @@

    Namespace sym
    -const MapType &Items() const
    +const MapType &Items() const

    Expose map type to allow iteration.

    -const ArrayType &Data() const
    +const ArrayType &Data() const

    Raw data buffer.

    -template<typename NewScalar>
    Values<NewScalar> Cast() const
    +template<typename NewScalar>
    Values<NewScalar> Cast() const

    Cast to another Scalar type (returns a copy)

    -bool Remove(const Key &key)
    +bool Remove(const Key &key)

    Remove the given key.

    Only removes the index entry, does not change the data array. Returns true if removed, false if already not present.

    -

    Call Cleanup() to re-pack the data array.

    +

    Call Cleanup() to re-pack the data array.

    @@ -3755,71 +3755,71 @@

    Namespace symsize_t Cleanup()

    Repack the data array to get rid of empty space from removed keys.

    If regularly removing keys, it’s up to the user to call this appropriately to avoid storage growth. Returns the number of Scalar elements cleaned up from the data array.

    -

    It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex().

    +

    It will INVALIDATE all indices, offset increments, and pointers. Re-create an index with CreateIndex().

    -index_t CreateIndex(const std::vector<Key> &keys) const
    +index_t CreateIndex(const std::vector<Key> &keys) const

    Create an index from the given ordered subset of keys. This object can then be used for repeated efficient operations on that subset of keys.

    If you want an index of all the keys, call values.CreateIndex(values.Keys()).

    An index will be INVALIDATED if the following happens:

    -

    1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with a contained key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    NOTE(hayk): We could also add a simple UpdateIndex(&index) method, since the offset is the only thing that needs to get updated after repacking.

    -index_entry_t IndexEntryAt(const Key &key) const
    +index_entry_t IndexEntryAt(const Key &key) const

    Retrieve an index entry by key. This performs a map lookup.

    An index entry will be INVALIDATED if the following happens:

    -

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    -optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const
    +optional<index_entry_t> MaybeIndexEntryAt(const Key &key) const

    Retrieve an index entry by key, or the empty optional if the key is not present. This performs a map lookup.

    An index entry will be INVALIDATED if the following happens:

    -

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    +

    1) Remove() is called with the indexed key, or RemoveAll() is called 2) Cleanup() is called to re-pack the data array

    -template<typename T>
    T At(const index_entry_t &entry) const
    +template<typename T>
    T At(const index_entry_t &entry) const

    Retrieve a value by index entry. This avoids a map lookup compared to At(key).

    -template<typename T>
    std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)
    +template<typename T>
    std::enable_if_t<!kIsEigenType<T>> Set(const index_entry_t &key, const T &value)

    Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

    Overload for non-Eigen types

    -template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)
    +template<typename Derived>
    std::enable_if_t<kIsEigenType<Derived>> Set(const index_entry_t &key, const Derived &value)

    Update a value by index entry with no map lookup (compared to Set(key)). This does NOT add new values and assumes the key exists already.

    Overload for Eigen types

    -void Update(const index_t &index, const Values<Scalar> &other)
    +void Update(const index_t &index, const Values<Scalar> &other)

    Efficiently update the keys given by this index from other into this. This purely copies slices of the data arrays, the index MUST be valid for both objects!

    -void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)
    -

    Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

    +void Update(const index_t &index_this, const index_t &index_other, const Values<Scalar> &other)
    +

    Efficiently update the keys from a different structured Values, given by index_this and index_other. This purely copies slices of the data arrays.

    index_this MUST be valid for this object; index_other MUST be valid for other object.

    -
    -void Retract(const index_t &index, const Scalar *delta, const Scalar epsilon)
    +
    +void Retract(const index_t &index, const Scalar *delta, Scalar epsilon)

    Perform a retraction from an update vector.

    Parameters:
    @@ -3833,14 +3833,14 @@

    Namespace sym -
    -VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, const Scalar epsilon)
    -

    Express this Values in the local coordinate of others Values, i.e., this \ominus others

    +
    +VectorX<Scalar> LocalCoordinates(const Values<Scalar> &others, const index_t &index, Scalar epsilon)
    +

    Express this Values in the local coordinate of others Values, i.e., this \ominus others

    Parameters:
      -

    • others – The other Values that the local coordinate is relative to

      • -

    • index – Ordered list of keys to include (MUST be valid for both this and others Values)

      • +

    • others – The other Values that the local coordinate is relative to

      • +

    • index – Ordered list of keys to include (MUST be valid for both this and others Values)

    • epsilon – Small constant to avoid singularities (do not use zero)

    @@ -3849,18 +3849,18 @@

    Namespace sym
    -void FillLcmType(LcmType &msg, bool sort_keys = false) const
    +void FillLcmType(LcmType &msg, bool sort_keys = false) const

    Serialize to LCM.

    -void FillLcmType(LcmType *msg, bool sort_keys = false) const
    +void FillLcmType(LcmType *msg, bool sort_keys = false) const
    -LcmType GetLcmType(bool sort_keys = false) const
    +LcmType GetLcmType(bool sort_keys = false) const
    diff --git a/api-cpp/struct/structstd_1_1hash_3_01sym_1_1Key_01_4.html b/api-cpp/struct/structstd_1_1hash_3_01sym_1_1Key_01_4.html index f4416592..7f886abe 100644 --- a/api-cpp/struct/structstd_1_1hash_3_01sym_1_1Key_01_4.html +++ b/api-cpp/struct/structstd_1_1hash_3_01sym_1_1Key_01_4.html @@ -745,12 +745,12 @@

    Struct std::hash< sym::Key >#

    -template<>
    struct hash<sym::Key>#
    +template<>
    struct hash<sym::Key>#

    Public Functions

    -std::size_t operator()(const sym::Key &key) const#
    +std::size_t operator()(const sym::Key &key) const#
    diff --git a/api-cpp/struct/structstd_1_1hash_3_01sym_1_1key__t_01_4.html b/api-cpp/struct/structstd_1_1hash_3_01sym_1_1key__t_01_4.html index ff5e9851..bba9de9c 100644 --- a/api-cpp/struct/structstd_1_1hash_3_01sym_1_1key__t_01_4.html +++ b/api-cpp/struct/structstd_1_1hash_3_01sym_1_1key__t_01_4.html @@ -745,12 +745,12 @@

    Struct std::hash< sym::key_t >#

    -template<>
    struct hash<sym::key_t>#
    +template<>
    struct hash<sym::key_t>#

    Public Functions

    -std::size_t operator()(const sym::key_t &key) const#
    +std::size_t operator()(const sym::key_t &key) const#
    diff --git a/api-cpp/struct/structsym_1_1Key_1_1LexicalCompare.html b/api-cpp/struct/structsym_1_1Key_1_1LexicalCompare.html index fb9378df..e35c4bfb 100644 --- a/api-cpp/struct/structsym_1_1Key_1_1LexicalCompare.html +++ b/api-cpp/struct/structsym_1_1Key_1_1LexicalCompare.html @@ -751,7 +751,7 @@

    Struct sym::Key::LexicalComparePublic Functions

    -inline bool operator()(const Key &a, const Key &b) const
    +inline bool operator()(const Key &a, const Key &b) const
    diff --git a/api-cpp/struct/structsym_1_1Linearization.html b/api-cpp/struct/structsym_1_1Linearization.html index 861b9050..90b8ae35 100644 --- a/api-cpp/struct/structsym_1_1Linearization.html +++ b/api-cpp/struct/structsym_1_1Linearization.html @@ -746,23 +746,23 @@

    Struct sym::Linearization
    template<typename MatrixType>
    struct Linearization
    -

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    +

    Class for storing a problem linearization evaluated at a Values (i.e. a residual, jacobian, hessian, and rhs)

    MatrixType is expected to be an Eigen MatrixX or SparseMatrix.

    Public Types

    -using Scalar = typename MatrixType::Scalar
    +using Scalar = typename MatrixType::Scalar
    -using Vector = VectorX<Scalar>
    +using Vector = VectorX<Scalar>
    -using Matrix = MatrixType
    +using Matrix = MatrixType
    @@ -792,7 +792,7 @@

    Struct sym::Linearization
    -inline double LinearError(const Vector &x_update) const
    +inline double LinearError(const Vector &x_update) const

    @@ -800,22 +800,22 @@

    Struct sym::LinearizationPublic Members

    -Vector residual
    +Vector residual
    -Matrix hessian_lower
    +Matrix hessian_lower
    -Matrix jacobian
    +Matrix jacobian
    -Vector rhs
    +Vector rhs
    diff --git a/api-cpp/struct/structsym_1_1OptimizationStats.html b/api-cpp/struct/structsym_1_1OptimizationStats.html index 55f1a080..dc6a7390 100644 --- a/api-cpp/struct/structsym_1_1OptimizationStats.html +++ b/api-cpp/struct/structsym_1_1OptimizationStats.html @@ -766,13 +766,13 @@

    Struct sym::OptimizationStatsPublic Members

    -std::vector<optimization_iteration_t> iterations
    +std::vector<optimization_iteration_t> iterations
    int32_t best_index = {0}
    -

    Index into iterations of the best iteration (containing the optimal Values)

    +

    Index into iterations of the best iteration (containing the optimal Values)

    @@ -789,7 +789,7 @@

    Struct sym::OptimizationStats
    -optional<Linearization<MatrixType>> best_linearization = {}
    +optional<Linearization<MatrixType>> best_linearization = {}

    The linearization at best_index (at optimized_values), filled out if populate_best_linearization=true

    @@ -797,21 +797,21 @@

    Struct sym::OptimizationStats sparse_matrix_structure_t jacobian_sparsity

    The sparsity pattern of the problem jacobian

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    Eigen::VectorXi linear_solver_ordering

    The permutation used by the linear solver

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    sparse_matrix_structure_t cholesky_factor_sparsity

    The sparsity pattern of the cholesky factor

    -

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    +

    Only filled if using sparse linear solver and Optimizer created with debug_stats = true. If not filled, row_indices field of sparse_matrix_structure_t and linear_solver_ordering will have size() = 0.

    diff --git a/api-cpp/struct/structsym_1_1Optimizer_1_1ComputeCovariancesStorage.html b/api-cpp/struct/structsym_1_1Optimizer_1_1ComputeCovariancesStorage.html index f523c136..1beb7f89 100644 --- a/api-cpp/struct/structsym_1_1Optimizer_1_1ComputeCovariancesStorage.html +++ b/api-cpp/struct/structsym_1_1Optimizer_1_1ComputeCovariancesStorage.html @@ -750,7 +750,7 @@

    Struct sym::Optimizer::ComputeCovariancesStoragePublic Members

    -sym::MatrixX<Scalar> covariance#
    +sym::MatrixX<Scalar> covariance#
    diff --git a/api-cpp/struct/structsym_1_1PreintegratedImuMeasurements.html b/api-cpp/struct/structsym_1_1PreintegratedImuMeasurements.html index 2c338d96..d27cf6d1 100644 --- a/api-cpp/struct/structsym_1_1PreintegratedImuMeasurements.html +++ b/api-cpp/struct/structsym_1_1PreintegratedImuMeasurements.html @@ -751,17 +751,17 @@

    Struct sym::PreintegratedImuMeasurementsPublic Types

    -using Rot3 = sym::Rot3<Scalar>
    +using Rot3 = sym::Rot3<Scalar>
    -using Vector3 = sym::Vector3<Scalar>
    +using Vector3 = sym::Vector3<Scalar>
    -using Matrix33 = sym::Matrix33<Scalar>
    +using Matrix33 = sym::Matrix33<Scalar>
    @@ -769,13 +769,13 @@

    Struct sym::PreintegratedImuMeasurementsPublic Functions

    -PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)
    +PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)

    Initialize instance struct with accel_bias and gyro_bias and all other values zeroed out (scalars, vectors, and matrices) or set to the identity (DR).

    -Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const
    +Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const
    @@ -788,42 +788,42 @@

    Struct sym::PreintegratedImuMeasurementsPublic Members

    -Vector3 accel_bias
    +Vector3 accel_bias
    -Vector3 gyro_bias
    +Vector3 gyro_bias
    -Delta delta
    +Delta delta
    -Matrix33 DR_D_gyro_bias
    +Matrix33 DR_D_gyro_bias
    -Matrix33 Dv_D_accel_bias
    +Matrix33 Dv_D_accel_bias
    -Matrix33 Dv_D_gyro_bias
    +Matrix33 Dv_D_gyro_bias
    -Matrix33 Dp_D_accel_bias
    +Matrix33 Dp_D_accel_bias
    -Matrix33 Dp_D_gyro_bias
    +Matrix33 Dp_D_gyro_bias
    @@ -831,7 +831,7 @@

    Struct sym::PreintegratedImuMeasurementsPublic Static Functions

    -static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)
    +static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)
    @@ -851,22 +851,22 @@

    Struct sym::PreintegratedImuMeasurementsPublic Members

    -Scalar Dt = {0}
    +Scalar Dt = {0}
    -Rot3 DR = {Rot3::Identity()}
    +Rot3 DR = {Rot3::Identity()}
    -Vector3 Dv = {Vector3::Zero()}
    +Vector3 Dv = {Vector3::Zero()}
    -Vector3 Dp = {Vector3::Zero()}
    +Vector3 Dp = {Vector3::Zero()}
    @@ -874,7 +874,7 @@

    Struct sym::PreintegratedImuMeasurementsPublic Static Functions

    -static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)
    +static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)
    diff --git a/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation.html b/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation.html index 11ec2833..c2880250 100644 --- a/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation.html +++ b/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation.html @@ -765,7 +765,7 @@

    Struct sym::SparseSchurSolver::SparsityInformation
    -std::vector<CBlock> C_blocks_#
    +std::vector<CBlock> C_blocks_#

    @@ -786,7 +786,7 @@

    Struct sym::SparseSchurSolver::SparsityInformation
    -std::vector<int> col_starts_in_C_inv#
    +std::vector<int> col_starts_in_C_inv#

    diff --git a/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation_1_1CBlock.html b/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation_1_1CBlock.html index b2016ad9..8b017c06 100644 --- a/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation_1_1CBlock.html +++ b/api-cpp/struct/structsym_1_1SparseSchurSolver_1_1SparsityInformation_1_1CBlock.html @@ -760,7 +760,7 @@

    Struct sym::SparseSchurSolver::SparsityInformation::CBlock
    -std::vector<int> col_starts_in_C_inv
    +std::vector<int> col_starts_in_C_inv

    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4.html index 222f82df..0de3c561 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4.html @@ -756,7 +756,7 @@

    Struct sym::function_traits< ReturnType(Args…)>
    -using base_return_type = typename std::decay_t<return_type>
    +using base_return_type = typename std::decay_t<return_type>

    @@ -764,23 +764,23 @@

    Struct sym::function_traits< ReturnType(Args…)>Public Static Attributes

    -static constexpr std::size_t num_arguments = sizeof...(Args)
    +static constexpr std::size_t num_arguments = sizeof...(Args)
    -template<std::size_t N>
    struct arg
    +template<std::size_t N>
    struct arg

    Public Types

    -using type = typename std::tuple_element<N, std::tuple<Args...>>::type
    +using type = typename std::tuple_element<N, std::tuple<Args...>>::type
    -using base_type = typename std::decay_t<type>
    +using base_type = typename std::decay_t<type>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4_1_1arg.html b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4_1_1arg.html index e5edd5ec..0ff94ecf 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4_1_1arg.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07Args_8_8_8_08_4_1_1arg.html @@ -745,17 +745,17 @@

    Struct sym::function_traits< ReturnType(Args…)>::arg#

    -template<std::size_t N>
    struct arg#
    +template<std::size_t N>
    struct arg#

    Public Types

    -using type = typename std::tuple_element<N, std::tuple<Args...>>::type#
    +using type = typename std::tuple_element<N, std::tuple<Args...>>::type#
    -using base_type = typename std::decay_t<type>#
    +using base_type = typename std::decay_t<type>#
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_01const_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_01const_01_4.html index c6f92729..de02d4da 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_01const_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_01const_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< ReturnType(ClassType::*)(Args…) const >#

    -template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...) const> : public sym::function_traits<ReturnType(Args...)>
    +template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...) const> : public sym::function_traits<ReturnType(Args...)>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_4.html index b16121c9..a0858729 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01ReturnType_07ClassType_1_1_5_08_07Args_8_8_8_08_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< ReturnType(ClassType::*)(Args…)>#

    -template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...)> : public sym::function_traits<ReturnType(Args...)>
    +template<typename ClassType, typename ReturnType, typename ...Args>
    struct function_traits<ReturnType (ClassType::*)(Args...)> : public sym::function_traits<ReturnType(Args...)>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4.html index 900e8240..bce8721b 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4.html @@ -755,7 +755,7 @@

    Struct sym::function_traits< SYM_BIND_TYPE >
    -using base_return_type = typename std::decay_t<return_type>
    +using base_return_type = typename std::decay_t<return_type>

    @@ -763,23 +763,23 @@

    Struct sym::function_traits< SYM_BIND_TYPE >Public Static Attributes

    -static constexpr std::size_t num_arguments = signature::N
    +static constexpr std::size_t num_arguments = signature::N
    -template<std::size_t N>
    struct arg
    +template<std::size_t N>
    struct arg

    Public Types

    -using type = typename std::tuple_element<N, typename signature::type>::type
    +using type = typename std::tuple_element<N, typename signature::type>::type
    -using base_type = typename std::decay_t<type>
    +using base_type = typename std::decay_t<type>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4_1_1arg.html b/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4_1_1arg.html index 40c63931..d0dff156 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4_1_1arg.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01SYM__BIND__TYPE_01_4_1_1arg.html @@ -745,17 +745,17 @@

    Struct sym::function_traits< SYM_BIND_TYPE >::arg#

    -template<std::size_t N>
    struct arg#
    +template<std::size_t N>
    struct arg#

    Public Types

    -using type = typename std::tuple_element<N, typename signature::type>::type#
    +using type = typename std::tuple_element<N, typename signature::type>::type#
    -using base_type = typename std::decay_t<type>#
    +using base_type = typename std::decay_t<type>#
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_5_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_5_01_4.html index 05e71e47..e8956259 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_5_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_5_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< T * >#

    -template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<T*> : public sym::function_traits<T>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_01_4.html index 9a0eb25e..1ddc9a3b 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< T & >#

    -template<typename T>
    struct function_traits<T&> : public sym::function_traits<T>
    +template<typename T>
    struct function_traits<T&> : public sym::function_traits<T>
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_6_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_6_01_4.html index 4b61c0ec..aa27e257 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_6_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01T_01_6_6_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< T && >#

    -template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<T&&> : public sym::function_traits<T>#
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01const_01T_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01const_01T_01_4.html index 432d6599..62a48848 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01const_01T_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01const_01T_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< const T >#

    -template<typename T>
    struct function_traits<const T> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<const T> : public sym::function_traits<T>#
    diff --git a/api-cpp/struct/structsym_1_1function__traits_3_01volatile_01T_01_4.html b/api-cpp/struct/structsym_1_1function__traits_3_01volatile_01T_01_4.html index f07a7b53..3e4b487c 100644 --- a/api-cpp/struct/structsym_1_1function__traits_3_01volatile_01T_01_4.html +++ b/api-cpp/struct/structsym_1_1function__traits_3_01volatile_01T_01_4.html @@ -745,7 +745,7 @@

    Struct sym::function_traits< volatile T >#

    -template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>#
    +template<typename T>
    struct function_traits<volatile T> : public sym::function_traits<T>#
    diff --git a/api-cpp/struct/structsym_1_1remove__cvref.html b/api-cpp/struct/structsym_1_1remove__cvref.html index 5e13df8d..63cfe5ec 100644 --- a/api-cpp/struct/structsym_1_1remove__cvref.html +++ b/api-cpp/struct/structsym_1_1remove__cvref.html @@ -750,7 +750,7 @@

    Struct sym::remove_cvrefPublic Types

    -using type = std::remove_cv_t<std::remove_reference_t<T>>#
    +using type = std::remove_cv_t<std::remove_reference_t<T>>#
    diff --git a/api-gen-cpp/class/classsym_1_1Pose2.html b/api-gen-cpp/class/classsym_1_1Pose2.html index 38c3d084..389e240b 100644 --- a/api-gen-cpp/class/classsym_1_1Pose2.html +++ b/api-gen-cpp/class/classsym_1_1Pose2.html @@ -820,7 +820,7 @@

    Class sym::Pose2
    -const sym::Rot2<Scalar> Rotation() const#
    +const sym::Rot2<Scalar> Rotation() const#

    diff --git a/api-gen-cpp/class/classsym_1_1Pose3.html b/api-gen-cpp/class/classsym_1_1Pose3.html index 8f970625..8b705871 100644 --- a/api-gen-cpp/class/classsym_1_1Pose3.html +++ b/api-gen-cpp/class/classsym_1_1Pose3.html @@ -820,7 +820,7 @@

    Class sym::Pose3
    -const sym::Rot3<Scalar> Rotation() const#
    +const sym::Rot3<Scalar> Rotation() const#

    diff --git a/api-gen-cpp/class/classsym_1_1PosedCamera.html b/api-gen-cpp/class/classsym_1_1PosedCamera.html index 63de42a5..0310c5cf 100644 --- a/api-gen-cpp/class/classsym_1_1PosedCamera.html +++ b/api-gen-cpp/class/classsym_1_1PosedCamera.html @@ -745,7 +745,7 @@

    Class sym::PosedCamera#

    -template<typename CameraCalType>
    class PosedCamera : public sym::Camera<CameraCalType>#
    +template<typename CameraCalType>
    class PosedCamera : public sym::Camera<CameraCalType>#

    Camera with a given pose, camera calibration, and an optionally specified image size.

    If the image size is specified, we use it to check whether pixels (either given or computed by projection of 3D points into the image frame) are in the image frame and thus valid/invalid.

    @@ -760,7 +760,7 @@

    Class sym::PosedCameraPublic Functions

    -inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))#
    +inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))#
    @@ -789,7 +789,7 @@

    Class sym::PosedCamera
    -inline const sym::Pose3<Scalar> &Pose() const#
    +inline const sym::Pose3<Scalar> &Pose() const#

    diff --git a/api-gen-cpp/class/classsym_1_1Rot2.html b/api-gen-cpp/class/classsym_1_1Rot2.html index 4cd587c2..ec5ef334 100644 --- a/api-gen-cpp/class/classsym_1_1Rot2.html +++ b/api-gen-cpp/class/classsym_1_1Rot2.html @@ -908,7 +908,7 @@

    Class sym::Rot2
    -static const sym::Rot2<Scalar> FromAngle(const Scalar theta)#
    +static const sym::Rot2<Scalar> FromAngle(const Scalar theta)#

    diff --git a/api-gen-cpp/class/classsym_1_1Rot3.html b/api-gen-cpp/class/classsym_1_1Rot3.html index eb91f2f8..89e49efc 100644 --- a/api-gen-cpp/class/classsym_1_1Rot3.html +++ b/api-gen-cpp/class/classsym_1_1Rot3.html @@ -948,22 +948,22 @@

    Class sym::Rot3
    -static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)#
    +static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)#

    -static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)#
    +static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)#
    -static const sym::Rot3<Scalar> FromYawPitchRoll(const Vector3 &ypr)#
    +static const sym::Rot3<Scalar> FromYawPitchRoll(const Vector3 &ypr)#
    -static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)#
    +static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)#
    diff --git a/api-gen-cpp/class/classsym_1_1Unit3.html b/api-gen-cpp/class/classsym_1_1Unit3.html index 94bbe515..ebb06c1f 100644 --- a/api-gen-cpp/class/classsym_1_1Unit3.html +++ b/api-gen-cpp/class/classsym_1_1Unit3.html @@ -819,7 +819,7 @@

    Class sym::Unit3
    -const sym::Rot3<Scalar> ToRotation() const#
    +const sym::Rot3<Scalar> ToRotation() const#

    @@ -907,7 +907,7 @@

    Class sym::Unit3
    -static const sym::Unit3<Scalar> FromVector(const Vector3 &a, const Scalar epsilon)#
    +static const sym::Unit3<Scalar> FromVector(const Vector3 &a, const Scalar epsilon)#

    diff --git a/api-gen-cpp/file/atan__camera__cal_8cc.html b/api-gen-cpp/file/atan__camera__cal_8cc.html index 9af90702..f9df4d30 100644 --- a/api-gen-cpp/file/atan__camera__cal_8cc.html +++ b/api-gen-cpp/file/atan__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File atan_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const ATANCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const ATANCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const ATANCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const ATANCameraCalf &a)#
    diff --git a/api-gen-cpp/file/atan__reprojection__delta_8h.html b/api-gen-cpp/file/atan__reprojection__delta_8h.html index 735448b6..24f6608c 100644 --- a/api-gen-cpp/file/atan__reprojection__delta_8h.html +++ b/api-gen-cpp/file/atan__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File atan_reprojection_delta.hFunctions

    -template<typename Scalar>
    void AtanReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void AtanReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    diff --git a/api-gen-cpp/file/between__factor__pose2_8h.html b/api-gen-cpp/file/between__factor__pose2_8h.html index bef88f1f..02930ae8 100644 --- a/api-gen-cpp/file/between__factor__pose2_8h.html +++ b/api-gen-cpp/file/between__factor__pose2_8h.html @@ -750,7 +750,7 @@

    File between_factor_pose2.hFunctions

    -template<typename Scalar>
    void BetweenFactorPose2(const     sym::Pose2<Scalar> &a, const sym::Pose2<Scalar> &b, const sym::Pose2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorPose2(const sym::Pose2<Scalar> &a, const sym::Pose2<Scalar> &b, const sym::Pose2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/between__factor__pose3_8h.html b/api-gen-cpp/file/between__factor__pose3_8h.html index 57cea445..59b6c0d6 100644 --- a/api-gen-cpp/file/between__factor__pose3_8h.html +++ b/api-gen-cpp/file/between__factor__pose3_8h.html @@ -750,7 +750,7 @@

    File between_factor_pose3.hFunctions

    -template<typename Scalar>
    void BetweenFactorPose3(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Pose3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorPose3(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Pose3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/between__factor__pose3__position_8h.html b/api-gen-cpp/file/between__factor__pose3__position_8h.html index 22fb7981..8dcfb988 100644 --- a/api-gen-cpp/file/between__factor__pose3__position_8h.html +++ b/api-gen-cpp/file/between__factor__pose3__position_8h.html @@ -750,7 +750,7 @@

    File between_factor_pose3_position.hFunctions

    -template<typename Scalar>
    void BetweenFactorPose3Position(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Eigen::Matrix<Scalar, 3, 1> &a_t_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorPose3Position(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Eigen::Matrix<Scalar, 3, 1> &a_t_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_t_b.

    In vector space terms that would be: (b - a) - a_t_b

    In lie group terms: local_coordinates(a_t_b, between(a, b)) to_tangent(compose(inverse(a_t_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/between__factor__pose3__rotation_8h.html b/api-gen-cpp/file/between__factor__pose3__rotation_8h.html index f528896d..4e518356 100644 --- a/api-gen-cpp/file/between__factor__pose3__rotation_8h.html +++ b/api-gen-cpp/file/between__factor__pose3__rotation_8h.html @@ -750,7 +750,7 @@

    File between_factor_pose3_rotation.hFunctions

    -template<typename Scalar>
    void BetweenFactorPose3Rotation(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Rot3<Scalar> &a_R_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorPose3Rotation(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Rot3<Scalar> &a_R_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_R_b.

    In vector space terms that would be: (b - a) - a_R_b

    In lie group terms: local_coordinates(a_R_b, between(a, b)) to_tangent(compose(inverse(a_R_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/between__factor__pose3__translation__norm_8h.html b/api-gen-cpp/file/between__factor__pose3__translation__norm_8h.html index 650af6aa..a1271229 100644 --- a/api-gen-cpp/file/between__factor__pose3__translation__norm_8h.html +++ b/api-gen-cpp/file/between__factor__pose3__translation__norm_8h.html @@ -750,7 +750,7 @@

    File between_factor_pose3_translation_norm.hFunctions

    -template<typename Scalar>
    void BetweenFactorPose3TranslationNorm(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Scalar translation_norm, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorPose3TranslationNorm(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Scalar translation_norm, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between translation_norm and (a.t - b.t).norm().

    Args: sqrt_info: Square root information matrix to whiten residual. In this one dimensional case this is just 1/sigma. jacobian: (1x12) jacobian of res wrt args a (6), b (6) hessian: (12x12) Gauss-Newton hessian for args a (6), b (6) rhs: (12x1) Gauss-Newton rhs for args a (6), b (6)

    diff --git a/api-gen-cpp/file/between__factor__rot2_8h.html b/api-gen-cpp/file/between__factor__rot2_8h.html index fc64eca1..ebeab291 100644 --- a/api-gen-cpp/file/between__factor__rot2_8h.html +++ b/api-gen-cpp/file/between__factor__rot2_8h.html @@ -750,7 +750,7 @@

    File between_factor_rot2.hFunctions

    -template<typename Scalar>
    void BetweenFactorRot2(const     sym::Rot2<Scalar> &a, const sym::Rot2<Scalar> &b, const sym::Rot2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 2> *const jacobian = nullptr, Eigen::Matrix<Scalar, 2, 2> *const hessian = nullptr, Eigen::Matrix<Scalar, 2, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorRot2(const sym::Rot2<Scalar> &a, const sym::Rot2<Scalar> &b, const sym::Rot2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 2> *const jacobian = nullptr, Eigen::Matrix<Scalar, 2, 2> *const hessian = nullptr, Eigen::Matrix<Scalar, 2, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/between__factor__rot3_8h.html b/api-gen-cpp/file/between__factor__rot3_8h.html index 8e822bec..7f3fb564 100644 --- a/api-gen-cpp/file/between__factor__rot3_8h.html +++ b/api-gen-cpp/file/between__factor__rot3_8h.html @@ -750,7 +750,7 @@

    File between_factor_rot3.hFunctions

    -template<typename Scalar>
    void BetweenFactorRot3(const     sym::Rot3<Scalar> &a, const sym::Rot3<Scalar> &b, const sym::Rot3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void BetweenFactorRot3(const sym::Rot3<Scalar> &a, const sym::Rot3<Scalar> &b, const sym::Rot3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    diff --git a/api-gen-cpp/file/double__sphere__camera__cal_8cc.html b/api-gen-cpp/file/double__sphere__camera__cal_8cc.html index 84932ab4..94dd3af7 100644 --- a/api-gen-cpp/file/double__sphere__camera__cal_8cc.html +++ b/api-gen-cpp/file/double__sphere__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File double_sphere_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCalf &a)#
    diff --git a/api-gen-cpp/file/double__sphere__reprojection__delta_8h.html b/api-gen-cpp/file/double__sphere__reprojection__delta_8h.html index 3dc79ef5..a6982552 100644 --- a/api-gen-cpp/file/double__sphere__reprojection__delta_8h.html +++ b/api-gen-cpp/file/double__sphere__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File double_sphere_reprojection_delta.hFunctions

    -template<typename Scalar>
    void DoubleSphereReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void DoubleSphereReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    diff --git a/api-gen-cpp/file/epsilon_8h.html b/api-gen-cpp/file/epsilon_8h.html index b3a25655..32b161b7 100644 --- a/api-gen-cpp/file/epsilon_8h.html +++ b/api-gen-cpp/file/epsilon_8h.html @@ -750,7 +750,7 @@

    File epsilon.hVariables

    -template<typename Scalar>
    constexpr     Scalar kDefaultEpsilon = Scalar(10.0) * std::numeric_limits<Scalar>::epsilon()#
    +template<typename Scalar>
    constexpr Scalar kDefaultEpsilon = Scalar(10.0) * std::numeric_limits<Scalar>::epsilon()#

    kDefaultEpsilon is a small positive number for avoiding numerical singularities.

    It is based on numerical epsilon (the difference between 1.0 and the next floating point number), scaled up for safety.

    An example of where kDefaultEpsilon might be used is in the evaluation of sin(x - 1) / (x - 1), which, at x = 1, evaluates to 0/0, i.e., NaN. This is despite the fact that the limit as x -> 1 is well defined (itself equaling 1).

    diff --git a/api-gen-cpp/file/equirectangular__camera__cal_8cc.html b/api-gen-cpp/file/equirectangular__camera__cal_8cc.html index 62bc8196..c5111ea0 100644 --- a/api-gen-cpp/file/equirectangular__camera__cal_8cc.html +++ b/api-gen-cpp/file/equirectangular__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File equirectangular_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCalf &a)#
    diff --git a/api-gen-cpp/file/equirectangular__reprojection__delta_8h.html b/api-gen-cpp/file/equirectangular__reprojection__delta_8h.html index ebc9872a..13b48667 100644 --- a/api-gen-cpp/file/equirectangular__reprojection__delta_8h.html +++ b/api-gen-cpp/file/equirectangular__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File equirectangular_reprojection_delta.hFunctions

    -template<typename Scalar>
    void EquirectangularReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void EquirectangularReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    diff --git a/api-gen-cpp/file/imu__manifold__preintegration__update_8h.html b/api-gen-cpp/file/imu__manifold__preintegration__update_8h.html index cb9ccbe2..2e5d2565 100644 --- a/api-gen-cpp/file/imu__manifold__preintegration__update_8h.html +++ b/api-gen-cpp/file/imu__manifold__preintegration__update_8h.html @@ -750,7 +750,7 @@

    File imu_manifold_preintegration_update.hFunctions

    -template<typename Scalar>
    void ImuManifoldPreintegrationUpdate(const     sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)#
    +template<typename Scalar>
    void ImuManifoldPreintegrationUpdate(const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)#

    An internal helper function to update a set of preintegrated IMU measurements with a new pair of gyroscope and accelerometer measurements. Returns the updated preintegrated measurements.

    NOTE: If you are interested in this function, you should likely be using the IntegrateMeasurement method of the PreintegratedImuMeasurements class located in symforce/slam/imu_preintegration/preintegrated_imu_measurements.h.

    When integrating the first measurement, DR should be the identity, Dv, Dp, covariance, and the derivatives w.r.t. to bias should all be 0.

    diff --git a/api-gen-cpp/file/imu__manifold__preintegration__update__auto__derivative_8h.html b/api-gen-cpp/file/imu__manifold__preintegration__update__auto__derivative_8h.html index 771fbdc7..b670f836 100644 --- a/api-gen-cpp/file/imu__manifold__preintegration__update__auto__derivative_8h.html +++ b/api-gen-cpp/file/imu__manifold__preintegration__update__auto__derivative_8h.html @@ -750,7 +750,7 @@

    File imu_manifold_preintegration_update_auto_derivative.hFunctions

    -template<typename Scalar>
    void ImuManifoldPreintegrationUpdateAutoDerivative(const     sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)#
    +template<typename Scalar>
    void ImuManifoldPreintegrationUpdateAutoDerivative(const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)#

    Alternative to ImuManifoldPreintegrationUpdate that uses auto-derivatives. Exists only to help verify correctness of ImuManifoldPreintegrationUpdate. Should have the same output. Since this function is more expensive, there is no reason to use it instead.

    An internal helper function to update a set of preintegrated IMU measurements with a new pair of gyroscope and accelerometer measurements. Returns the updated preintegrated measurements.

    NOTE: If you are interested in this function, you should likely be using the IntegrateMeasurement method of the PreintegratedImuMeasurements class located in symforce/slam/imu_preintegration/preintegrated_imu_measurements.h.

    diff --git a/api-gen-cpp/file/internal__imu__factor_8h.html b/api-gen-cpp/file/internal__imu__factor_8h.html index e6e87b9a..9f5ee38a 100644 --- a/api-gen-cpp/file/internal__imu__factor_8h.html +++ b/api-gen-cpp/file/internal__imu__factor_8h.html @@ -750,7 +750,7 @@

    File internal_imu_factor.hFunctions

    -template<typename Scalar>
    void InternalImuFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InternalImuFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr)#

    An internal helper function to linearize the difference between the orientation, velocity, and position at one time step and those of another time step. The expected difference is calculated from the preintegrated IMU measurements between those time steps.

    NOTE: If you are looking for a residual for an IMU factor, do not use this. Instead use the one found in symforce/slam/imu_preintegration/imu_factor.h.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    diff --git a/api-gen-cpp/file/internal__imu__unit__gravity__factor_8h.html b/api-gen-cpp/file/internal__imu__unit__gravity__factor_8h.html index 44ce5043..45724c12 100644 --- a/api-gen-cpp/file/internal__imu__unit__gravity__factor_8h.html +++ b/api-gen-cpp/file/internal__imu__unit__gravity__factor_8h.html @@ -750,7 +750,7 @@

    File internal_imu_unit_gravity_factor.hFunctions

    -template<typename Scalar>
    void InternalImuUnitGravityFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const sym::Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InternalImuUnitGravityFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const sym::Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr)#

    This function was autogenerated from a symbolic function. Do not modify by hand.

    Symbolic function: internal_imu_unit_gravity_residual

    Args: pose_i: Pose3 vel_i: Matrix31 pose_j: Pose3 vel_j: Matrix31 accel_bias_i: Matrix31 gyro_bias_i: Matrix31 DR: Rot3 Dv: Matrix31 Dp: Matrix31 sqrt_info: Matrix99 DR_D_gyro_bias: Matrix33 Dv_D_accel_bias: Matrix33 Dv_D_gyro_bias: Matrix33 Dp_D_accel_bias: Matrix33 Dp_D_gyro_bias: Matrix33 accel_bias_hat: Matrix31 gyro_bias_hat: Matrix31 gravity_direction: Unit3 gravity_norm: Scalar dt: Scalar epsilon: Scalar

    diff --git a/api-gen-cpp/file/internal__imu__with__gravity__factor_8h.html b/api-gen-cpp/file/internal__imu__with__gravity__factor_8h.html index 8e53369d..6ae378a2 100644 --- a/api-gen-cpp/file/internal__imu__with__gravity__factor_8h.html +++ b/api-gen-cpp/file/internal__imu__with__gravity__factor_8h.html @@ -750,7 +750,7 @@

    File internal_imu_with_gravity_factor.hFunctions

    -template<typename Scalar>
    void InternalImuWithGravityFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InternalImuWithGravityFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr)#

    An internal helper function to linearize the difference between the orientation, velocity, and position at one time step and those of another time step. The expected difference is calculated from the preintegrated IMU measurements between those time steps.

    NOTE: If you are looking for a residual for an IMU factor, do not use this. Instead use the one found in symforce/slam/imu_preintegration/imu_factor.h.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__atan__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__atan__gnc__factor_8h.html index 84d9b7a9..180727b4 100644 --- a/api-gen-cpp/file/inverse__range__landmark__atan__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__atan__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_atan_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkAtanGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkAtanGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__double__sphere__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__double__sphere__gnc__factor_8h.html index 9cc23662..87ec76d6 100644 --- a/api-gen-cpp/file/inverse__range__landmark__double__sphere__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__double__sphere__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_double_sphere_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkDoubleSphereGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkDoubleSphereGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__equirectangular__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__equirectangular__gnc__factor_8h.html index 62f4ec8e..2af1a66f 100644 --- a/api-gen-cpp/file/inverse__range__landmark__equirectangular__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__equirectangular__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_equirectangular_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkEquirectangularGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkEquirectangularGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html index 09884c3e..118fd7b8 100644 --- a/api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_linear_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkLinearGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkLinearGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html index 17abda82..699786b9 100644 --- a/api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_polynomial_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkPolynomialGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkPolynomialGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark ray into the target spherical camera and comparing it against the correspondence.

    The landmark is specified as a camera point in the source camera with an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/inverse__range__landmark__spherical__gnc__factor_8h.html b/api-gen-cpp/file/inverse__range__landmark__spherical__gnc__factor_8h.html index 6a1e1cce..0f657464 100644 --- a/api-gen-cpp/file/inverse__range__landmark__spherical__gnc__factor_8h.html +++ b/api-gen-cpp/file/inverse__range__landmark__spherical__gnc__factor_8h.html @@ -750,7 +750,7 @@

    File inverse_range_landmark_spherical_gnc_factor.hFunctions

    -template<typename Scalar>
    void InverseRangeLandmarkSphericalGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkSphericalGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark ray into the target spherical camera and comparing it against the correspondence.

    The landmark is specified as a camera point in the source camera with an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    diff --git a/api-gen-cpp/file/linear__camera__cal_8cc.html b/api-gen-cpp/file/linear__camera__cal_8cc.html index ec9f9eb4..ddb316e2 100644 --- a/api-gen-cpp/file/linear__camera__cal_8cc.html +++ b/api-gen-cpp/file/linear__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File linear_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const LinearCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const LinearCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const LinearCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const LinearCameraCalf &a)#
    diff --git a/api-gen-cpp/file/linear__reprojection__delta_8h.html b/api-gen-cpp/file/linear__reprojection__delta_8h.html index c703566f..8edec151 100644 --- a/api-gen-cpp/file/linear__reprojection__delta_8h.html +++ b/api-gen-cpp/file/linear__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File linear_reprojection_delta.hFunctions

    -template<typename Scalar>
    void LinearReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void LinearReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    diff --git a/api-gen-cpp/file/polynomial__camera__cal_8cc.html b/api-gen-cpp/file/polynomial__camera__cal_8cc.html index 8cb66ecb..c24b3c7d 100644 --- a/api-gen-cpp/file/polynomial__camera__cal_8cc.html +++ b/api-gen-cpp/file/polynomial__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File polynomial_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const PolynomialCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const PolynomialCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const PolynomialCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const PolynomialCameraCalf &a)#
    diff --git a/api-gen-cpp/file/polynomial__reprojection__delta_8h.html b/api-gen-cpp/file/polynomial__reprojection__delta_8h.html index df94f152..999c2171 100644 --- a/api-gen-cpp/file/polynomial__reprojection__delta_8h.html +++ b/api-gen-cpp/file/polynomial__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File polynomial_reprojection_delta.hFunctions

    -template<typename Scalar>
    void PolynomialReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void PolynomialReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark ray into the target camera and returns the delta between the correspondence and the reprojection.

    The landmark is specified as a 3D point or ray (will be normalized) in the source camera; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera p_camera_source: The location of the landmark in the source camera coordinate, will be normalized target_pixel: The location of the correspondence in the target camera epsilon: Small positive value

    diff --git a/api-gen-cpp/file/pose2_8cc.html b/api-gen-cpp/file/pose2_8cc.html index 1eb162a3..5b30c492 100644 --- a/api-gen-cpp/file/pose2_8cc.html +++ b/api-gen-cpp/file/pose2_8cc.html @@ -750,12 +750,12 @@

    File pose2.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const Pose2d &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose2d &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose2f &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose2f &a)#
    diff --git a/api-gen-cpp/file/pose3_8cc.html b/api-gen-cpp/file/pose3_8cc.html index 5da76d76..b6ba6f63 100644 --- a/api-gen-cpp/file/pose3_8cc.html +++ b/api-gen-cpp/file/pose3_8cc.html @@ -750,12 +750,12 @@

    File pose3.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const Pose3d &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose3d &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose3f &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose3f &a)#
    diff --git a/api-gen-cpp/file/posed__camera_8h.html b/api-gen-cpp/file/posed__camera_8h.html index c8e6ee2c..c8a0fc74 100644 --- a/api-gen-cpp/file/posed__camera_8h.html +++ b/api-gen-cpp/file/posed__camera_8h.html @@ -748,7 +748,7 @@

    File posed_camera.hnamespace sym
    -template<typename CameraCalType>
    class PosedCamera : public     sym::Camera<CameraCalType>
    +template<typename CameraCalType>
    class PosedCamera : public sym::Camera<CameraCalType>
    #include <posed_camera.h>

    Camera with a given pose, camera calibration, and an optionally specified image size.

    @@ -765,7 +765,7 @@

    File posed_camera.hPublic Functions

    -inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))
    +inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))
    @@ -794,7 +794,7 @@

    File posed_camera.h
    -inline const sym::Pose3<Scalar> &Pose() const
    +inline const sym::Pose3<Scalar> &Pose() const

    @@ -802,7 +802,7 @@

    File posed_camera.hPrivate Members

    -sym::Pose3<Scalar> pose_#
    +sym::Pose3<Scalar> pose_#
    diff --git a/api-gen-cpp/file/prior__factor__pose2_8h.html b/api-gen-cpp/file/prior__factor__pose2_8h.html index be549ca1..6b9afd7e 100644 --- a/api-gen-cpp/file/prior__factor__pose2_8h.html +++ b/api-gen-cpp/file/prior__factor__pose2_8h.html @@ -750,7 +750,7 @@

    File prior_factor_pose2.hFunctions

    -template<typename Scalar>
    void PriorFactorPose2(const     sym::Pose2<Scalar> &value, const sym::Pose2<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose2(const sym::Pose2<Scalar> &value, const sym::Pose2<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/prior__factor__pose3_8h.html b/api-gen-cpp/file/prior__factor__pose3_8h.html index 23817de9..a37abb1e 100644 --- a/api-gen-cpp/file/prior__factor__pose3_8h.html +++ b/api-gen-cpp/file/prior__factor__pose3_8h.html @@ -750,7 +750,7 @@

    File prior_factor_pose3.hFunctions

    -template<typename Scalar>
    void PriorFactorPose3(const     sym::Pose3<Scalar> &value, const sym::Pose3<Scalar> &prior, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3(const sym::Pose3<Scalar> &value, const sym::Pose3<Scalar> &prior, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/prior__factor__pose3__position_8h.html b/api-gen-cpp/file/prior__factor__pose3__position_8h.html index 43a6b842..15b72936 100644 --- a/api-gen-cpp/file/prior__factor__pose3__position_8h.html +++ b/api-gen-cpp/file/prior__factor__pose3__position_8h.html @@ -750,7 +750,7 @@

    File prior_factor_pose3_position.hFunctions

    -template<typename Scalar>
    void PriorFactorPose3Position(const     sym::Pose3<Scalar> &value, const Eigen::Matrix<Scalar, 3, 1> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3Position(const sym::Pose3<Scalar> &value, const Eigen::Matrix<Scalar, 3, 1> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/prior__factor__pose3__rotation_8h.html b/api-gen-cpp/file/prior__factor__pose3__rotation_8h.html index 56b1c412..388b2628 100644 --- a/api-gen-cpp/file/prior__factor__pose3__rotation_8h.html +++ b/api-gen-cpp/file/prior__factor__pose3__rotation_8h.html @@ -750,7 +750,7 @@

    File prior_factor_pose3_rotation.hFunctions

    -template<typename Scalar>
    void PriorFactorPose3Rotation(const     sym::Pose3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3Rotation(const sym::Pose3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/prior__factor__rot2_8h.html b/api-gen-cpp/file/prior__factor__rot2_8h.html index fafcd5b1..cdddffab 100644 --- a/api-gen-cpp/file/prior__factor__rot2_8h.html +++ b/api-gen-cpp/file/prior__factor__rot2_8h.html @@ -750,7 +750,7 @@

    File prior_factor_rot2.hFunctions

    -template<typename Scalar>
    void PriorFactorRot2(const     sym::Rot2<Scalar> &value, const sym::Rot2<Scalar> &prior, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 1> *const jacobian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const hessian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorRot2(const sym::Rot2<Scalar> &value, const sym::Rot2<Scalar> &prior, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 1> *const jacobian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const hessian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/prior__factor__rot3_8h.html b/api-gen-cpp/file/prior__factor__rot3_8h.html index 89808ca8..21f664a4 100644 --- a/api-gen-cpp/file/prior__factor__rot3_8h.html +++ b/api-gen-cpp/file/prior__factor__rot3_8h.html @@ -750,7 +750,7 @@

    File prior_factor_rot3.hFunctions

    -template<typename Scalar>
    void PriorFactorRot3(const     sym::Rot3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorRot3(const sym::Rot3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    diff --git a/api-gen-cpp/file/rot2_8cc.html b/api-gen-cpp/file/rot2_8cc.html index 366a5c69..fc1c0021 100644 --- a/api-gen-cpp/file/rot2_8cc.html +++ b/api-gen-cpp/file/rot2_8cc.html @@ -750,12 +750,12 @@

    File rot2.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const Rot2d &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot2d &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot2f &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot2f &a)#
    diff --git a/api-gen-cpp/file/rot3_8cc.html b/api-gen-cpp/file/rot3_8cc.html index 784d8496..c5832d00 100644 --- a/api-gen-cpp/file/rot3_8cc.html +++ b/api-gen-cpp/file/rot3_8cc.html @@ -750,12 +750,12 @@

    File rot3.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const Rot3d &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot3d &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot3f &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot3f &a)#
    diff --git a/api-gen-cpp/file/spherical__camera__cal_8cc.html b/api-gen-cpp/file/spherical__camera__cal_8cc.html index f5c103ad..fdd822f9 100644 --- a/api-gen-cpp/file/spherical__camera__cal_8cc.html +++ b/api-gen-cpp/file/spherical__camera__cal_8cc.html @@ -750,12 +750,12 @@

    File spherical_camera_cal.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const SphericalCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const SphericalCameraCald &a)#
    -std::ostream &operator<<(std::ostream &os, const SphericalCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const SphericalCameraCalf &a)#
    diff --git a/api-gen-cpp/file/spherical__reprojection__delta_8h.html b/api-gen-cpp/file/spherical__reprojection__delta_8h.html index a045b768..74e48307 100644 --- a/api-gen-cpp/file/spherical__reprojection__delta_8h.html +++ b/api-gen-cpp/file/spherical__reprojection__delta_8h.html @@ -750,7 +750,7 @@

    File spherical_reprojection_delta.hFunctions

    -template<typename Scalar>
    void SphericalReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void SphericalReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark ray into the target camera and returns the delta between the correspondence and the reprojection.

    The landmark is specified as a 3D point or ray (will be normalized) in the source camera; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera p_camera_source: The location of the landmark in the source camera coordinate, will be normalized target_pixel: The location of the correspondence in the target camera epsilon: Small positive value

    diff --git a/api-gen-cpp/file/type__ops_8h.html b/api-gen-cpp/file/type__ops_8h.html index 5d25034d..37817dc6 100644 --- a/api-gen-cpp/file/type__ops_8h.html +++ b/api-gen-cpp/file/type__ops_8h.html @@ -767,7 +767,7 @@

    File type_ops.h
    -inline std::pair<int, int> EigenTypeShape(const type_t type)#
    +inline std::pair<int, int> EigenTypeShape(const type_t type)#

    Returns the shape of an Eigen type as a pair of ints (rows, cols)

    @@ -776,12 +776,12 @@

    File type_ops.hVariables

    -template<typename T>
    static constexpr const bool kIsEigenType =     std::is_base_of<Eigen::MatrixBase<T>, T>::value#
    +template<typename T>
    static constexpr const bool kIsEigenType = std::is_base_of<Eigen::MatrixBase<T>, T>::value#
    -template<typename T>
    static constexpr const bool kIsSparseEigenType = std::is_base_of<Eigen::SparseMatrix<typename T::Scalar>, T>::value#
    +template<typename T>
    static constexpr const bool kIsSparseEigenType = std::is_base_of<Eigen::SparseMatrix<typename T::Scalar>, T>::value#
    diff --git a/api-gen-cpp/file/unit3_8cc.html b/api-gen-cpp/file/unit3_8cc.html index 8ec2b08e..cadbea12 100644 --- a/api-gen-cpp/file/unit3_8cc.html +++ b/api-gen-cpp/file/unit3_8cc.html @@ -750,12 +750,12 @@

    File unit3.ccFunctions

    -std::ostream &operator<<(std::ostream &os, const Unit3d &a)#
    +std::ostream &operator<<(std::ostream &os, const Unit3d &a)#
    -std::ostream &operator<<(std::ostream &os, const Unit3f &a)#
    +std::ostream &operator<<(std::ostream &os, const Unit3f &a)#
    diff --git a/api-gen-cpp/namespace/namespacesym.html b/api-gen-cpp/namespace/namespacesym.html index b08a4d6c..a0f39408 100644 --- a/api-gen-cpp/namespace/namespacesym.html +++ b/api-gen-cpp/namespace/namespacesym.html @@ -2223,37 +2223,37 @@

    Namespace symFunctions

    -std::ostream &operator<<(std::ostream &os, const ATANCameraCald &a)
    +std::ostream &operator<<(std::ostream &os, const ATANCameraCald &a)
    -std::ostream &operator<<(std::ostream &os, const ATANCameraCalf &a)
    +std::ostream &operator<<(std::ostream &os, const ATANCameraCalf &a)
    -std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCald &a)
    +std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCald &a)
    -std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCalf &a)
    +std::ostream &operator<<(std::ostream &os, const DoubleSphereCameraCalf &a)
    -std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCald &a)
    +std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCald &a)
    -std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCalf &a)
    +std::ostream &operator<<(std::ostream &os, const EquirectangularCameraCalf &a)
    -template<typename Scalar>
    void AtanReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)
    +template<typename Scalar>
    void AtanReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    @@ -2271,7 +2271,7 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorPose2(const     sym::Pose2<Scalar> &a, const sym::Pose2<Scalar> &b, const sym::Pose2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorPose2(const sym::Pose2<Scalar> &a, const sym::Pose2<Scalar> &b, const sym::Pose2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    @@ -2280,7 +2280,7 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorPose3(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Pose3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorPose3(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Pose3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    @@ -2289,7 +2289,7 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorPose3Position(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Eigen::Matrix<Scalar, 3, 1> &a_t_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorPose3Position(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Eigen::Matrix<Scalar, 3, 1> &a_t_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_t_b.

    In vector space terms that would be: (b - a) - a_t_b

    In lie group terms: local_coordinates(a_t_b, between(a, b)) to_tangent(compose(inverse(a_t_b), compose(inverse(a), b)))

    @@ -2298,7 +2298,7 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorPose3Rotation(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Rot3<Scalar> &a_R_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorPose3Rotation(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const sym::Rot3<Scalar> &a_R_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_R_b.

    In vector space terms that would be: (b - a) - a_R_b

    In lie group terms: local_coordinates(a_R_b, between(a, b)) to_tangent(compose(inverse(a_R_b), compose(inverse(a), b)))

    @@ -2307,14 +2307,14 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorPose3TranslationNorm(const     sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Scalar translation_norm, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorPose3TranslationNorm(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Scalar translation_norm, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)

    Residual that penalizes the difference between translation_norm and (a.t - b.t).norm().

    Args: sqrt_info: Square root information matrix to whiten residual. In this one dimensional case this is just 1/sigma. jacobian: (1x12) jacobian of res wrt args a (6), b (6) hessian: (12x12) Gauss-Newton hessian for args a (6), b (6) rhs: (12x1) Gauss-Newton rhs for args a (6), b (6)

    -template<typename Scalar>
    void BetweenFactorRot2(const sym::Rot2<Scalar> &a, const sym::Rot2<Scalar> &b, const sym::Rot2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 2> *const jacobian = nullptr, Eigen::Matrix<Scalar, 2, 2> *const hessian = nullptr, Eigen::Matrix<Scalar, 2, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorRot2(const sym::Rot2<Scalar> &a, const sym::Rot2<Scalar> &b, const sym::Rot2<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 2> *const jacobian = nullptr, Eigen::Matrix<Scalar, 2, 2> *const hessian = nullptr, Eigen::Matrix<Scalar, 2, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    @@ -2323,7 +2323,7 @@

    Namespace sym
    -template<typename Scalar>
    void BetweenFactorRot3(const     sym::Rot3<Scalar> &a, const sym::Rot3<Scalar> &b, const sym::Rot3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void BetweenFactorRot3(const sym::Rot3<Scalar> &a, const sym::Rot3<Scalar> &b, const sym::Rot3<Scalar> &a_T_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)

    Residual that penalizes the difference between between(a, b) and a_T_b.

    In vector space terms that would be: (b - a) - a_T_b

    In lie group terms: local_coordinates(a_T_b, between(a, b)) to_tangent(compose(inverse(a_T_b), compose(inverse(a), b)))

    @@ -2332,7 +2332,7 @@

    Namespace sym
    -template<typename Scalar>
    void DoubleSphereReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)
    +template<typename Scalar>
    void DoubleSphereReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    @@ -2341,7 +2341,7 @@

    Namespace sym
    -template<typename Scalar>
    void EquirectangularReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)
    +template<typename Scalar>
    void EquirectangularReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    @@ -2350,7 +2350,7 @@

    Namespace sym
    -template<typename Scalar>
    void ImuManifoldPreintegrationUpdate(const     sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)
    +template<typename Scalar>
    void ImuManifoldPreintegrationUpdate(const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)

    An internal helper function to update a set of preintegrated IMU measurements with a new pair of gyroscope and accelerometer measurements. Returns the updated preintegrated measurements.

    NOTE: If you are interested in this function, you should likely be using the IntegrateMeasurement method of the PreintegratedImuMeasurements class located in symforce/slam/imu_preintegration/preintegrated_imu_measurements.h.

    When integrating the first measurement, DR should be the identity, Dv, Dp, covariance, and the derivatives w.r.t. to bias should all be 0.

    @@ -2360,7 +2360,7 @@

    Namespace sym
    -template<typename Scalar>
    void ImuManifoldPreintegrationUpdateAutoDerivative(const     sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)
    +template<typename Scalar>
    void ImuManifoldPreintegrationUpdateAutoDerivative(const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &covariance, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &gyro_cov_diagonal, const Eigen::Matrix<Scalar, 3, 1> &accel_measurement, const Eigen::Matrix<Scalar, 3, 1> &gyro_measurement, const Scalar dt, const Scalar epsilon, sym::Rot3<Scalar> *const new_DR = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dv = nullptr, Eigen::Matrix<Scalar, 3, 1> *const new_Dp = nullptr, Eigen::Matrix<Scalar, 9, 9> *const new_covariance = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_DR_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dv_D_gyro_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_accel_bias = nullptr, Eigen::Matrix<Scalar, 3, 3> *const new_Dp_D_gyro_bias = nullptr)

    Alternative to ImuManifoldPreintegrationUpdate that uses auto-derivatives. Exists only to help verify correctness of ImuManifoldPreintegrationUpdate. Should have the same output. Since this function is more expensive, there is no reason to use it instead.

    An internal helper function to update a set of preintegrated IMU measurements with a new pair of gyroscope and accelerometer measurements. Returns the updated preintegrated measurements.

    NOTE: If you are interested in this function, you should likely be using the IntegrateMeasurement method of the PreintegratedImuMeasurements class located in symforce/slam/imu_preintegration/preintegrated_imu_measurements.h.

    @@ -2371,7 +2371,7 @@

    Namespace sym
    -template<typename Scalar>
    void InternalImuFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InternalImuFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 24> *const jacobian = nullptr, Eigen::Matrix<Scalar, 24, 24> *const hessian = nullptr, Eigen::Matrix<Scalar, 24, 1> *const rhs = nullptr)

    An internal helper function to linearize the difference between the orientation, velocity, and position at one time step and those of another time step. The expected difference is calculated from the preintegrated IMU measurements between those time steps.

    NOTE: If you are looking for a residual for an IMU factor, do not use this. Instead use the one found in symforce/slam/imu_preintegration/imu_factor.h.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -2386,7 +2386,7 @@

    Namespace sym
    -template<typename Scalar>
    void InternalImuUnitGravityFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const sym::Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InternalImuUnitGravityFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const sym::Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr)

    This function was autogenerated from a symbolic function. Do not modify by hand.

    Symbolic function: internal_imu_unit_gravity_residual

    Args: pose_i: Pose3 vel_i: Matrix31 pose_j: Pose3 vel_j: Matrix31 accel_bias_i: Matrix31 gyro_bias_i: Matrix31 DR: Rot3 Dv: Matrix31 Dp: Matrix31 sqrt_info: Matrix99 DR_D_gyro_bias: Matrix33 Dv_D_accel_bias: Matrix33 Dv_D_gyro_bias: Matrix33 Dp_D_accel_bias: Matrix33 Dp_D_gyro_bias: Matrix33 accel_bias_hat: Matrix31 gyro_bias_hat: Matrix31 gravity_direction: Unit3 gravity_norm: Scalar dt: Scalar epsilon: Scalar

    @@ -2395,7 +2395,7 @@

    Namespace sym
    -template<typename Scalar>
    void InternalImuWithGravityFactor(const     sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InternalImuWithGravityFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gravity, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 27> *const jacobian = nullptr, Eigen::Matrix<Scalar, 27, 27> *const hessian = nullptr, Eigen::Matrix<Scalar, 27, 1> *const rhs = nullptr)

    An internal helper function to linearize the difference between the orientation, velocity, and position at one time step and those of another time step. The expected difference is calculated from the preintegrated IMU measurements between those time steps.

    NOTE: If you are looking for a residual for an IMU factor, do not use this. Instead use the one found in symforce/slam/imu_preintegration/imu_factor.h.

    Time step i is the time of the first IMU measurement of the interval. Time step j is the time after the last IMU measurement of the interval.

    @@ -2410,7 +2410,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkAtanGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InverseRangeLandmarkAtanGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::ATANCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::ATANCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2420,7 +2420,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkDoubleSphereGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InverseRangeLandmarkDoubleSphereGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::DoubleSphereCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::DoubleSphereCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2430,7 +2430,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkEquirectangularGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InverseRangeLandmarkEquirectangularGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::EquirectangularCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::EquirectangularCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2440,7 +2440,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkLinearGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InverseRangeLandmarkLinearGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)

    Return the 2dof residual of reprojecting the landmark into the target camera and comparing against the correspondence in the target camera.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2450,7 +2450,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkPolynomialGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)
    +template<typename Scalar>
    void InverseRangeLandmarkPolynomialGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)

    Return the 2dof residual of reprojecting the landmark ray into the target spherical camera and comparing it against the correspondence.

    The landmark is specified as a camera point in the source camera with an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2468,7 +2468,7 @@

    Namespace sym
    -template<typename Scalar>
    void InverseRangeLandmarkSphericalGncFactor(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void InverseRangeLandmarkSphericalGncFactor(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar weight, const Scalar gnc_mu, const Scalar gnc_scale, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 13> *const jacobian = nullptr, Eigen::Matrix<Scalar, 13, 13> *const hessian = nullptr, Eigen::Matrix<Scalar, 13, 1> *const rhs = nullptr)#

    Return the 2dof residual of reprojecting the landmark ray into the target spherical camera and comparing it against the correspondence.

    The landmark is specified as a camera point in the source camera with an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    The norm of the residual is whitened using the :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel>. Whitening each component of the reprojection error separately would result in rejecting individual components as outliers. Instead, we minimize the whitened norm of the full reprojection error for each point. See :meth:ScalarNoiseModel.whiten_norm <symforce.opt.noise_models.ScalarNoiseModel.whiten_norm> for more information on this, and :class:BarronNoiseModel <symforce.opt.noise_models.BarronNoiseModel> for more information on the noise model.

    @@ -2478,7 +2478,7 @@

    Namespace sym
    -template<typename Scalar>
    void LinearReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void LinearReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::LinearCameraCal<Scalar> &source_calibration, const sym::Pose3<Scalar> &target_pose, const sym::LinearCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 2, 1> &source_pixel, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark into the target camera and returns the delta from the correspondence to the reprojection.

    The landmark is specified as a pixel in the source camera and an inverse range; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera source_calibration: The source camera calibration target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera source_pixel: The location of the landmark in the source camera target_pixel: The location of the correspondence in the target camera epsilon: Small positive value camera_model_class: The subclass of CameraCal to use as the camera model

    @@ -2487,7 +2487,7 @@

    Namespace sym
    -template<typename Scalar>
    void PolynomialReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#
    +template<typename Scalar>
    void PolynomialReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::PolynomialCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)#

    Reprojects the landmark ray into the target camera and returns the delta between the correspondence and the reprojection.

    The landmark is specified as a 3D point or ray (will be normalized) in the source camera; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera p_camera_source: The location of the landmark in the source camera coordinate, will be normalized target_pixel: The location of the correspondence in the target camera epsilon: Small positive value

    @@ -2505,7 +2505,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorPose2(const     sym::Pose2<Scalar> &value, const sym::Pose2<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose2(const sym::Pose2<Scalar> &value, const sym::Pose2<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2514,7 +2514,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorPose3(const     sym::Pose3<Scalar> &value, const sym::Pose3<Scalar> &prior, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3(const sym::Pose3<Scalar> &value, const sym::Pose3<Scalar> &prior, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2523,7 +2523,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorPose3Position(const     sym::Pose3<Scalar> &value, const Eigen::Matrix<Scalar, 3, 1> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3Position(const sym::Pose3<Scalar> &value, const Eigen::Matrix<Scalar, 3, 1> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2532,7 +2532,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorPose3Rotation(const     sym::Pose3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorPose3Rotation(const sym::Pose3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2541,7 +2541,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorRot2(const     sym::Rot2<Scalar> &value, const sym::Rot2<Scalar> &prior, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 1> *const jacobian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const hessian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorRot2(const sym::Rot2<Scalar> &value, const sym::Rot2<Scalar> &prior, const Eigen::Matrix<Scalar, 1, 1> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 1, 1> *const res = nullptr, Eigen::Matrix<Scalar, 1, 1> *const jacobian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const hessian = nullptr, Eigen::Matrix<Scalar, 1, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2550,7 +2550,7 @@

    Namespace sym
    -template<typename Scalar>
    void PriorFactorRot3(const     sym::Rot3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#
    +template<typename Scalar>
    void PriorFactorRot3(const sym::Rot3<Scalar> &value, const sym::Rot3<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#

    Residual that penalizes the difference between a value and prior (desired / measured value).

    In vector space terms that would be: prior - value

    In lie group terms: to_tangent(compose(inverse(value), prior))

    @@ -2559,7 +2559,7 @@

    Namespace sym
    -template<typename Scalar>
    void SphericalReprojectionDelta(const     sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)
    +template<typename Scalar>
    void SphericalReprojectionDelta(const sym::Pose3<Scalar> &source_pose, const sym::Pose3<Scalar> &target_pose, const sym::SphericalCameraCal<Scalar> &target_calibration, const Scalar source_inverse_range, const Eigen::Matrix<Scalar, 3, 1> &p_camera_source, const Eigen::Matrix<Scalar, 2, 1> &target_pixel, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const reprojection_delta = nullptr, Scalar *const is_valid = nullptr)

    Reprojects the landmark ray into the target camera and returns the delta between the correspondence and the reprojection.

    The landmark is specified as a 3D point or ray (will be normalized) in the source camera; this means the landmark is fixed in the source camera and always has residual 0 there (this 0 residual is not returned, only the residual in the target camera is returned).

    Args: source_pose: The pose of the source camera target_pose: The pose of the target camera target_calibration: The target camera calibration source_inverse_range: The inverse range of the landmark in the source camera p_camera_source: The location of the landmark in the source camera coordinate, will be normalized target_pixel: The location of the correspondence in the target camera epsilon: Small positive value

    @@ -2568,12 +2568,12 @@

    Namespace sym
    -std::ostream &operator<<(std::ostream &os, const LinearCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const LinearCameraCald &a)#

    -std::ostream &operator<<(std::ostream &os, const LinearCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const LinearCameraCalf &a)#
    @@ -2588,72 +2588,72 @@

    Namespace sym
    -std::ostream &operator<<(std::ostream &os, const PolynomialCameraCald &a)#
    +std::ostream &operator<<(std::ostream &os, const PolynomialCameraCald &a)#

    -std::ostream &operator<<(std::ostream &os, const PolynomialCameraCalf &a)#
    +std::ostream &operator<<(std::ostream &os, const PolynomialCameraCalf &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose2d &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose2d &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose2f &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose2f &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose3d &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose3d &a)#
    -std::ostream &operator<<(std::ostream &os, const Pose3f &a)#
    +std::ostream &operator<<(std::ostream &os, const Pose3f &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot2d &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot2d &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot2f &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot2f &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot3d &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot3d &a)#
    -std::ostream &operator<<(std::ostream &os, const Rot3f &a)#
    +std::ostream &operator<<(std::ostream &os, const Rot3f &a)#
    -std::ostream &operator<<(std::ostream &os, const SphericalCameraCald &a)
    +std::ostream &operator<<(std::ostream &os, const SphericalCameraCald &a)
    -std::ostream &operator<<(std::ostream &os, const SphericalCameraCalf &a)
    +std::ostream &operator<<(std::ostream &os, const SphericalCameraCalf &a)
    -std::ostream &operator<<(std::ostream &os, const Unit3d &a)
    +std::ostream &operator<<(std::ostream &os, const Unit3d &a)
    -std::ostream &operator<<(std::ostream &os, const Unit3f &a)
    +std::ostream &operator<<(std::ostream &os, const Unit3f &a)
    @@ -2663,7 +2663,7 @@

    Namespace sym
    -inline std::pair<int, int> EigenTypeShape(const type_t type)
    +inline std::pair<int, int> EigenTypeShape(const type_t type)

    Returns the shape of an Eigen type as a pair of ints (rows, cols)

    @@ -2672,7 +2672,7 @@

    Namespace symVariables

    -template<typename Scalar>
    constexpr     Scalar kDefaultEpsilon = Scalar(10.0) * std::numeric_limits<Scalar>::epsilon()
    +template<typename Scalar>
    constexpr Scalar kDefaultEpsilon = Scalar(10.0) * std::numeric_limits<Scalar>::epsilon()

    kDefaultEpsilon is a small positive number for avoiding numerical singularities.

    It is based on numerical epsilon (the difference between 1.0 and the next floating point number), scaled up for safety.

    An example of where kDefaultEpsilon might be used is in the evaluation of sin(x - 1) / (x - 1), which, at x = 1, evaluates to 0/0, i.e., NaN. This is despite the fact that the limit as x -> 1 is well defined (itself equaling 1).

    @@ -2702,12 +2702,12 @@

    Namespace sym
    -template<typename T>
    static constexpr const bool kIsEigenType =     std::is_base_of<Eigen::MatrixBase<T>, T>::value
    +template<typename T>
    static constexpr const bool kIsEigenType = std::is_base_of<Eigen::MatrixBase<T>, T>::value

    -template<typename T>
    static constexpr const bool kIsSparseEigenType = std::is_base_of<Eigen::SparseMatrix<typename T::Scalar>, T>::value
    +template<typename T>
    static constexpr const bool kIsSparseEigenType = std::is_base_of<Eigen::SparseMatrix<typename T::Scalar>, T>::value
    @@ -3285,7 +3285,7 @@

    Namespace sym
    -template<>
    struct GroupOps<double> : public     sym::scalar::GroupOps<double>#
    +template<>
    struct GroupOps<double> : public sym::scalar::GroupOps<double>#

    @@ -3488,7 +3488,7 @@

    Namespace sym
    -template<>
    struct GroupOps<float> : public     sym::scalar::GroupOps<float>#
    +template<>
    struct GroupOps<float> : public sym::scalar::GroupOps<float>#

    @@ -4168,7 +4168,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    ATANCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<ATANCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<ATANCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<ATANCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.atan_camera_cal.ATANCameraCal’>.

    @@ -4222,12 +4222,12 @@

    Namespace sym
    -template<>
    struct LieGroupOps<double> : public     sym::scalar::LieGroupOps<double>#
    +template<>
    struct LieGroupOps<double> : public sym::scalar::LieGroupOps<double>#

    -template<typename Scalar>
    struct LieGroupOps<DoubleSphereCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<DoubleSphereCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<DoubleSphereCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<DoubleSphereCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal’>.

    @@ -4340,7 +4340,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    EquirectangularCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<EquirectangularCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<EquirectangularCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<EquirectangularCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal’>.

    @@ -4394,12 +4394,12 @@

    Namespace sym
    -template<>
    struct LieGroupOps<float> : public     sym::scalar::LieGroupOps<float>#
    +template<>
    struct LieGroupOps<float> : public sym::scalar::LieGroupOps<float>#

    -template<typename Scalar>
    struct LieGroupOps<LinearCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<LinearCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<LinearCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<LinearCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.linear_camera_cal.LinearCameraCal’>.

    @@ -4453,7 +4453,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    PolynomialCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<PolynomialCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<PolynomialCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<PolynomialCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.polynomial_camera_cal.PolynomialCameraCal’>.

    @@ -4507,7 +4507,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    Pose2<Scalar>> : public sym::internal::LieGroupOpsBase<Pose2<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Pose2<Scalar>> : public sym::internal::LieGroupOpsBase<Pose2<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.geo.pose2.Pose2’>.

    @@ -4561,7 +4561,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    Pose3<Scalar>> : public sym::internal::LieGroupOpsBase<Pose3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Pose3<Scalar>> : public sym::internal::LieGroupOpsBase<Pose3<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.geo.pose3.Pose3’>.

    @@ -4615,7 +4615,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    Rot2<Scalar>> : public sym::internal::LieGroupOpsBase<Rot2<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Rot2<Scalar>> : public sym::internal::LieGroupOpsBase<Rot2<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.geo.rot2.Rot2’>.

    @@ -4669,7 +4669,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    Rot3<Scalar>> : public sym::internal::LieGroupOpsBase<Rot3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Rot3<Scalar>> : public sym::internal::LieGroupOpsBase<Rot3<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.geo.rot3.Rot3’>.

    @@ -4723,7 +4723,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    SphericalCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<SphericalCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<SphericalCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<SphericalCameraCal<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.cam.spherical_camera_cal.SphericalCameraCal’>.

    @@ -4777,7 +4777,7 @@

    Namespace sym
    -template<typename Scalar>
    struct LieGroupOps<    Unit3<Scalar>> : public sym::internal::LieGroupOpsBase<Unit3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Unit3<Scalar>> : public sym::internal::LieGroupOpsBase<Unit3<Scalar>, Scalar>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for <class ‘symforce.geo.unit3.Unit3’>.

    @@ -5138,7 +5138,7 @@

    Namespace sym
    -const sym::Rot2<Scalar> Rotation() const
    +const sym::Rot2<Scalar> Rotation() const

    @@ -5356,7 +5356,7 @@

    Namespace sym
    -const sym::Rot3<Scalar> Rotation() const
    +const sym::Rot3<Scalar> Rotation() const

    @@ -5497,7 +5497,7 @@

    Namespace sym
    -template<typename CameraCalType>
    class PosedCamera : public     sym::Camera<CameraCalType>
    +template<typename CameraCalType>
    class PosedCamera : public sym::Camera<CameraCalType>
    #include <posed_camera.h>

    Camera with a given pose, camera calibration, and an optionally specified image size.

    @@ -5514,7 +5514,7 @@

    Namespace symPublic Functions

    -inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))
    +inline PosedCamera(const sym::Pose3<Scalar> &pose, const CameraCalType &calibration, const Eigen::Vector2i &image_size = Eigen::Vector2i(-1, -1))
    @@ -5543,7 +5543,7 @@

    Namespace sym
    -inline const sym::Pose3<Scalar> &Pose() const
    +inline const sym::Pose3<Scalar> &Pose() const

    @@ -5716,7 +5716,7 @@

    Namespace sym
    -static const sym::Rot2<Scalar> FromAngle(const Scalar theta)
    +static const sym::Rot2<Scalar> FromAngle(const Scalar theta)

    @@ -5954,22 +5954,22 @@

    Namespace sym
    -static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)
    +static const sym::Rot3<Scalar> RandomFromUniformSamples(const Scalar u1, const Scalar u2, const Scalar u3)

    -static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)
    +static const sym::Rot3<Scalar> FromYawPitchRoll(const Scalar yaw, const Scalar pitch, const Scalar roll)
    -static const sym::Rot3<Scalar> FromYawPitchRoll(const Vector3 &ypr)
    +static const sym::Rot3<Scalar> FromYawPitchRoll(const Vector3 &ypr)
    -static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)
    +static const sym::Rot3<Scalar> FromTwoUnitVectors(const Vector3 &a, const Vector3 &b, const Scalar epsilon)
    @@ -6209,7 +6209,7 @@

    Namespace sym
    -template<>
    struct StorageOps<double> : public     sym::scalar::StorageOps<double>#
    +template<>
    struct StorageOps<double> : public sym::scalar::StorageOps<double>#

    @@ -6351,7 +6351,7 @@

    Namespace sym
    -template<>
    struct StorageOps<float> : public     sym::scalar::StorageOps<float>#
    +template<>
    struct StorageOps<float> : public sym::scalar::StorageOps<float>#

    @@ -6809,7 +6809,7 @@

    Namespace sym
    -const sym::Rot3<Scalar> ToRotation() const
    +const sym::Rot3<Scalar> ToRotation() const

    @@ -6897,7 +6897,7 @@

    Namespace sym
    -static const sym::Unit3<Scalar> FromVector(const Vector3 &a, const Scalar epsilon)
    +static const sym::Unit3<Scalar> FromVector(const Vector3 &a, const Scalar epsilon)

    @@ -6972,7 +6972,7 @@

    Namespace sym
    -template<typename T>
    struct LieGroupOps : public     sym::internal::LieGroupOpsBase<T, T>#
    +template<typename T>
    struct LieGroupOps : public sym::internal::LieGroupOpsBase<T, T>#
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for scalars.

    diff --git a/api-gen-cpp/namespace/namespacesym_1_1scalar.html b/api-gen-cpp/namespace/namespacesym_1_1scalar.html index 11987748..06478811 100644 --- a/api-gen-cpp/namespace/namespacesym_1_1scalar.html +++ b/api-gen-cpp/namespace/namespacesym_1_1scalar.html @@ -787,7 +787,7 @@

    Namespace sym::scalar
    -template<typename T>
    struct LieGroupOps : public     sym::internal::LieGroupOpsBase<T, T>
    +template<typename T>
    struct LieGroupOps : public sym::internal::LieGroupOpsBase<T, T>
    #include <lie_group_ops.h>

    C++ LieGroupOps implementation for scalars.

    diff --git a/api-gen-cpp/struct/structsym_1_1GroupOps_3_01double_01_4.html b/api-gen-cpp/struct/structsym_1_1GroupOps_3_01double_01_4.html index e32d39d5..a282ef91 100644 --- a/api-gen-cpp/struct/structsym_1_1GroupOps_3_01double_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1GroupOps_3_01double_01_4.html @@ -745,7 +745,7 @@

    Struct sym::GroupOps< double >#

    -template<>
    struct GroupOps<double> : public sym::scalar::GroupOps<double>#
    +template<>
    struct GroupOps<double> : public sym::scalar::GroupOps<double>#
    diff --git a/api-gen-cpp/struct/structsym_1_1GroupOps_3_01float_01_4.html b/api-gen-cpp/struct/structsym_1_1GroupOps_3_01float_01_4.html index bbfbc2cb..5503ff31 100644 --- a/api-gen-cpp/struct/structsym_1_1GroupOps_3_01float_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1GroupOps_3_01float_01_4.html @@ -745,7 +745,7 @@

    Struct sym::GroupOps< float >#

    -template<>
    struct GroupOps<float> : public sym::scalar::GroupOps<float>#
    +template<>
    struct GroupOps<float> : public sym::scalar::GroupOps<float>#
    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01ATANCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01ATANCameraCal_3_01Scalar_01_4_01_4.html index 504adaee..c0906c62 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01ATANCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01ATANCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< ATANCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<ATANCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<ATANCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<ATANCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<ATANCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.atan_camera_cal.ATANCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01DoubleSphereCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01DoubleSphereCameraCal_3_01Scalar_01_4_01_4.html index 01406769..5647e36b 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01DoubleSphereCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01DoubleSphereCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< DoubleSphereCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<DoubleSphereCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<DoubleSphereCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<DoubleSphereCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<DoubleSphereCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Eigen_1_1Matrix_3_01ScalarType_00_01Rows_00_01Cols_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Eigen_1_1Matrix_3_01ScalarType_00_01Rows_00_01Cols_01_4_01_4.html index e15f2c5e..5e53ee47 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Eigen_1_1Matrix_3_01ScalarType_00_01Rows_00_01Cols_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Eigen_1_1Matrix_3_01ScalarType_00_01Rows_00_01Cols_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Eigen::Matrix< ScalarType, Rows, Cols > >#

    -template<typename ScalarType, int Rows, int Cols>
    struct LieGroupOps<Eigen::Matrix<ScalarType, Rows, Cols>> : public sym::internal::LieGroupOpsBase<Eigen::Matrix<ScalarType, Rows, Cols>, ScalarType>#
    +template<typename ScalarType, int Rows, int Cols>
    struct LieGroupOps<Eigen::Matrix<ScalarType, Rows, Cols>> : public sym::internal::LieGroupOpsBase<Eigen::Matrix<ScalarType, Rows, Cols>, ScalarType>#

    C++ LieGroupOps implementation for matrices.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01EquirectangularCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01EquirectangularCameraCal_3_01Scalar_01_4_01_4.html index 80082e5b..4993cd2d 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01EquirectangularCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01EquirectangularCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< EquirectangularCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<EquirectangularCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<EquirectangularCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<EquirectangularCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<EquirectangularCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01LinearCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01LinearCameraCal_3_01Scalar_01_4_01_4.html index 98fd2130..8ad7451e 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01LinearCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01LinearCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< LinearCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<LinearCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<LinearCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<LinearCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<LinearCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.linear_camera_cal.LinearCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01PolynomialCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01PolynomialCameraCal_3_01Scalar_01_4_01_4.html index e898baf4..5df6100c 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01PolynomialCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01PolynomialCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< PolynomialCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<PolynomialCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<PolynomialCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<PolynomialCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<PolynomialCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.polynomial_camera_cal.PolynomialCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose2_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose2_3_01Scalar_01_4_01_4.html index e2dc5d83..5a2c6fa7 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose2_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose2_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Pose2< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<Pose2<Scalar>> : public sym::internal::LieGroupOpsBase<Pose2<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Pose2<Scalar>> : public sym::internal::LieGroupOpsBase<Pose2<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.geo.pose2.Pose2’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose3_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose3_3_01Scalar_01_4_01_4.html index 8c94f2aa..0121854c 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose3_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Pose3_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Pose3< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<Pose3<Scalar>> : public sym::internal::LieGroupOpsBase<Pose3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Pose3<Scalar>> : public sym::internal::LieGroupOpsBase<Pose3<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.geo.pose3.Pose3’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot2_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot2_3_01Scalar_01_4_01_4.html index 4266f75c..dacad332 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot2_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot2_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Rot2< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<Rot2<Scalar>> : public sym::internal::LieGroupOpsBase<Rot2<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Rot2<Scalar>> : public sym::internal::LieGroupOpsBase<Rot2<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.geo.rot2.Rot2’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot3_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot3_3_01Scalar_01_4_01_4.html index 28160cfa..9b55ef5c 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot3_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Rot3_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Rot3< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<Rot3<Scalar>> : public sym::internal::LieGroupOpsBase<Rot3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Rot3<Scalar>> : public sym::internal::LieGroupOpsBase<Rot3<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.geo.rot3.Rot3’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01SphericalCameraCal_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01SphericalCameraCal_3_01Scalar_01_4_01_4.html index 62aa48ec..e3bc6035 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01SphericalCameraCal_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01SphericalCameraCal_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< SphericalCameraCal< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<SphericalCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<SphericalCameraCal<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<SphericalCameraCal<Scalar>> : public sym::internal::LieGroupOpsBase<SphericalCameraCal<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.cam.spherical_camera_cal.SphericalCameraCal’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Unit3_3_01Scalar_01_4_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Unit3_3_01Scalar_01_4_01_4.html index c85c47a6..71ac77f4 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Unit3_3_01Scalar_01_4_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01Unit3_3_01Scalar_01_4_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< Unit3< Scalar > >#

    -template<typename Scalar>
    struct LieGroupOps<Unit3<Scalar>> : public sym::internal::LieGroupOpsBase<Unit3<Scalar>, Scalar>#
    +template<typename Scalar>
    struct LieGroupOps<Unit3<Scalar>> : public sym::internal::LieGroupOpsBase<Unit3<Scalar>, Scalar>#

    C++ LieGroupOps implementation for <class ‘symforce.geo.unit3.Unit3’>.

    Public Types

    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01double_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01double_01_4.html index 19dc6261..7b5efb6f 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01double_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01double_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< double >#

    -template<>
    struct LieGroupOps<double> : public sym::scalar::LieGroupOps<double>#
    +template<>
    struct LieGroupOps<double> : public sym::scalar::LieGroupOps<double>#
    diff --git a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01float_01_4.html b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01float_01_4.html index f4141122..4f6ac613 100644 --- a/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01float_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1LieGroupOps_3_01float_01_4.html @@ -745,7 +745,7 @@

    Struct sym::LieGroupOps< float >#

    -template<>
    struct LieGroupOps<float> : public sym::scalar::LieGroupOps<float>#
    +template<>
    struct LieGroupOps<float> : public sym::scalar::LieGroupOps<float>#
    diff --git a/api-gen-cpp/struct/structsym_1_1StorageOps_3_01double_01_4.html b/api-gen-cpp/struct/structsym_1_1StorageOps_3_01double_01_4.html index 3db58a9e..eb3f57d9 100644 --- a/api-gen-cpp/struct/structsym_1_1StorageOps_3_01double_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1StorageOps_3_01double_01_4.html @@ -745,7 +745,7 @@

    Struct sym::StorageOps< double >#

    -template<>
    struct StorageOps<double> : public sym::scalar::StorageOps<double>#
    +template<>
    struct StorageOps<double> : public sym::scalar::StorageOps<double>#
    diff --git a/api-gen-cpp/struct/structsym_1_1StorageOps_3_01float_01_4.html b/api-gen-cpp/struct/structsym_1_1StorageOps_3_01float_01_4.html index d3dd1335..457a686d 100644 --- a/api-gen-cpp/struct/structsym_1_1StorageOps_3_01float_01_4.html +++ b/api-gen-cpp/struct/structsym_1_1StorageOps_3_01float_01_4.html @@ -745,7 +745,7 @@

    Struct sym::StorageOps< float >#

    -template<>
    struct StorageOps<float> : public sym::scalar::StorageOps<float>#
    +template<>
    struct StorageOps<float> : public sym::scalar::StorageOps<float>#
    diff --git a/api-gen-cpp/struct/structsym_1_1scalar_1_1LieGroupOps.html b/api-gen-cpp/struct/structsym_1_1scalar_1_1LieGroupOps.html index a5080f54..01f7b876 100644 --- a/api-gen-cpp/struct/structsym_1_1scalar_1_1LieGroupOps.html +++ b/api-gen-cpp/struct/structsym_1_1scalar_1_1LieGroupOps.html @@ -745,7 +745,7 @@

    Struct sym::scalar::LieGroupOps#

    -template<typename T>
    struct LieGroupOps : public sym::internal::LieGroupOpsBase<T, T>#
    +template<typename T>
    struct LieGroupOps : public sym::internal::LieGroupOpsBase<T, T>#

    C++ LieGroupOps implementation for scalars.

    Subclassed by sym::LieGroupOps< double >, sym::LieGroupOps< float >

    diff --git a/api/modules.html b/api/modules.html index 498ee625..9dd7fc39 100644 --- a/api/modules.html +++ b/api/modules.html @@ -7,10 +7,10 @@ - + - + @@ -753,6 +753,10 @@

    symforceset_symbolic_api()
  • get_symbolic_api()
  • AlreadyUsedEpsilon
    • +
  • SymbolicEpsilon +
  • set_epsilon_to_symbol()
  • set_epsilon_to_number()
  • set_epsilon_to_zero()
    • @@ -972,9 +976,13 @@

    symforceuppergamma
  • var()
  • zeta
    • -
  • epsilon()
    • +
  • create_named_scope()
    • +
  • set_scope()
    • +
  • get_scope()
    • +
  • scope()
  • Symbol
  • symbols()
    • +
  • epsilon()
  • Scalar
  • is_positive()
  • is_negative()
    • @@ -1004,10 +1012,6 @@

    symforcecount_ops()
  • DataBuffer
  • original_get_dict()
    • -
  • create_named_scope()
    • -
  • set_scope()
    • -
  • get_scope()
    • -
  • scope()
  • Complex
  • DualQuaternion
  • Storage
    • diff --git a/api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html b/api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html index 3e745c7f..2a1c5975 100644 --- a/api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html +++ b/api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html @@ -751,7 +751,7 @@

    Filters to the first N_MATRICES results, sorted by number of nonzeros

    Return type:
    -

    List[Tuple[str, Path, csr_matrix]]

    +

    List[Tuple[str, Path, csr_matrix]]

    @@ -766,7 +766,7 @@
    diff --git a/api/symforce.html b/api/symforce.html index 29cbac4a..6d150bda 100644 --- a/api/symforce.html +++ b/api/symforce.html @@ -807,7 +807,7 @@

    Return the current symbolic API as a string.

    Return type:
    -

    str

    +

    Literal[‘sympy’, ‘symengine’]

    @@ -819,6 +819,23 @@

    Exception thrown on attempting to modify the default epsilon after it has been used elsewhere

    +
    +
    +class SymbolicEpsilon(name)[source]#
    +

    Bases: object

    +

    An indicator that SymForce should use a symbolic epsilon

    +
    +
    Parameters:
    +

    name (str) –

    +
    +
    +
    +
    +name: str#
    +
    + +
    +
    set_epsilon_to_symbol(name='epsilon')[source]#
    @@ -1356,8 +1373,12 @@

    Subpackagessymforce.internal package

    -
    -
    -class Symbol(name, commutative=True, real=True, positive=None)[source]#
    -

    Bases: Symbol

    -
    -
    Parameters:
    -
      -

    • name (str) –

      • -

    • commutative (bool) –

      • -

    • real (bool) –

      • -

    • positive (bool) –

      • -
    -
    -
    -
    -
    wrap_angle(x)[source]#
    @@ -1051,57 +1102,6 @@
    -
    -
    -create_named_scope(scopes_list)[source]#
    -

    Return a context manager that adds to the given list of name scopes. This is used to -add scopes to symbol names for namespacing.

    -
    -
    Parameters:
    -

    scopes_list (List[str]) –

    -
    -
    Return type:
    -

    Callable

    -
    -
    -
    - -
    -
    -set_scope(scope)[source]#
    -
    -
    Parameters:
    -

    scope (str) –

    -
    -
    Return type:
    -

    None

    -
    -
    -
    - -
    -
    -get_scope()[source]#
    -
    -
    Return type:
    -

    str

    -
    -
    -
    - -
    -
    -scope(scope)#
    -
    -
    Parameters:
    -

    scope (str) –

    -
    -
    Return type:
    -

    Iterator[None]

    -
    -
    -
    - @@ -1160,8 +1160,12 @@
    diff --git a/api/symforce.opt.factor.html b/api/symforce.opt.factor.html index d2c67d65..f4bf8331 100644 --- a/api/symforce.opt.factor.html +++ b/api/symforce.opt.factor.html @@ -833,7 +833,7 @@

  • output_dir (str | PathLike | None) – Where the generated linearization function will be output.

  • namespace (str | None) – Namespace of the generated linearization function.

  • sparse_linearization (bool) – Whether the generated linearization function should use sparse -matricies for the jacobian and hessian approximation

    • +matrices for the jacobian and hessian approximation

Returns:
diff --git a/api/symforce.symbolic.html b/api/symforce.symbolic.html index 68a60d4c..6886f2a6 100644 --- a/api/symforce.symbolic.html +++ b/api/symforce.symbolic.html @@ -1904,31 +1904,52 @@

-
-epsilon()[source]#
-

The default epsilon for SymForce

-

Library functions that require an epsilon argument should use a function signature like:

-
def foo(x: Scalar, epsilon: Scalar = sf.epsilon()) -> Scalar:
-    ...
-
-
-

This makes it easy to configure entire expressions that make extensive use of epsilon to either -use no epsilon (i.e. 0), or a symbol, or a numerical value. It also means that by setting the -default to a symbol, you can confidently generate code without worrying about having forgotten -to pass an epsilon argument to one of these functions.

-

For more information on how we use epsilon to prevent singularities, see the Epsilon Tutorial -in the SymForce docs here: https://symforce.org/tutorials/epsilon_tutorial.html

-

For purely numerical code that just needs a good default numerical epsilon, see -symforce.symbolic.numeric_epsilon.

+
+create_named_scope(scopes_list)[source]#
+

Return a context manager that adds to the given list of name scopes. This is used to +add scopes to symbol names for namespacing.

-
Returns:
-
    -

  • The current default epsilon. This is typically some kind of “Scalar”, like a float or a

    • -

  • :class:`Symbol <symforce.symbolic.Symbol>`.

    • -
+
Parameters:
+

scopes_list (List[str]) –

Return type:
-

Any

+

Callable

+
+
+
+ +
+
+set_scope(scope)[source]#
+
+
Parameters:
+

scope (str) –

+
+
Return type:
+

None

+
+
+
+ +
+
+get_scope()[source]#
+
+
Return type:
+

str

+
+
+
+ +
+
+scope(scope)#
+
+
Parameters:
+

scope (str) –

+
+
Return type:
+

Iterator[None]

@@ -2041,6 +2062,36 @@
+
+
+epsilon()[source]#
+

The default epsilon for SymForce

+

Library functions that require an epsilon argument should use a function signature like:

+
def foo(x: Scalar, epsilon: Scalar = sf.epsilon()) -> Scalar:
+    ...
+
+
+

This makes it easy to configure entire expressions that make extensive use of epsilon to either +use no epsilon (i.e. 0), or a symbol, or a numerical value. It also means that by setting the +default to a symbol, you can confidently generate code without worrying about having forgotten +to pass an epsilon argument to one of these functions.

+

For more information on how we use epsilon to prevent singularities, see the Epsilon Tutorial +in the SymForce docs here: https://symforce.org/tutorials/epsilon_tutorial.html

+

For purely numerical code that just needs a good default numerical epsilon, see +symforce.symbolic.numeric_epsilon.

+
+
Returns:
+
    +

  • The current default epsilon. This is typically some kind of “Scalar”, like a float or a

    • +

  • :class:`Symbol <symforce.symbolic.Symbol>`.

    • +
+
+
Return type:
+

Any

+
+
+
+
Scalar#
@@ -2505,57 +2556,6 @@

NOTE(harrison): **kwargs are so we can share function signatures with the one we patch in

-
-
-create_named_scope(scopes_list)[source]#
-

Return a context manager that adds to the given list of name scopes. This is used to -add scopes to symbol names for namespacing.

-
-
Parameters:
-

scopes_list (List[str]) –

-
-
Return type:
-

Callable

-
-
-
- -
-
-set_scope(scope)[source]#
-
-
Parameters:
-

scope (str) –

-
-
Return type:
-

None

-
-
-
- -
-
-get_scope()[source]#
-
-
Return type:
-

str

-
-
-
- -
-
-scope(scope)#
-
-
Parameters:
-

scope (str) –

-
-
Return type:
-

Iterator[None]

-
-
-
-
class Complex(real, imag)[source]#
@@ -10246,9 +10246,13 @@
  • uppergamma
  • var()
  • zeta
    • -
  • epsilon()
    • +
  • create_named_scope()
    • +
  • set_scope()
    • +
  • get_scope()
    • +
  • scope()
  • Symbol
  • symbols()
    • +
  • epsilon()
  • Scalar
  • is_positive()
  • is_negative()
    • @@ -10278,10 +10282,6 @@
  • count_ops()
  • DataBuffer
  • original_get_dict()
    • -
  • create_named_scope()
    • -
  • set_scope()
    • -
  • get_scope()
    • -
  • scope()
  • Complex
  • namespaces_dict (TypesCodegenData attribute) @@ -6758,7 +6760,7 @@

    S

  • sym::ImuFactor::measurement_ (C++ member)
    • -
  • sym::ImuFactor::operator() (C++ function), [1], [2] +
  • sym::ImuFactor::operator() (C++ function), [1], [2]
  • sym::ImuFactor::Pose3 (C++ type), [1], [2]
    • @@ -6786,7 +6788,7 @@

    S

  • sym::ImuPreintegrator::ImuPreintegrator (C++ function), [1], [2]
    • -
  • sym::ImuPreintegrator::IntegrateMeasurement (C++ function), [1], [2] +
  • sym::ImuPreintegrator::IntegrateMeasurement (C++ function), [1], [2]
  • sym::ImuPreintegrator::Matrix33 (C++ type), [1], [2]
    • @@ -6812,7 +6814,7 @@

    S

  • sym::ImuWithGravityDirectionFactor::measurement_ (C++ member)
    • -
  • sym::ImuWithGravityDirectionFactor::operator() (C++ function), [1], [2] +
  • sym::ImuWithGravityDirectionFactor::operator() (C++ function), [1], [2]
  • sym::ImuWithGravityDirectionFactor::Pose3 (C++ type), [1], [2]
    • @@ -6838,7 +6840,7 @@

    S

  • sym::ImuWithGravityFactor::measurement_ (C++ member)
    • -
  • sym::ImuWithGravityFactor::operator() (C++ function), [1], [2] +
  • sym::ImuWithGravityFactor::operator() (C++ function), [1], [2]
  • sym::ImuWithGravityFactor::Pose3 (C++ type), [1], [2]
    • @@ -6904,7 +6906,7 @@

    S

  • sym::Key::GetLcmType (C++ function), [1], [2]
    • -
  • sym::Key::Key (C++ function), [1], [2], [3], [4], [5], [6], [7], [8] +
  • sym::Key::Key (C++ function), [1], [2], [3], [4], [5], [6], [7], [8]
  • sym::Key::kInvalidLetter (C++ member), [1], [2]
    • @@ -6952,13 +6954,13 @@

    S

  • sym::LevenbergMarquardtSolver (C++ class), [1], [2]
    • -
  • sym::LevenbergMarquardtSolver::CheckHessianDiagonal (C++ function) +
  • sym::LevenbergMarquardtSolver::CheckHessianDiagonal (C++ function)
  • sym::LevenbergMarquardtSolver::ComputeCovariance (C++ function), [1], [2]
  • sym::LevenbergMarquardtSolver::current_lambda_ (C++ member)
    • -
  • sym::LevenbergMarquardtSolver::DampHessian (C++ function) +
  • sym::LevenbergMarquardtSolver::DampHessian (C++ function)
  • sym::LevenbergMarquardtSolver::epsilon_ (C++ member)
    • @@ -6978,7 +6980,7 @@

    S

  • sym::LevenbergMarquardtSolver::index_ (C++ member)
    • -
  • sym::LevenbergMarquardtSolver::Iterate (C++ function), [1], [2] +
  • sym::LevenbergMarquardtSolver::Iterate (C++ function), [1], [2]
  • sym::LevenbergMarquardtSolver::iteration_ (C++ member)
    • @@ -7002,7 +7004,7 @@

    S

  • sym::LevenbergMarquardtSolver::Params (C++ function), [1], [2]
    • -
  • sym::LevenbergMarquardtSolver::PopulateIterationStats (C++ function) +
  • sym::LevenbergMarquardtSolver::PopulateIterationStats (C++ function)
  • sym::LevenbergMarquardtSolver::Reset (C++ function), [1], [2]
    • @@ -7954,7 +7956,7 @@

    S

  • sym::Optimizer (C++ class), [1], [2]
    • -
  • sym::Optimizer::BuildLinearizeFunc (C++ function) +
  • sym::Optimizer::BuildLinearizeFunc (C++ function)
  • sym::Optimizer::compute_covariances_storage_ (C++ member)
    • @@ -8018,7 +8020,7 @@

    S

  • sym::Optimizer::Optimize (C++ function), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23]
    • -
  • sym::Optimizer::Optimizer (C++ function), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] +
  • sym::Optimizer::Optimizer (C++ function), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11]
  • sym::Optimizer::Params (C++ function), [1], [2]
    • @@ -8638,7 +8640,7 @@

    S

  • sym::SparseSchurSolver (C++ class), [1], [2]
    • -
  • sym::SparseSchurSolver::ComputeSymbolicSparsity (C++ function), [1], [2] +
  • sym::SparseSchurSolver::ComputeSymbolicSparsity (C++ function), [1], [2]
  • sym::SparseSchurSolver::factorization_data_ (C++ member)
    • @@ -9032,11 +9034,11 @@

    S

  • sym::Values::Items (C++ function), [1], [2]
    • -
  • sym::Values::Keys (C++ function), [1], [2] +
  • sym::Values::Keys (C++ function), [1], [2]
  • sym::Values::LcmType (C++ type), [1], [2]
    • -
  • sym::Values::LocalCoordinates (C++ function), [1], [2] +
  • sym::Values::LocalCoordinates (C++ function), [1], [2]
  • sym::Values::map_ (C++ member)
    • @@ -9050,7 +9052,7 @@

    S

  • sym::Values::RemoveAll (C++ function), [1], [2]
    • -
  • sym::Values::Retract (C++ function), [1], [2] +
  • sym::Values::Retract (C++ function), [1], [2]
  • sym::Values::Set (C++ function), [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11]
    • @@ -9195,6 +9197,8 @@

    S

  • symbolic_eval() (in module symforce.util)
  • symbolic_inputs() (in module symforce.type_helpers) +
    • +
  • SymbolicEpsilon (class in symforce)
  • symbols() (in module symforce.symbolic)
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zEayy+FM-to@LZHLmz7y-CJmkw8}1IyuAT)rzv{Rr$FiYFlT5HVr*PNaD@)%9a}@XN z8rb6i<09B0kk)jkeJmd%RMqdrZLnRCD^iVK6(lIKuOM~x#Y^qpJ>Wc?xk89R*fN>c z$)=gSlf8n9-peDNM+jRcPeIOJJ!gBj?D7tdx+~Rte)LR)8?wdO8x}0fL4#Snw@ga9 zm$xy!mj*xpJiXxD3fS*idsQ|X^W5Y0Acp{nc_%Bi

    Generating from a Python function 
    -Files generated in /tmp/sf_codegen_az_el_from_point_m0p5kic9:
+Files generated in /tmp/sf_codegen_az_el_from_point_gj8vyir4:
 
   |- cpp/symforce/sym/az_el_from_point.h
    @@ -1307,7 +1307,7 @@

    Code generation using implicit functions 
    -Files generated in /tmp/sf_codegen_double_pendulum_0a2y9nfo:
+Files generated in /tmp/sf_codegen_double_pendulum_8ljqncau:
 
   |- lcmtypes/double_pendulum.lcm
   |- cpp/symforce/sym/double_pendulum.h
@@ -1432,7 +1432,7 @@ 
    Code generation using implicit functions
 
    -Files generated in /tmp/sf_codegen_double_pendulum_1yid98a3:
+Files generated in /tmp/sf_codegen_double_pendulum_csccexw1:
 
   |- lcmtypes/double_pendulum.lcm
   |- cpp/symforce/double_pendulum/double_pendulum.h
@@ -1543,7 +1543,7 @@ 
    Code generation using implicit functions
 
    -Files generated in /tmp/sf_codegen_double_pendulum_mi2ao4mk:
+Files generated in /tmp/sf_codegen_double_pendulum_jhvjaicp:
 
   |- lcmtypes/double_pendulum.lcm
   |- python/symforce/double_pendulum/double_pendulum.py
diff --git a/tutorials/codegen_tutorial.ipynb b/tutorials/codegen_tutorial.ipynb
index 1d6e567d..9daa810f 100644
--- a/tutorials/codegen_tutorial.ipynb
+++ b/tutorials/codegen_tutorial.ipynb
@@ -31,10 +31,10 @@
    "execution_count": 1,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:00.431267Z",
-     "iopub.status.busy": "2023-11-15T23:34:00.431058Z",
-     "iopub.status.idle": "2023-11-15T23:34:01.035409Z",
-     "shell.execute_reply": "2023-11-15T23:34:01.034772Z"
+     "iopub.execute_input": "2023-12-19T19:00:49.951229Z",
+     "iopub.status.busy": "2023-12-19T19:00:49.951015Z",
+     "iopub.status.idle": "2023-12-19T19:00:50.575129Z",
+     "shell.execute_reply": "2023-12-19T19:00:50.574520Z"
     }
    },
    "outputs": [],
@@ -77,10 +77,10 @@
    "execution_count": 2,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:01.040126Z",
-     "iopub.status.busy": "2023-11-15T23:34:01.038986Z",
-     "iopub.status.idle": "2023-11-15T23:34:01.045015Z",
-     "shell.execute_reply": "2023-11-15T23:34:01.044481Z"
+     "iopub.execute_input": "2023-12-19T19:00:50.579482Z",
+     "iopub.status.busy": "2023-12-19T19:00:50.578387Z",
+     "iopub.status.idle": "2023-12-19T19:00:50.584443Z",
+     "shell.execute_reply": "2023-12-19T19:00:50.583797Z"
     }
    },
    "outputs": [],
@@ -112,10 +112,10 @@
    "execution_count": 3,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:01.048827Z",
-     "iopub.status.busy": "2023-11-15T23:34:01.047823Z",
-     "iopub.status.idle": "2023-11-15T23:34:01.310699Z",
-     "shell.execute_reply": "2023-11-15T23:34:01.309955Z"
+     "iopub.execute_input": "2023-12-19T19:00:50.588941Z",
+     "iopub.status.busy": "2023-12-19T19:00:50.587769Z",
+     "iopub.status.idle": "2023-12-19T19:00:50.855954Z",
+     "shell.execute_reply": "2023-12-19T19:00:50.855238Z"
     }
    },
    "outputs": [
@@ -123,7 +123,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Files generated in /tmp/sf_codegen_az_el_from_point_m0p5kic9:\n",
+      "Files generated in /tmp/sf_codegen_az_el_from_point_gj8vyir4:\n",
       "\n",
       "  |- cpp/symforce/sym/az_el_from_point.h\n"
      ]
@@ -250,10 +250,10 @@
    "execution_count": 4,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:01.315415Z",
-     "iopub.status.busy": "2023-11-15T23:34:01.314310Z",
-     "iopub.status.idle": "2023-11-15T23:34:01.558467Z",
-     "shell.execute_reply": "2023-11-15T23:34:01.557713Z"
+     "iopub.execute_input": "2023-12-19T19:00:50.860522Z",
+     "iopub.status.busy": "2023-12-19T19:00:50.859448Z",
+     "iopub.status.idle": "2023-12-19T19:00:51.109297Z",
+     "shell.execute_reply": "2023-12-19T19:00:51.108494Z"
     }
    },
    "outputs": [
@@ -502,10 +502,10 @@
    "execution_count": 5,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:01.561909Z",
-     "iopub.status.busy": "2023-11-15T23:34:01.561579Z",
-     "iopub.status.idle": "2023-11-15T23:34:01.566360Z",
-     "shell.execute_reply": "2023-11-15T23:34:01.565757Z"
+     "iopub.execute_input": "2023-12-19T19:00:51.113165Z",
+     "iopub.status.busy": "2023-12-19T19:00:51.112906Z",
+     "iopub.status.idle": "2023-12-19T19:00:51.118877Z",
+     "shell.execute_reply": "2023-12-19T19:00:51.118272Z"
     }
    },
    "outputs": [],
@@ -523,10 +523,10 @@
    "execution_count": 6,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:01.568700Z",
-     "iopub.status.busy": "2023-11-15T23:34:01.568514Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.412350Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.411747Z"
+     "iopub.execute_input": "2023-12-19T19:00:51.123016Z",
+     "iopub.status.busy": "2023-12-19T19:00:51.121955Z",
+     "iopub.status.idle": "2023-12-19T19:00:51.963169Z",
+     "shell.execute_reply": "2023-12-19T19:00:51.962515Z"
     }
    },
    "outputs": [
@@ -568,10 +568,10 @@
    "execution_count": 7,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.416357Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.415323Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.539230Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.538600Z"
+     "iopub.execute_input": "2023-12-19T19:00:51.967634Z",
+     "iopub.status.busy": "2023-12-19T19:00:51.966493Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.109653Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.108834Z"
     }
    },
    "outputs": [
@@ -623,10 +623,10 @@
    "execution_count": 8,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.543403Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.542419Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.550261Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.549697Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.112949Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.112686Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.119467Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.118512Z"
     }
    },
    "outputs": [
@@ -678,10 +678,10 @@
    "execution_count": 9,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.553880Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.553001Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.559040Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.558562Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.122174Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.121945Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.126561Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.125860Z"
     }
    },
    "outputs": [
@@ -716,10 +716,10 @@
    "execution_count": 10,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.562462Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.561557Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.751075Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.750403Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.130065Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.129837Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.307663Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.307055Z"
     }
    },
    "outputs": [
@@ -727,7 +727,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Files generated in /tmp/sf_codegen_double_pendulum_0a2y9nfo:\n",
+      "Files generated in /tmp/sf_codegen_double_pendulum_8ljqncau:\n",
       "\n",
       "  |- lcmtypes/double_pendulum.lcm\n",
       "  |- cpp/symforce/sym/double_pendulum.h\n"
@@ -755,10 +755,10 @@
    "execution_count": 11,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.755591Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.754524Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.768878Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.768226Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.311564Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.310629Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.324017Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.323512Z"
     }
    },
    "outputs": [
@@ -859,10 +859,10 @@
    "execution_count": 12,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.772175Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.771607Z",
-     "iopub.status.idle": "2023-11-15T23:34:02.906691Z",
-     "shell.execute_reply": "2023-11-15T23:34:02.905979Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.327568Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.326691Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.488152Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.487496Z"
     }
    },
    "outputs": [
@@ -870,7 +870,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Files generated in /tmp/sf_codegen_double_pendulum_1yid98a3:\n",
+      "Files generated in /tmp/sf_codegen_double_pendulum_csccexw1:\n",
       "\n",
       "  |- lcmtypes/double_pendulum.lcm\n",
       "  |- cpp/symforce/double_pendulum/double_pendulum.h\n"
@@ -994,10 +994,10 @@
    "execution_count": 13,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:02.910155Z",
-     "iopub.status.busy": "2023-11-15T23:34:02.909550Z",
-     "iopub.status.idle": "2023-11-15T23:34:03.189312Z",
-     "shell.execute_reply": "2023-11-15T23:34:03.188624Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.492413Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.491413Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.807444Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.806823Z"
     }
    },
    "outputs": [
@@ -1005,7 +1005,7 @@
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "Files generated in /tmp/sf_codegen_double_pendulum_mi2ao4mk:\n",
+      "Files generated in /tmp/sf_codegen_double_pendulum_jhvjaicp:\n",
       "\n",
       "  |- lcmtypes/double_pendulum.lcm\n",
       "  |- python/symforce/double_pendulum/double_pendulum.py\n",
@@ -1135,10 +1135,10 @@
    "execution_count": 14,
    "metadata": {
     "execution": {
-     "iopub.execute_input": "2023-11-15T23:34:03.193186Z",
-     "iopub.status.busy": "2023-11-15T23:34:03.192122Z",
-     "iopub.status.idle": "2023-11-15T23:34:03.209237Z",
-     "shell.execute_reply": "2023-11-15T23:34:03.208543Z"
+     "iopub.execute_input": "2023-12-19T19:00:52.810054Z",
+     "iopub.status.busy": "2023-12-19T19:00:52.809713Z",
+     "iopub.status.idle": "2023-12-19T19:00:52.821362Z",
+     "shell.execute_reply": "2023-12-19T19:00:52.820664Z"
     }
    },
    "outputs": [
diff --git a/tutorials/epsilon_tutorial.html b/tutorials/epsilon_tutorial.html
index 4f21255b..bc4bb648 100644
--- a/tutorials/epsilon_tutorial.html
+++ b/tutorials/epsilon_tutorial.html
@@ -848,9 +848,9 @@ 
    An example: sin(x) / x
 
    
 
    
-

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imu_manifold_preintegration_update_auto_derivative.h": [[131, "file-imu-manifold-preintegration-update-auto-derivative-h"]], "File inverse_range_landmark_linear_gnc_factor.h": [[138, "file-inverse-range-landmark-linear-gnc-factor-h"]], "File inverse_range_landmark_double_sphere_gnc_factor.h": [[136, "file-inverse-range-landmark-double-sphere-gnc-factor-h"]], "File between_factor_rot2.h": [[106, "file-between-factor-rot2-h"]], "File double_sphere_camera_cal.cc": [[115, "file-double-sphere-camera-cal-cc"]], "File lie_group_ops.h": [[123, "file-lie-group-ops-h"], [112, "file-lie-group-ops-h"], [94, "file-lie-group-ops-h"], [216, "file-lie-group-ops-h"], [228, "file-lie-group-ops-h"], [210, "file-lie-group-ops-h"], [202, "file-lie-group-ops-h"], [194, "file-lie-group-ops-h"], [178, "file-lie-group-ops-h"], [142, "file-lie-group-ops-h"], [161, "file-lie-group-ops-h"], [155, "file-lie-group-ops-h"], [170, "file-lie-group-ops-h"], [146, "file-lie-group-ops-h"]], "File 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"sym::betweenfactorrot2 (c++ function)": [[106, "_CPPv4I0EN3sym17BetweenFactorRot2EvRKN3sym4Rot2I6ScalarEERKN3sym4Rot2I6ScalarEERKN3sym4Rot2I6ScalarEERKN5Eigen6MatrixI6ScalarXL1EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL2EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL2EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEE"], [234, "_CPPv4I0EN3sym17BetweenFactorRot2EvRKN3sym4Rot2I6ScalarEERKN3sym4Rot2I6ScalarEERKN3sym4Rot2I6ScalarEERKN5Eigen6MatrixI6ScalarXL1EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL2EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL2EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEE"]], "sym::betweenfactorrot3 (c++ function)": [[107, "_CPPv4I0EN3sym17BetweenFactorRot3EvRKN3sym4Rot3I6ScalarEERKN3sym4Rot3I6ScalarEERKN3sym4Rot3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL3EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL3EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL1EEEE"], [234, "_CPPv4I0EN3sym17BetweenFactorRot3EvRKN3sym4Rot3I6ScalarEERKN3sym4Rot3I6ScalarEERKN3sym4Rot3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL3EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL3EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL1EEEE"]], "sym::camera::calibration_ (c++ member)": [[108, "_CPPv4N3sym6Camera12calibration_E"]], "sym::camera::image_size_ (c++ member)": [[108, "_CPPv4N3sym6Camera11image_size_E"]], "sym::doublespherecameracal::data_ (c++ member)": [[116, "_CPPv4N3sym21DoubleSphereCameraCal5data_E"]], "sym::doublespherecameracald (c++ type)": [[116, "_CPPv4N3sym22DoubleSphereCameraCaldE"], [234, "_CPPv4N3sym22DoubleSphereCameraCaldE"]], "sym::doublespherecameracalf (c++ type)": [[116, "_CPPv4N3sym22DoubleSphereCameraCalfE"], [234, "_CPPv4N3sym22DoubleSphereCameraCalfE"]], "sym::doublespherereprojectiondelta (c++ function)": [[117, 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"sym::equirectangularcameracal::data_ (c++ member)": [[127, "_CPPv4N3sym24EquirectangularCameraCal5data_E"]], "sym::equirectangularcameracald (c++ type)": [[127, "_CPPv4N3sym25EquirectangularCameraCaldE"], [234, "_CPPv4N3sym25EquirectangularCameraCaldE"]], "sym::equirectangularcameracalf (c++ type)": [[127, "_CPPv4N3sym25EquirectangularCameraCalfE"], [234, "_CPPv4N3sym25EquirectangularCameraCalfE"]], "sym::equirectangularreprojectiondelta (c++ function)": [[128, "_CPPv4I0EN3sym32EquirectangularReprojectionDeltaEvRKN3sym5Pose3I6ScalarEERKN3sym24EquirectangularCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym24EquirectangularCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPC6Scalar"], [234, 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"_CPPv4I0EN3sym28InternalImuWithGravityFactorEvRKN3sym5Pose3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN3sym5Pose3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN3sym4Rot3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL9EEXL9EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEEK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPCN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPCN5Eigen6MatrixI6ScalarXL27EEXL1EEEE"], [234, 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"_CPPv4I0EN3sym33InverseRangeLandmarkAtanGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"], [234, "_CPPv4I0EN3sym33InverseRangeLandmarkAtanGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"]], "sym::inverserangelandmarkdoublespheregncfactor (c++ function)": [[136, 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"sym.pose3.Pose3.interpolate"]], "inverse() (pose3 method)": [[335, "sym.pose3.Pose3.inverse"], [413, "symforce.geo.pose3.Pose3.inverse"], [476, "symforce.symbolic.Pose3.inverse"]], "inverse_compose() (pose3 method)": [[335, "sym.pose3.Pose3.inverse_compose"]], "local_coordinates() (pose3 method)": [[335, "sym.pose3.Pose3.local_coordinates"], [413, "symforce.geo.pose3.Pose3.local_coordinates"], [476, "symforce.symbolic.Pose3.local_coordinates"]], "position() (pose3 method)": [[335, "sym.pose3.Pose3.position"], [413, "symforce.geo.pose3.Pose3.position"], [476, "symforce.symbolic.Pose3.position"]], "retract() (pose3 method)": [[335, "sym.pose3.Pose3.retract"], [413, "symforce.geo.pose3.Pose3.retract"], [476, "symforce.symbolic.Pose3.retract"]], "rotation() (pose3 method)": [[335, "sym.pose3.Pose3.rotation"], [413, "symforce.geo.pose3.Pose3.rotation"], [476, "symforce.symbolic.Pose3.rotation"]], "storage_dim() (pose3 static method)": [[335, "sym.pose3.Pose3.storage_dim"]], "sym.pose3": [[335, "module-sym.pose3"]], "t (pose3 property)": [[335, "sym.pose3.Pose3.t"]], "tangent_dim() (pose3 static method)": [[335, "sym.pose3.Pose3.tangent_dim"]], "to_homogenous_matrix() (pose3 method)": [[335, "sym.pose3.Pose3.to_homogenous_matrix"], [413, "symforce.geo.pose3.Pose3.to_homogenous_matrix"], [476, "symforce.symbolic.Pose3.to_homogenous_matrix"]], "to_storage() (pose3 method)": [[335, "sym.pose3.Pose3.to_storage"], [413, "symforce.geo.pose3.Pose3.to_storage"], [476, "symforce.symbolic.Pose3.to_storage"]], "to_tangent() (pose3 method)": [[335, "sym.pose3.Pose3.to_tangent"], [413, "symforce.geo.pose3.Pose3.to_tangent"], [476, "symforce.symbolic.Pose3.to_tangent"]], "rot2 (class in sym.rot2)": [[336, "sym.rot2.Rot2"]], "between() (rot2 method)": [[336, "sym.rot2.Rot2.between"]], "compose() (rot2 method)": [[336, "sym.rot2.Rot2.compose"], [415, "symforce.geo.rot2.Rot2.compose"], [476, "symforce.symbolic.Rot2.compose"]], "compose_with_point() (rot2 method)": [[336, "sym.rot2.Rot2.compose_with_point"]], "data (rot2 attribute)": [[336, "sym.rot2.Rot2.data"]], "from_angle() (rot2 static method)": [[336, "sym.rot2.Rot2.from_angle"]], "from_storage() (rot2 class method)": [[336, "sym.rot2.Rot2.from_storage"], [415, "symforce.geo.rot2.Rot2.from_storage"], [476, "symforce.symbolic.Rot2.from_storage"]], "from_tangent() (rot2 class method)": [[336, "sym.rot2.Rot2.from_tangent"], [415, "symforce.geo.rot2.Rot2.from_tangent"], [476, "symforce.symbolic.Rot2.from_tangent"]], "identity() (rot2 class method)": [[336, "sym.rot2.Rot2.identity"], [415, "symforce.geo.rot2.Rot2.identity"], [476, "symforce.symbolic.Rot2.identity"]], "interpolate() (rot2 method)": [[336, "sym.rot2.Rot2.interpolate"]], "inverse() (rot2 method)": [[336, "sym.rot2.Rot2.inverse"], [415, "symforce.geo.rot2.Rot2.inverse"], [476, "symforce.symbolic.Rot2.inverse"]], "local_coordinates() (rot2 method)": [[336, "sym.rot2.Rot2.local_coordinates"]], "retract() (rot2 method)": [[336, "sym.rot2.Rot2.retract"]], "storage_dim() (rot2 static method)": [[336, "sym.rot2.Rot2.storage_dim"]], "sym.rot2": [[336, "module-sym.rot2"]], "tangent_dim() (rot2 static method)": [[336, "sym.rot2.Rot2.tangent_dim"]], "to_rotation_matrix() (rot2 method)": [[336, "sym.rot2.Rot2.to_rotation_matrix"], [415, "symforce.geo.rot2.Rot2.to_rotation_matrix"], [476, "symforce.symbolic.Rot2.to_rotation_matrix"]], "to_storage() (rot2 method)": [[336, "sym.rot2.Rot2.to_storage"], [415, "symforce.geo.rot2.Rot2.to_storage"], [476, "symforce.symbolic.Rot2.to_storage"]], "to_tangent() (rot2 method)": [[336, "sym.rot2.Rot2.to_tangent"], [415, "symforce.geo.rot2.Rot2.to_tangent"], [476, "symforce.symbolic.Rot2.to_tangent"]], "rot3 (class in sym.rot3)": [[337, "sym.rot3.Rot3"]], "between() (rot3 method)": [[337, "sym.rot3.Rot3.between"]], "compose() (rot3 method)": [[337, "sym.rot3.Rot3.compose"], [416, "symforce.geo.rot3.Rot3.compose"], [476, "symforce.symbolic.Rot3.compose"]], "compose_with_point() (rot3 method)": [[337, "sym.rot3.Rot3.compose_with_point"]], "data (rot3 attribute)": [[337, "sym.rot3.Rot3.data"]], "from_angle_axis() (rot3 static method)": [[337, "sym.rot3.Rot3.from_angle_axis"]], "from_rotation_matrix() (rot3 class method)": [[337, "sym.rot3.Rot3.from_rotation_matrix"], [416, "symforce.geo.rot3.Rot3.from_rotation_matrix"], [476, "symforce.symbolic.Rot3.from_rotation_matrix"]], "from_storage() (rot3 class method)": [[337, "sym.rot3.Rot3.from_storage"], [416, "symforce.geo.rot3.Rot3.from_storage"], [476, "symforce.symbolic.Rot3.from_storage"]], "from_tangent() (rot3 class method)": [[337, "sym.rot3.Rot3.from_tangent"], [416, "symforce.geo.rot3.Rot3.from_tangent"], [476, "symforce.symbolic.Rot3.from_tangent"]], "from_two_unit_vectors() (rot3 static method)": [[337, "sym.rot3.Rot3.from_two_unit_vectors"]], "from_yaw_pitch_roll() (rot3 static method)": [[337, "sym.rot3.Rot3.from_yaw_pitch_roll"]], "identity() (rot3 class method)": [[337, "sym.rot3.Rot3.identity"], [416, "symforce.geo.rot3.Rot3.identity"], [476, "symforce.symbolic.Rot3.identity"]], "interpolate() (rot3 method)": [[337, "sym.rot3.Rot3.interpolate"]], "inverse() (rot3 method)": [[337, "sym.rot3.Rot3.inverse"], [416, "symforce.geo.rot3.Rot3.inverse"], [476, "symforce.symbolic.Rot3.inverse"]], "local_coordinates() (rot3 method)": [[337, "sym.rot3.Rot3.local_coordinates"]], "random() (rot3 class method)": [[337, "sym.rot3.Rot3.random"], [416, "symforce.geo.rot3.Rot3.random"], [476, "symforce.symbolic.Rot3.random"]], "random_from_uniform_samples() (rot3 static method)": [[337, "sym.rot3.Rot3.random_from_uniform_samples"]], "retract() (rot3 method)": [[337, "sym.rot3.Rot3.retract"]], "storage_dim() (rot3 static method)": [[337, "sym.rot3.Rot3.storage_dim"]], "sym.rot3": [[337, "module-sym.rot3"]], "tangent_dim() (rot3 static method)": [[337, "sym.rot3.Rot3.tangent_dim"]], "to_rotation_matrix() (rot3 method)": [[337, "sym.rot3.Rot3.to_rotation_matrix"], [416, "symforce.geo.rot3.Rot3.to_rotation_matrix"], [476, "symforce.symbolic.Rot3.to_rotation_matrix"]], "to_storage() (rot3 method)": [[337, "sym.rot3.Rot3.to_storage"], [416, "symforce.geo.rot3.Rot3.to_storage"], [476, "symforce.symbolic.Rot3.to_storage"]], "to_tangent() (rot3 method)": [[337, "sym.rot3.Rot3.to_tangent"], [416, "symforce.geo.rot3.Rot3.to_tangent"], [476, "symforce.symbolic.Rot3.to_tangent"]], "to_yaw_pitch_roll() (rot3 method)": [[337, "sym.rot3.Rot3.to_yaw_pitch_roll"], [416, "symforce.geo.rot3.Rot3.to_yaw_pitch_roll"], [476, "symforce.symbolic.Rot3.to_yaw_pitch_roll"]], "sphericalcameracal (class in sym.spherical_camera_cal)": [[338, "sym.spherical_camera_cal.SphericalCameraCal"]], "data (sphericalcameracal attribute)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.data"]], "focal_length() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.focal_length"]], "from_storage() (sphericalcameracal class method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.from_storage"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.from_storage"], [476, "symforce.symbolic.SphericalCameraCal.from_storage"]], "from_tangent() (sphericalcameracal class method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.from_tangent"]], "interpolate() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.interpolate"]], "local_coordinates() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.local_coordinates"]], "pixel_from_camera_point() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point"], [476, "symforce.symbolic.SphericalCameraCal.pixel_from_camera_point"]], "pixel_from_camera_point_with_jacobians() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point_with_jacobians"]], "principal_point() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.principal_point"]], "retract() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.retract"]], "storage_dim() (sphericalcameracal static method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.storage_dim"]], "sym.spherical_camera_cal": [[338, "module-sym.spherical_camera_cal"]], "tangent_dim() (sphericalcameracal static method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.tangent_dim"]], "to_storage() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.to_storage"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.to_storage"], [476, "symforce.symbolic.SphericalCameraCal.to_storage"]], "to_tangent() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.to_tangent"]], "unit3 (class in sym.unit3)": [[339, "sym.unit3.Unit3"]], "between() (unit3 method)": [[339, "sym.unit3.Unit3.between"]], "compose() (unit3 method)": [[339, "sym.unit3.Unit3.compose"], [417, "symforce.geo.unit3.Unit3.compose"], [476, "symforce.symbolic.Unit3.compose"]], "data (unit3 attribute)": [[339, "sym.unit3.Unit3.data"]], "from_storage() (unit3 class method)": [[339, "sym.unit3.Unit3.from_storage"], [417, "symforce.geo.unit3.Unit3.from_storage"], [476, "symforce.symbolic.Unit3.from_storage"]], "from_tangent() (unit3 class method)": [[339, "sym.unit3.Unit3.from_tangent"], [417, "symforce.geo.unit3.Unit3.from_tangent"], [476, "symforce.symbolic.Unit3.from_tangent"]], "from_vector() (unit3 static method)": [[339, "sym.unit3.Unit3.from_vector"]], "identity() (unit3 class method)": [[339, "sym.unit3.Unit3.identity"], [417, "symforce.geo.unit3.Unit3.identity"], [476, "symforce.symbolic.Unit3.identity"]], "interpolate() (unit3 method)": [[339, "sym.unit3.Unit3.interpolate"]], "inverse() (unit3 method)": [[339, "sym.unit3.Unit3.inverse"], [417, "symforce.geo.unit3.Unit3.inverse"], [476, "symforce.symbolic.Unit3.inverse"]], "local_coordinates() (unit3 method)": [[339, "sym.unit3.Unit3.local_coordinates"]], "retract() (unit3 method)": [[339, "sym.unit3.Unit3.retract"]], "storage_dim() (unit3 static method)": [[339, "sym.unit3.Unit3.storage_dim"]], "sym.unit3": [[339, "module-sym.unit3"]], "tangent_dim() (unit3 static method)": [[339, "sym.unit3.Unit3.tangent_dim"]], "to_rotation() (unit3 method)": [[339, "sym.unit3.Unit3.to_rotation"], [417, "symforce.geo.unit3.Unit3.to_rotation"], [476, "symforce.symbolic.Unit3.to_rotation"]], "to_storage() (unit3 method)": [[339, "sym.unit3.Unit3.to_storage"], [417, "symforce.geo.unit3.Unit3.to_storage"], [476, "symforce.symbolic.Unit3.to_storage"]], "to_tangent() (unit3 method)": [[339, "sym.unit3.Unit3.to_tangent"], [417, "symforce.geo.unit3.Unit3.to_tangent"], [476, "symforce.symbolic.Unit3.to_tangent"]], "to_unit_vector() (unit3 method)": [[339, "sym.unit3.Unit3.to_unit_vector"], [417, "symforce.geo.unit3.Unit3.to_unit_vector"], [476, "symforce.symbolic.Unit3.to_unit_vector"]], "alreadyusedepsilon": [[341, "symforce.AlreadyUsedEpsilon"]], "invalidsymbolicapierror": [[341, "symforce.InvalidSymbolicApiError"]], "get_symbolic_api() (in module symforce)": [[341, "symforce.get_symbolic_api"]], "set_epsilon_to_invalid() (in module symforce)": [[341, "symforce.set_epsilon_to_invalid"]], "set_epsilon_to_number() (in module symforce)": [[341, "symforce.set_epsilon_to_number"]], "set_epsilon_to_symbol() (in module symforce)": [[341, "symforce.set_epsilon_to_symbol"]], "set_epsilon_to_zero() (in module symforce)": [[341, "symforce.set_epsilon_to_zero"]], "set_log_level() (in module symforce)": [[341, "symforce.set_log_level"]], "set_symbolic_api() (in module symforce)": [[341, "symforce.set_symbolic_api"]], "symforce": [[341, "module-symforce"]], "symforce.benchmarks": [[342, "module-symforce.benchmarks"]], "symforce.benchmarks.inverse_compose_jacobian": [[343, "module-symforce.benchmarks.inverse_compose_jacobian"]], "generate() (in module symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian)": [[344, "symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian.generate"]], "symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian": [[344, "module-symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian"]], "symforce.benchmarks.matrix_multiplication": [[345, "module-symforce.benchmarks.matrix_multiplication"]], "generate() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.generate"]], "generate_matrix() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.generate_matrix"]], "get_matrices() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.get_matrices"]], "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark": [[346, "module-symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark"]], "symforce.benchmarks.robot_3d_localization": [[347, "module-symforce.benchmarks.robot_3d_localization"]], "m (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.M"]], "matmulbenchmarkconfig (class in symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig"]], "n (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.N"]], "main() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.main"]], "matrix_name (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.matrix_name"]], "nnz (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.nnz"]], "run() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run"]], "run_benchmark() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run_benchmark"]], "run_matmul_benchmark() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run_matmul_benchmark"]], "scalar_type (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.scalar_type"]], "size (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.size"]], "symforce.benchmarks.run_benchmarks": [[348, "module-symforce.benchmarks.run_benchmarks"]], "test (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.test"]], "symforce.cam": [[349, "module-symforce.cam"]], "atancameracal (class in symforce.cam.atan_camera_cal)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal"]], "num_distortion_coeffs (atancameracal attribute)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.ATANCameraCal.NUM_DISTORTION_COEFFS"]], "omega (atancameracal property)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.omega"], [476, "symforce.symbolic.ATANCameraCal.omega"]], "storage_order() (atancameracal class method)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.storage_order"], [476, "symforce.symbolic.ATANCameraCal.storage_order"]], "symbolic() (atancameracal class method)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.symbolic"], [476, "symforce.symbolic.ATANCameraCal.symbolic"]], "symforce.cam.atan_camera_cal": [[350, "module-symforce.cam.atan_camera_cal"]], "camera (class in symforce.cam.camera)": [[351, "symforce.cam.camera.Camera"]], "camerat (camera attribute)": [[351, "symforce.cam.camera.Camera.CameraT"], [476, "symforce.symbolic.Camera.CameraT"]], "camera_ray_from_pixel() (camera method)": [[351, "symforce.cam.camera.Camera.camera_ray_from_pixel"], [476, "symforce.symbolic.Camera.camera_ray_from_pixel"]], "distortion_coeffs (camera property)": [[351, "symforce.cam.camera.Camera.distortion_coeffs"], [476, "symforce.symbolic.Camera.distortion_coeffs"]], "focal_length (camera property)": [[351, "symforce.cam.camera.Camera.focal_length"], [476, "symforce.symbolic.Camera.focal_length"]], "has_camera_ray_from_pixel() (camera method)": [[351, "symforce.cam.camera.Camera.has_camera_ray_from_pixel"], [476, "symforce.symbolic.Camera.has_camera_ray_from_pixel"]], "in_view() (camera static method)": [[351, "symforce.cam.camera.Camera.in_view"], [476, "symforce.symbolic.Camera.in_view"]], "maybe_check_in_view() (camera method)": [[351, "symforce.cam.camera.Camera.maybe_check_in_view"], [476, "symforce.symbolic.Camera.maybe_check_in_view"]], "pixel_from_camera_point() (camera method)": [[351, "symforce.cam.camera.Camera.pixel_from_camera_point"], [476, "symforce.symbolic.Camera.pixel_from_camera_point"]], "principal_point (camera property)": [[351, "symforce.cam.camera.Camera.principal_point"], [476, "symforce.symbolic.Camera.principal_point"]], "subs() (camera method)": [[351, "symforce.cam.camera.Camera.subs"], [476, "symforce.symbolic.Camera.subs"]], "symforce.cam.camera": [[351, "module-symforce.cam.camera"]], "cameracal (class in symforce.cam.camera_cal)": [[352, "symforce.cam.camera_cal.CameraCal"]], "cameracalt (cameracal attribute)": [[352, "symforce.cam.camera_cal.CameraCal.CameraCalT"], [476, "symforce.symbolic.CameraCal.CameraCalT"]], "num_distortion_coeffs (cameracal attribute)": [[352, 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"symforce.codegen.backends.cuda.cuda_config": [[368, "module-symforce.codegen.backends.cuda.cuda_config"]], "template_dir() (cudaconfig class method)": [[368, "symforce.codegen.backends.cuda.cuda_config.CudaConfig.template_dir"]], "templates_to_render() (cudaconfig method)": [[368, "symforce.codegen.backends.cuda.cuda_config.CudaConfig.templates_to_render"]], "use_eigen_types (cudaconfig attribute)": [[368, "symforce.codegen.backends.cuda.cuda_config.CudaConfig.use_eigen_types"]], "symforce.codegen.backends.python": [[369, "module-symforce.codegen.backends.python"]], "pythoncodeprinter (class in symforce.codegen.backends.python.python_code_printer)": [[370, "symforce.codegen.backends.python.python_code_printer.PythonCodePrinter"]], "symforce.codegen.backends.python.python_code_printer": [[370, "module-symforce.codegen.backends.python.python_code_printer"]], "pythonconfig (class in symforce.codegen.backends.python.python_config)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig"]], "backend_name() (pythonconfig class method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.backend_name"]], "doc_comment_line_prefix (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.doc_comment_line_prefix"]], "format_eigen_lcm_accessor() (pythonconfig static method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.format_eigen_lcm_accessor"]], "format_matrix_accessor() (pythonconfig method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.format_matrix_accessor"]], "line_length (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.line_length"]], "printer() (pythonconfig method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.printer"]], "reshape_vectors (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.reshape_vectors"]], "return_2d_vectors (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.return_2d_vectors"]], "symforce.codegen.backends.python.python_config": [[371, "module-symforce.codegen.backends.python.python_config"]], "template_dir() (pythonconfig class method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.template_dir"]], "templates_to_render() (pythonconfig method)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.templates_to_render"]], "use_eigen_types (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.use_eigen_types"]], "use_numba (pythonconfig attribute)": [[371, "symforce.codegen.backends.python.python_config.PythonConfig.use_numba"]], "symforce.codegen.backends.pytorch": [[372, "module-symforce.codegen.backends.pytorch"]], "pytorchcodeprinter (class in symforce.codegen.backends.pytorch.pytorch_code_printer)": [[373, "symforce.codegen.backends.pytorch.pytorch_code_printer.PyTorchCodePrinter"]], "doprint() (pytorchcodeprinter method)": [[373, "symforce.codegen.backends.pytorch.pytorch_code_printer.PyTorchCodePrinter.doprint"]], "known_functions (pytorchcodeprinter attribute)": [[373, "symforce.codegen.backends.pytorch.pytorch_code_printer.PyTorchCodePrinter.known_functions"]], "language (pytorchcodeprinter attribute)": [[373, "symforce.codegen.backends.pytorch.pytorch_code_printer.PyTorchCodePrinter.language"]], "symforce.codegen.backends.pytorch.pytorch_code_printer": [[373, "module-symforce.codegen.backends.pytorch.pytorch_code_printer"]], "pytorchconfig (class in symforce.codegen.backends.pytorch.pytorch_config)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig"]], "backend_name() (pytorchconfig class method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.backend_name"]], "doc_comment_line_prefix (pytorchconfig attribute)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.doc_comment_line_prefix"]], "format_eigen_lcm_accessor() (pytorchconfig static method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.format_eigen_lcm_accessor"]], "format_matrix_accessor() (pytorchconfig method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.format_matrix_accessor"]], "line_length (pytorchconfig attribute)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.line_length"]], "printer() (pytorchconfig method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.printer"]], "symforce.codegen.backends.pytorch.pytorch_config": [[374, "module-symforce.codegen.backends.pytorch.pytorch_config"]], "template_dir() (pytorchconfig class method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.template_dir"]], "templates_to_render() (pytorchconfig method)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.templates_to_render"]], "use_eigen_types (pytorchconfig attribute)": [[374, "symforce.codegen.backends.pytorch.pytorch_config.PyTorchConfig.use_eigen_types"]], "codegenerationexception": [[376, "symforce.codegen.codegen.CodeGenerationException"]], "codegen (class in symforce.codegen.codegen)": [[376, "symforce.codegen.codegen.Codegen"]], "full_linearization (linearizationmode attribute)": [[376, "symforce.codegen.codegen.LinearizationMode.FULL_LINEARIZATION"]], "generatedpaths (class in symforce.codegen.codegen)": [[376, "symforce.codegen.codegen.GeneratedPaths"]], "invalidnameerror": [[376, "symforce.codegen.codegen.InvalidNameError"]], "invalidnamespaceerror": [[376, "symforce.codegen.codegen.InvalidNamespaceError"]], "linearizationmode (class in symforce.codegen.codegen)": [[376, "symforce.codegen.codegen.LinearizationMode"]], "stacked_jacobian (linearizationmode attribute)": [[376, "symforce.codegen.codegen.LinearizationMode.STACKED_JACOBIAN"]], "common_data() (codegen static method)": [[376, "symforce.codegen.codegen.Codegen.common_data"]], "cpp_types_dir (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.cpp_types_dir"]], "default_docstring() (codegen static method)": [[376, "symforce.codegen.codegen.Codegen.default_docstring"]], "function() (codegen class method)": [[376, "symforce.codegen.codegen.Codegen.function"]], "function_dir (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.function_dir"]], "generate_function() (codegen method)": [[376, "symforce.codegen.codegen.Codegen.generate_function"]], "generated_files (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.generated_files"]], "lambdify() (codegen method)": [[376, "symforce.codegen.codegen.Codegen.lambdify"]], "lcm_type_dir (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.lcm_type_dir"]], "output_dir (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.output_dir"]], "output_symbols (codegen property)": [[376, "symforce.codegen.codegen.Codegen.output_symbols"]], "print_code_results (codegen property)": [[376, "symforce.codegen.codegen.Codegen.print_code_results"]], "python_types_dir (generatedpaths attribute)": [[376, "symforce.codegen.codegen.GeneratedPaths.python_types_dir"]], "symforce.codegen.codegen": [[376, "module-symforce.codegen.codegen"]], "total_ops() (codegen method)": [[376, "symforce.codegen.codegen.Codegen.total_ops"]], "unused_arguments (codegen property)": [[376, "symforce.codegen.codegen.Codegen.unused_arguments"]], "with_jacobians() (codegen method)": [[376, "symforce.codegen.codegen.Codegen.with_jacobians"]], "with_linearization() (codegen method)": [[376, "symforce.codegen.codegen.Codegen.with_linearization"]], "wrap_docstring_arg_description() (codegen static method)": [[376, "symforce.codegen.codegen.Codegen.wrap_docstring_arg_description"]], "allow (zeroepsilonbehavior attribute)": [[377, "symforce.codegen.codegen_config.ZeroEpsilonBehavior.ALLOW"]], "codegenconfig (class in symforce.codegen.codegen_config)": [[377, "symforce.codegen.codegen_config.CodegenConfig"]], "fail (zeroepsilonbehavior attribute)": [[377, "symforce.codegen.codegen_config.ZeroEpsilonBehavior.FAIL"]], "rendertemplateconfig (class in symforce.codegen.codegen_config)": [[377, "symforce.codegen.codegen_config.RenderTemplateConfig"]], "warn (zeroepsilonbehavior attribute)": [[377, "symforce.codegen.codegen_config.ZeroEpsilonBehavior.WARN"]], "zeroepsilonbehavior (class in symforce.codegen.codegen_config)": [[377, "symforce.codegen.codegen_config.ZeroEpsilonBehavior"]], "autoformat (rendertemplateconfig attribute)": [[377, "symforce.codegen.codegen_config.RenderTemplateConfig.autoformat"]], "backend_name() (codegenconfig class method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.backend_name"]], "cse_optimizations (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.cse_optimizations"]], "custom_preamble (rendertemplateconfig attribute)": [[377, "symforce.codegen.codegen_config.RenderTemplateConfig.custom_preamble"]], "doc_comment_line_prefix (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.doc_comment_line_prefix"]], "format_data_accessor() (codegenconfig static method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.format_data_accessor"]], "format_eigen_lcm_accessor() (codegenconfig static method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.format_eigen_lcm_accessor"]], "format_matrix_accessor() (codegenconfig method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.format_matrix_accessor"]], "line_length (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.line_length"]], "printer() (codegenconfig method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.printer"]], "render_template_config (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.render_template_config"]], "symforce.codegen.codegen_config": [[377, "module-symforce.codegen.codegen_config"]], "template_dir() (codegenconfig class method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.template_dir"]], "templates_to_render() (codegenconfig method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.templates_to_render"]], "update_template_data() (codegenconfig method)": [[377, "symforce.codegen.codegen_config.CodegenConfig.update_template_data"]], "use_eigen_types (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.use_eigen_types"]], "zero_epsilon_behavior (codegenconfig attribute)": [[377, "symforce.codegen.codegen_config.CodegenConfig.zero_epsilon_behavior"]], "cscformat (class in symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.CSCFormat"]], "denseandsparseoutputterms (class in symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.DenseAndSparseOutputTerms"]], "lcmbindingsdirs (class in symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.LcmBindingsDirs"]], "outputwithterms (class in symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.OutputWithTerms"]], "printcoderesult (class in symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.PrintCodeResult"]], "cpp_types_dir (lcmbindingsdirs attribute)": [[378, "symforce.codegen.codegen_util.LcmBindingsDirs.cpp_types_dir"]], "dense (denseandsparseoutputterms attribute)": [[378, "symforce.codegen.codegen_util.DenseAndSparseOutputTerms.dense"]], "dense_terms (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.dense_terms"]], "flat_symbols_from_values() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.flat_symbols_from_values"]], "format_symbols() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.format_symbols"]], "from_matrix() (cscformat static method)": [[378, "symforce.codegen.codegen_util.CSCFormat.from_matrix"]], "generate_lcm_types() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.generate_lcm_types"]], "get_base_instance() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.get_base_instance"]], "get_formatted_list() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.get_formatted_list"]], "get_formatted_sparse_list() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.get_formatted_sparse_list"]], "intermediate_terms (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.intermediate_terms"]], "kcolptrs (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.kColPtrs"]], "kcols (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.kCols"]], "knumnonzero (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.kNumNonZero"]], "krowindices (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.kRowIndices"]], "krows (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.kRows"]], "load_generated_function() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.load_generated_function"]], "load_generated_lcmtype() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.load_generated_lcmtype"]], "load_generated_package() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.load_generated_package"]], "name (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.name"]], "nonzero_elements (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.nonzero_elements"]], "perform_cse() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.perform_cse"]], "print_code() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.print_code"]], "python_types_dir (lcmbindingsdirs attribute)": [[378, "symforce.codegen.codegen_util.LcmBindingsDirs.python_types_dir"]], "sparse (denseandsparseoutputterms attribute)": [[378, "symforce.codegen.codegen_util.DenseAndSparseOutputTerms.sparse"]], "sparse_terms (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.sparse_terms"]], "symforce.codegen.codegen_util": [[378, "module-symforce.codegen.codegen_util"]], "terms (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.terms"]], "to_matrix() (cscformat method)": [[378, "symforce.codegen.codegen_util.CSCFormat.to_matrix"]], "total_ops (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.total_ops"]], "type (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.type"]], "format_cpp() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_cpp"]], "format_py() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_py"]], "format_py_dir() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_py_dir"]], "format_pyi() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_pyi"]], "symforce.codegen.format_util": [[379, "module-symforce.codegen.format_util"]], "between_factor() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.between_factor"]], "generate() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate"]], "generate_between_factors() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate_between_factors"]], "generate_pose3_extra_factors() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate_pose3_extra_factors"]], "get_between_factor_docstring() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.get_between_factor_docstring"]], "get_prior_docstring() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.get_prior_docstring"]], "prior_factor() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.prior_factor"]], "symforce.codegen.geo_factors_codegen": [[380, "module-symforce.codegen.geo_factors_codegen"]], "generate() (in module symforce.codegen.geo_package_codegen)": [[381, "symforce.codegen.geo_package_codegen.generate"]], "geo_class_common_data() (in module symforce.codegen.geo_package_codegen)": [[381, "symforce.codegen.geo_package_codegen.geo_class_common_data"]], "symforce.codegen.geo_package_codegen": [[381, "module-symforce.codegen.geo_package_codegen"]], "lcm_symforce_types_data() (in module symforce.codegen.lcm_types_codegen)": [[382, "symforce.codegen.lcm_types_codegen.lcm_symforce_types_data"]], "symforce.codegen.lcm_types_codegen": [[382, "module-symforce.codegen.lcm_types_codegen"]], "make_group_ops_funcs() (in module symforce.codegen.ops_codegen_util)": [[383, "symforce.codegen.ops_codegen_util.make_group_ops_funcs"]], "make_lie_group_ops_funcs() (in module symforce.codegen.ops_codegen_util)": [[383, "symforce.codegen.ops_codegen_util.make_lie_group_ops_funcs"]], "symforce.codegen.ops_codegen_util": [[383, "module-symforce.codegen.ops_codegen_util"]], "similarityindex (class in symforce.codegen.similarity_index)": [[384, "symforce.codegen.similarity_index.SimilarityIndex"]], "__hash__() (similarityindex method)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.__hash__"]], "config (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.config"]], "from_codegen() (similarityindex static method)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.from_codegen"]], "inputs (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.inputs"]], "outputs (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.outputs"]], "return_key (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.return_key"]], "sorted_sparse_matrices (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.sorted_sparse_matrices"]], "sparse_matrices (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.sparse_matrices"]], "symforce.codegen.similarity_index": [[384, "module-symforce.codegen.similarity_index"]], "generate() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.generate"]], "inverse_range_landmark_gnc_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_gnc_residual"]], "inverse_range_landmark_prior_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_prior_residual"]], "inverse_range_landmark_ray_gnc_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_ray_gnc_residual"]], "inverse_range_landmark_ray_reprojection_error_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_ray_reprojection_error_residual"]], "inverse_range_landmark_reprojection_error_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_reprojection_error_residual"]], "ray_reprojection_delta() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.ray_reprojection_delta"]], "reprojection_delta() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.reprojection_delta"]], "symforce.codegen.slam_factors_codegen": [[385, "module-symforce.codegen.slam_factors_codegen"]], "generate() (in module symforce.codegen.sym_util_package_codegen)": [[386, "symforce.codegen.sym_util_package_codegen.generate"]], "symforce.codegen.sym_util_package_codegen": [[386, "module-symforce.codegen.sym_util_package_codegen"]], "cpp (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.CPP"]], "cuda (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.CUDA"]], "filetype (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.FileType"]], "lcm (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.LCM"]], "makefile (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.MAKEFILE"]], "python (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.PYTHON"]], "python_interface (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.PYTHON_INTERFACE"]], "relenvironment (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.RelEnvironment"]], "typescript (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.TYPESCRIPT"]], "templatelist (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.TemplateList"]], "templatelist.templatelistentry (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry"]], "add() (templatelist method)": [[387, "symforce.codegen.template_util.TemplateList.add"]], "add_preamble() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.add_preamble"]], "autoformat() (filetype method)": [[387, "symforce.codegen.template_util.FileType.autoformat"]], "comment_prefix() (filetype method)": [[387, "symforce.codegen.template_util.FileType.comment_prefix"]], "config (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.config"]], "data (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.data"]], "from_extension() (filetype static method)": [[387, "symforce.codegen.template_util.FileType.from_extension"]], "from_template_path() (filetype static method)": [[387, "symforce.codegen.template_util.FileType.from_template_path"]], "jinja_env() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.jinja_env"]], "join_path() (relenvironment method)": [[387, "symforce.codegen.template_util.RelEnvironment.join_path"]], "output_path (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.output_path"]], "render() (templatelist method)": [[387, "symforce.codegen.template_util.TemplateList.render"]], "render_template() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.render_template"]], "symforce.codegen.template_util": [[387, "module-symforce.codegen.template_util"]], "template_dir (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.template_dir"]], "template_path (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.template_path"]], "typescodegendata (class in symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData"]], "build_types_dict() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.build_types_dict"]], "generate_types() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.generate_types"]], "get_subvalues_from_list_index() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.get_subvalues_from_list_index"]], "lcm_bindings_dirs (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_bindings_dirs"]], "lcm_bindings_output_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_bindings_output_dir"]], "lcm_files (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_files"]], "lcm_type_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_type_dir"]], "namespaces_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.namespaces_dict"]], "output_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.output_dir"]], "package_name (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.package_name"]], "scalar_type (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.scalar_type"]], "shared_types (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.shared_types"]], "symforce.codegen.types_package_codegen": [[388, "module-symforce.codegen.types_package_codegen"]], "typename_from_key() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.typename_from_key"]], "typenames_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.typenames_dict"]], "types_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.types_dict"]], "values_indices (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.values_indices"]], "generate_values_keys() (in module symforce.codegen.values_codegen)": [[389, "symforce.codegen.values_codegen.generate_values_keys"]], "symforce.codegen.values_codegen": [[389, "module-symforce.codegen.values_codegen"]], "databuffer (class in symforce.databuffer)": [[390, "symforce.databuffer.DataBuffer"]], "default_assumptions (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.default_assumptions"]], "is_algebraic (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_algebraic"]], "is_commutative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_commutative"]], "is_complex (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_complex"]], "is_composite (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_composite"]], "is_even (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_even"]], "is_extended_negative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_negative"]], "is_extended_nonnegative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonnegative"]], "is_extended_nonpositive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonpositive"]], "is_extended_nonzero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonzero"]], "is_extended_positive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_positive"]], "is_extended_real (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_real"]], "is_imaginary (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_imaginary"]], "is_integer (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_integer"]], "is_irrational (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_irrational"]], "is_negative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_negative"]], "is_noninteger (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_noninteger"]], "is_nonnegative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonnegative"]], "is_nonpositive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonpositive"]], "is_nonzero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonzero"]], "is_odd (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_odd"]], "is_positive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_positive"]], "is_prime (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_prime"]], "is_rational (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_rational"]], "is_real (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_real"]], "is_transcendental (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_transcendental"]], "is_zero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_zero"]], "symforce.databuffer": [[390, "module-symforce.databuffer"]], "symforce.examples": [[391, "module-symforce.examples"]], "symforce.examples.bundle_adjustment": [[392, "module-symforce.examples.bundle_adjustment"]], "symforce.examples.bundle_adjustment_fixed_size": [[393, "module-symforce.examples.bundle_adjustment_fixed_size"]], "build_values() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.build_values"]], "define_feature_match() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_feature_match"]], "define_objective_costs() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_objective_costs"]], "define_pose_prior() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_pose_prior"]], "define_view() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_view"]], "symforce.examples.bundle_adjustment_fixed_size.build_values": [[394, "module-symforce.examples.bundle_adjustment_fixed_size.build_values"]], "fixedbundleadjustmentproblem (class in symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem)": [[395, "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem.FixedBundleAdjustmentProblem"]], "generate() (fixedbundleadjustmentproblem method)": [[395, "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem.FixedBundleAdjustmentProblem.generate"]], "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem": [[395, "module-symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem"]], "symforce.examples.bundle_adjustment_in_the_large": [[396, "module-symforce.examples.bundle_adjustment_in_the_large"]], "generate() (in module symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large)": [[397, "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large.generate"]], "snavely_reprojection_residual() (in module symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large)": [[397, "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large.snavely_reprojection_residual"]], "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large": [[397, "module-symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large"]], "main() (in module symforce.examples.bundle_adjustment_in_the_large.download_dataset)": [[398, "symforce.examples.bundle_adjustment_in_the_large.download_dataset.main"]], "symforce.examples.bundle_adjustment_in_the_large.download_dataset": [[398, "module-symforce.examples.bundle_adjustment_in_the_large.download_dataset"]], "symforce.examples.custom_factor_generation": [[399, "module-symforce.examples.custom_factor_generation"]], "custom_between_factor_residual() (in module symforce.examples.custom_factor_generation.factor_residuals)": [[400, "symforce.examples.custom_factor_generation.factor_residuals.custom_between_factor_residual"]], "symforce.examples.custom_factor_generation.factor_residuals": [[400, "module-symforce.examples.custom_factor_generation.factor_residuals"]], "generate() (in module symforce.examples.custom_factor_generation.generate_factors)": [[401, "symforce.examples.custom_factor_generation.generate_factors.generate"]], "symforce.examples.custom_factor_generation.generate_factors": [[401, "module-symforce.examples.custom_factor_generation.generate_factors"]], "symforce.examples.robot_2d_localization": [[402, "module-symforce.examples.robot_2d_localization"]], "get_data_to_plot() (in module symforce.examples.robot_2d_localization.plotting)": [[403, "symforce.examples.robot_2d_localization.plotting.get_data_to_plot"]], "plot_solution() (in module symforce.examples.robot_2d_localization.plotting)": [[403, "symforce.examples.robot_2d_localization.plotting.plot_solution"]], "symforce.examples.robot_2d_localization.plotting": [[403, "module-symforce.examples.robot_2d_localization.plotting"]], "symforce.examples.robot_3d_localization": [[405, "module-symforce.examples.robot_3d_localization"]], "get_data_to_plot() (in module symforce.examples.robot_3d_localization.plotting)": [[406, "symforce.examples.robot_3d_localization.plotting.get_data_to_plot"]], "plot_solution() (in module symforce.examples.robot_3d_localization.plotting)": [[406, "symforce.examples.robot_3d_localization.plotting.plot_solution"]], "symforce.examples.robot_3d_localization.plotting": [[406, "module-symforce.examples.robot_3d_localization.plotting"]], "symforce.geo": [[408, "module-symforce.geo"]], "complex (class in symforce.geo.complex)": [[409, "symforce.geo.complex.Complex"]], "__add__() (complex method)": [[409, "symforce.geo.complex.Complex.__add__"], [476, "symforce.symbolic.Complex.__add__"]], "__div__() (complex method)": [[409, "symforce.geo.complex.Complex.__div__"], [476, "symforce.symbolic.Complex.__div__"]], "__mul__() (complex method)": [[409, "symforce.geo.complex.Complex.__mul__"], [476, "symforce.symbolic.Complex.__mul__"]], "__neg__() (complex method)": [[409, "symforce.geo.complex.Complex.__neg__"], [476, "symforce.symbolic.Complex.__neg__"]], "__truediv__() (complex method)": [[409, "symforce.geo.complex.Complex.__truediv__"], [476, "symforce.symbolic.Complex.__truediv__"]], "compose() (complex method)": [[409, "symforce.geo.complex.Complex.compose"], [476, "symforce.symbolic.Complex.compose"]], "conj() (complex method)": [[409, "symforce.geo.complex.Complex.conj"], [476, "symforce.symbolic.Complex.conj"]], "from_storage() (complex class method)": [[409, "symforce.geo.complex.Complex.from_storage"], [476, "symforce.symbolic.Complex.from_storage"]], "identity() (complex class method)": [[409, "symforce.geo.complex.Complex.identity"], [476, "symforce.symbolic.Complex.identity"]], "inverse() (complex method)": [[409, "symforce.geo.complex.Complex.inverse"], [476, "symforce.symbolic.Complex.inverse"]], "random_uniform() (complex class method)": [[409, "symforce.geo.complex.Complex.random_uniform"], [476, "symforce.symbolic.Complex.random_uniform"]], "squared_norm() (complex method)": [[409, "symforce.geo.complex.Complex.squared_norm"], [476, "symforce.symbolic.Complex.squared_norm"]], "storage_dim() (complex class method)": [[409, "symforce.geo.complex.Complex.storage_dim"], [476, "symforce.symbolic.Complex.storage_dim"]], "symbolic() (complex class method)": [[409, "symforce.geo.complex.Complex.symbolic"], [476, "symforce.symbolic.Complex.symbolic"]], "symforce.geo.complex": [[409, "module-symforce.geo.complex"]], "to_storage() (complex method)": [[409, "symforce.geo.complex.Complex.to_storage"], [476, "symforce.symbolic.Complex.to_storage"]], "unit_random() (complex class method)": [[409, "symforce.geo.complex.Complex.unit_random"], [476, "symforce.symbolic.Complex.unit_random"]], "unit_random_from_uniform_sample() (complex class method)": [[409, "symforce.geo.complex.Complex.unit_random_from_uniform_sample"], [476, "symforce.symbolic.Complex.unit_random_from_uniform_sample"]], "zero() (complex class method)": [[409, "symforce.geo.complex.Complex.zero"], [476, "symforce.symbolic.Complex.zero"]], "dualquaternion (class in symforce.geo.dual_quaternion)": [[410, "symforce.geo.dual_quaternion.DualQuaternion"]], "__div__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__div__"], [476, "symforce.symbolic.DualQuaternion.__div__"]], "__mul__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__mul__"], [476, "symforce.symbolic.DualQuaternion.__mul__"]], "__truediv__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__truediv__"], [476, "symforce.symbolic.DualQuaternion.__truediv__"]], "compose() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.compose"], [476, "symforce.symbolic.DualQuaternion.compose"]], "conj() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.conj"], [476, "symforce.symbolic.DualQuaternion.conj"]], "from_storage() (dualquaternion class method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.from_storage"], [476, "symforce.symbolic.DualQuaternion.from_storage"]], "identity() (dualquaternion class method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.identity"], [476, "symforce.symbolic.DualQuaternion.identity"]], "inverse() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.inverse"], [476, "symforce.symbolic.DualQuaternion.inverse"]], "squared_norm() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.squared_norm"], [476, "symforce.symbolic.DualQuaternion.squared_norm"]], "storage_dim() (dualquaternion class method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.storage_dim"], [476, "symforce.symbolic.DualQuaternion.storage_dim"]], "symforce.geo.dual_quaternion": [[410, "module-symforce.geo.dual_quaternion"]], "to_storage() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.to_storage"], [476, "symforce.symbolic.DualQuaternion.to_storage"]], "ffldu() (matrix method)": [[411, "symforce.geo.matrix.Matrix.FFLDU"], [476, "symforce.symbolic.Matrix.FFLDU"]], "fflu() (matrix method)": [[411, "symforce.geo.matrix.Matrix.FFLU"], [476, "symforce.symbolic.Matrix.FFLU"]], "i1() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I1"]], "i11() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I11"]], "i2() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I2"]], "i22() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I22"]], "i3() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I3"]], "i33() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I33"]], "i4() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I4"]], "i44() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I44"]], "i5() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I5"]], "i55() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I55"]], "i6() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I6"]], "i66() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I66"]], "i7() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I7"]], "i77() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I77"]], "i8() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I8"]], "i88() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I88"]], "i9() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I9"]], "i99() (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.I99"]], "ldl() (matrix method)": [[411, "symforce.geo.matrix.Matrix.LDL"], [476, "symforce.symbolic.Matrix.LDL"]], "lu() (matrix method)": [[411, "symforce.geo.matrix.Matrix.LU"], [476, "symforce.symbolic.Matrix.LU"]], "m (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M"], [411, "symforce.geo.matrix.m"]], "m11 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M11"]], "m12 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M12"]], "m13 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M13"]], "m14 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M14"]], "m15 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M15"]], "m16 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M16"]], "m17 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M17"]], "m18 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M18"]], "m19 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M19"]], "m21 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M21"]], "m22 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M22"]], "m23 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M23"]], "m24 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M24"]], "m25 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M25"]], "m26 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M26"]], "m27 (in module symforce.geo.matrix)": [[411, "symforce.geo.matrix.M27"]], "m28 (in module symforce.geo.matrix)": [[411, 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"unit_random_from_uniform_samples() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.unit_random_from_uniform_samples"], [476, "symforce.symbolic.Quaternion.unit_random_from_uniform_samples"]], "x (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.x"], [476, "symforce.symbolic.Quaternion.x"]], "y (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.y"], [476, "symforce.symbolic.Quaternion.y"]], "z (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.z"], [476, "symforce.symbolic.Quaternion.z"]], "zero() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.zero"], [476, "symforce.symbolic.Quaternion.zero"]], "rot2 (class in symforce.geo.rot2)": [[415, "symforce.geo.rot2.Rot2"]], "__mul__() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.__mul__"], [476, "symforce.symbolic.Rot2.__mul__"]], "from_angle() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.from_angle"], [476, "symforce.symbolic.Rot2.from_angle"]], "hat() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.hat"], [476, "symforce.symbolic.Rot2.hat"]], "random() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.random"], [476, "symforce.symbolic.Rot2.random"]], "random_from_uniform_sample() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.random_from_uniform_sample"], [476, "symforce.symbolic.Rot2.random_from_uniform_sample"]], "storage_d_tangent() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.storage_D_tangent"], [476, "symforce.symbolic.Rot2.storage_D_tangent"]], "storage_dim() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.storage_dim"], [476, "symforce.symbolic.Rot2.storage_dim"]], "symbolic() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.symbolic"], [476, "symforce.symbolic.Rot2.symbolic"]], "symforce.geo.rot2": [[415, "module-symforce.geo.rot2"]], "tangent_d_storage() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.tangent_D_storage"], [476, "symforce.symbolic.Rot2.tangent_D_storage"]], "tangent_dim() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.tangent_dim"], [476, "symforce.symbolic.Rot2.tangent_dim"]], "to_angle() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.to_angle"], [476, "symforce.symbolic.Rot2.to_angle"]], "rot3 (class in symforce.geo.rot3)": [[416, "symforce.geo.rot3.Rot3"]], "__mul__() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.__mul__"], [476, "symforce.symbolic.Rot3.__mul__"]], "angle_between() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.angle_between"], [476, "symforce.symbolic.Rot3.angle_between"]], "from_angle_axis() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_angle_axis"], [476, "symforce.symbolic.Rot3.from_angle_axis"]], "from_two_unit_vectors() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_two_unit_vectors"], [476, "symforce.symbolic.Rot3.from_two_unit_vectors"]], "from_yaw_pitch_roll() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_yaw_pitch_roll"], [476, "symforce.symbolic.Rot3.from_yaw_pitch_roll"]], "hat() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.hat"], [476, "symforce.symbolic.Rot3.hat"]], "random_from_uniform_samples() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.random_from_uniform_samples"], [476, "symforce.symbolic.Rot3.random_from_uniform_samples"]], "storage_d_tangent() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.storage_D_tangent"], [476, "symforce.symbolic.Rot3.storage_D_tangent"]], "storage_dim() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.storage_dim"], [476, "symforce.symbolic.Rot3.storage_dim"]], "symbolic() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.symbolic"], [476, "symforce.symbolic.Rot3.symbolic"]], "symforce.geo.rot3": [[416, "module-symforce.geo.rot3"]], "tangent_d_storage() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.tangent_D_storage"], [476, "symforce.symbolic.Rot3.tangent_D_storage"]], "tangent_dim() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.tangent_dim"], [476, "symforce.symbolic.Rot3.tangent_dim"]], "e_z (unit3 attribute)": [[417, "symforce.geo.unit3.Unit3.E_Z"], [476, "symforce.symbolic.Unit3.E_Z"]], "unit3 (class in symforce.geo.unit3)": [[417, "symforce.geo.unit3.Unit3"]], "from_vector() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.from_vector"], [476, "symforce.symbolic.Unit3.from_vector"]], "random() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.random"], [476, "symforce.symbolic.Unit3.random"]], "storage_d_tangent() (unit3 method)": [[417, "symforce.geo.unit3.Unit3.storage_D_tangent"], [476, "symforce.symbolic.Unit3.storage_D_tangent"]], "storage_dim() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.storage_dim"], [476, "symforce.symbolic.Unit3.storage_dim"]], "symbolic() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.symbolic"], [476, "symforce.symbolic.Unit3.symbolic"]], "symforce.geo.unit3": [[417, "module-symforce.geo.unit3"]], "tangent_d_storage() (unit3 method)": [[417, "symforce.geo.unit3.Unit3.tangent_D_storage"], [476, "symforce.symbolic.Unit3.tangent_D_storage"]], "tangent_dim() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.tangent_dim"], [476, "symforce.symbolic.Unit3.tangent_dim"]], "symforce.geo.unsupported": [[418, "module-symforce.geo.unsupported"]], "pose2_se2 (class in symforce.geo.unsupported.pose2_se2)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2"]], "from_tangent() (pose2_se2 class method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.from_tangent"]], "hat() (pose2_se2 class method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.hat"]], "local_coordinates() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.local_coordinates"]], "retract() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.retract"]], "storage_d_tangent() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.storage_D_tangent"]], "symforce.geo.unsupported.pose2_se2": [[419, "module-symforce.geo.unsupported.pose2_se2"]], "tangent_d_storage() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.tangent_D_storage"]], "to_tangent() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.to_tangent"]], "pose3_se3 (class in symforce.geo.unsupported.pose3_se3)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3"]], "from_tangent() (pose3_se3 class method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.from_tangent"]], "hat() (pose3_se3 class method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.hat"]], "local_coordinates() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.local_coordinates"]], "retract() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.retract"]], "storage_d_tangent() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.storage_D_tangent"]], "symforce.geo.unsupported.pose3_se3": [[420, "module-symforce.geo.unsupported.pose3_se3"]], "tangent_d_storage() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.tangent_D_storage"]], "to_tangent() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.to_tangent"]], "symforce.internal": [[421, "module-symforce.internal"]], "symbol (class in symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.Symbol"]], "acos_safe() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.acos_safe"]], "angle_diff() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.angle_diff"]], "argmax() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.argmax"]], "argmax_onehot() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.argmax_onehot"]], "asin_safe() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.asin_safe"]], "atan2() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.atan2"]], "clamp() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.clamp"]], "copysign_no_zero() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.copysign_no_zero"]], "create_named_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.create_named_scope"]], "epsilon() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.epsilon"]], "get_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.get_scope"]], "limit() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.limit"]], "scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.scope"]], "set_eval_on_sympify() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.set_eval_on_sympify"]], "set_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.set_scope"]], "sign_no_zero() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.sign_no_zero"]], "simplify() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.simplify"]], "solve() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.solve"]], "symforce.internal.symbolic": [[422, "module-symforce.internal.symbolic"]], "wrap_angle() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.wrap_angle"]], "symforce.jacobian_helpers": [[423, "module-symforce.jacobian_helpers"]], "tangent_jacobians() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians"]], "tangent_jacobians_chain_rule() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians_chain_rule"]], "tangent_jacobians_first_order() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians_first_order"]], "greater() (in module symforce.logic)": [[424, "symforce.logic.greater"]], "greater_equal() (in module symforce.logic)": [[424, "symforce.logic.greater_equal"]], "is_negative() (in module symforce.logic)": [[424, "symforce.logic.is_negative"]], "is_nonnegative() (in module symforce.logic)": [[424, "symforce.logic.is_nonnegative"]], "is_nonpositive() (in module symforce.logic)": [[424, "symforce.logic.is_nonpositive"]], "is_positive() (in module symforce.logic)": [[424, "symforce.logic.is_positive"]], "less() (in module symforce.logic)": [[424, "symforce.logic.less"]], "less_equal() (in module symforce.logic)": [[424, "symforce.logic.less_equal"]], "logical_and() (in module symforce.logic)": [[424, "symforce.logic.logical_and"]], "logical_not() (in module symforce.logic)": [[424, "symforce.logic.logical_not"]], "logical_or() (in module symforce.logic)": [[424, "symforce.logic.logical_or"]], "symforce.logic": [[424, "module-symforce.logic"]], "display() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display"]], "display_code() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display_code"]], "display_code_file() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display_code_file"]], "print_expression_tree() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.print_expression_tree"]], "symforce.notebook_util": [[425, "module-symforce.notebook_util"]], "scalarexpr (class in symforce.ops)": [[426, "symforce.ops.ScalarExpr"]], "symforce.ops": [[426, "module-symforce.ops"]], "groupops (class in symforce.ops.group_ops)": [[427, "symforce.ops.group_ops.GroupOps"]], "symforce.ops.group_ops": [[427, "module-symforce.ops.group_ops"]], "symforce.ops.impl": [[428, "module-symforce.ops.impl"]], "abstractstorageops (class in symforce.ops.impl.abstract_storage_ops)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps"]], "from_storage() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.from_storage"]], "storage_dim() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.storage_dim"]], "symbolic() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.symbolic"]], "symforce.ops.impl.abstract_storage_ops": [[429, "module-symforce.ops.impl.abstract_storage_ops"]], "to_storage() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.to_storage"]], "abstractvectorgroupops (class in symforce.ops.impl.abstract_vector_group_ops)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps"]], "compose() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.compose"]], "identity() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.identity"]], "inverse() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.inverse"]], "symforce.ops.impl.abstract_vector_group_ops": [[430, "module-symforce.ops.impl.abstract_vector_group_ops"]], "abstractvectorliegroupops (class in symforce.ops.impl.abstract_vector_lie_group_ops)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps"]], "from_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.from_tangent"]], "local_coordinates() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.local_coordinates"]], "retract() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.retract"]], "storage_d_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.abstract_vector_lie_group_ops": [[431, "module-symforce.ops.impl.abstract_vector_lie_group_ops"]], "tangent_d_storage() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.tangent_D_storage"]], "tangent_dim() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.tangent_dim"]], "to_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.to_tangent"]], "arrayliegroupops (class in symforce.ops.impl.array_lie_group_ops)": [[432, "symforce.ops.impl.array_lie_group_ops.ArrayLieGroupOps"]], "symforce.ops.impl.array_lie_group_ops": [[432, "module-symforce.ops.impl.array_lie_group_ops"]], "arraystorageops (class in symforce.ops.impl.array_storage_ops)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps"]], "from_storage() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.from_storage"]], "storage_dim() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.storage_dim"]], "symbolic() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.symbolic"]], "symforce.ops.impl.array_storage_ops": [[433, "module-symforce.ops.impl.array_storage_ops"]], "to_storage() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.to_storage"]], "classgroupops (class in symforce.ops.impl.class_group_ops)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps"]], "compose() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.compose"]], "identity() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.identity"]], "inverse() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.inverse"]], "symforce.ops.impl.class_group_ops": [[434, "module-symforce.ops.impl.class_group_ops"]], "classliegroupops (class in symforce.ops.impl.class_lie_group_ops)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps"]], "from_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.from_tangent"]], "local_coordinates() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.local_coordinates"]], "retract() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.retract"]], "storage_d_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.class_lie_group_ops": [[435, "module-symforce.ops.impl.class_lie_group_ops"]], "tangent_d_storage() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.tangent_D_storage"]], "tangent_dim() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.tangent_dim"]], "to_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.to_tangent"]], "classstorageops (class in symforce.ops.impl.class_storage_ops)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps"]], "from_storage() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.from_storage"]], "storage_dim() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.storage_dim"]], "symbolic() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.symbolic"]], "symforce.ops.impl.class_storage_ops": [[436, "module-symforce.ops.impl.class_storage_ops"]], "to_storage() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.to_storage"]], "databufferstorageops (class in symforce.ops.impl.databuffer_storage_ops)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps"]], "from_storage() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.from_storage"]], "storage_dim() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.storage_dim"]], "symbolic() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.symbolic"]], "symforce.ops.impl.databuffer_storage_ops": [[437, "module-symforce.ops.impl.databuffer_storage_ops"]], "to_storage() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.to_storage"]], "dataclassgroupops (class in symforce.ops.impl.dataclass_group_ops)": [[438, "symforce.ops.impl.dataclass_group_ops.DataclassGroupOps"]], "compose() (dataclassgroupops static method)": [[438, "symforce.ops.impl.dataclass_group_ops.DataclassGroupOps.compose"]], "identity() (dataclassgroupops static method)": [[438, "symforce.ops.impl.dataclass_group_ops.DataclassGroupOps.identity"]], "inverse() (dataclassgroupops static method)": [[438, "symforce.ops.impl.dataclass_group_ops.DataclassGroupOps.inverse"]], "symforce.ops.impl.dataclass_group_ops": [[438, "module-symforce.ops.impl.dataclass_group_ops"]], "dataclassliegroupops (class in symforce.ops.impl.dataclass_lie_group_ops)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps"]], "from_tangent() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.from_tangent"]], "local_coordinates() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.local_coordinates"]], "retract() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.retract"]], "storage_d_tangent() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.dataclass_lie_group_ops": [[439, "module-symforce.ops.impl.dataclass_lie_group_ops"]], "tangent_d_storage() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.tangent_D_storage"]], "tangent_dim() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.tangent_dim"]], "to_tangent() (dataclassliegroupops static method)": [[439, "symforce.ops.impl.dataclass_lie_group_ops.DataclassLieGroupOps.to_tangent"]], "dataclassstorageops (class in symforce.ops.impl.dataclass_storage_ops)": [[440, "symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps"]], "from_storage() (dataclassstorageops static method)": [[440, "symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps.from_storage"]], "storage_dim() (dataclassstorageops static method)": [[440, "symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps.storage_dim"]], "symbolic() (dataclassstorageops static method)": [[440, "symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps.symbolic"]], "symforce.ops.impl.dataclass_storage_ops": [[440, "module-symforce.ops.impl.dataclass_storage_ops"]], "to_storage() (dataclassstorageops static method)": [[440, "symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps.to_storage"]], "nonetypeliegroupops (class in symforce.ops.impl.nonetype_lie_group_ops)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps"]], "from_storage() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.from_storage"]], "storage_dim() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.storage_dim"]], "symbolic() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.symbolic"]], "symforce.ops.impl.nonetype_lie_group_ops": [[441, "module-symforce.ops.impl.nonetype_lie_group_ops"]], "to_storage() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.to_storage"]], "scalarliegroupops (class in symforce.ops.impl.scalar_lie_group_ops)": [[442, "symforce.ops.impl.scalar_lie_group_ops.ScalarLieGroupOps"]], "from_storage() (scalarliegroupops static method)": [[442, "symforce.ops.impl.scalar_lie_group_ops.ScalarLieGroupOps.from_storage"]], "storage_dim() (scalarliegroupops static method)": [[442, "symforce.ops.impl.scalar_lie_group_ops.ScalarLieGroupOps.storage_dim"]], "symbolic() (scalarliegroupops static method)": [[442, "symforce.ops.impl.scalar_lie_group_ops.ScalarLieGroupOps.symbolic"]], "symforce.ops.impl.scalar_lie_group_ops": [[442, "module-symforce.ops.impl.scalar_lie_group_ops"]], "to_storage() (scalarliegroupops static method)": [[442, "symforce.ops.impl.scalar_lie_group_ops.ScalarLieGroupOps.to_storage"]], "sequencegroupops (class in symforce.ops.impl.sequence_group_ops)": [[443, "symforce.ops.impl.sequence_group_ops.SequenceGroupOps"]], "compose() (sequencegroupops static method)": [[443, "symforce.ops.impl.sequence_group_ops.SequenceGroupOps.compose"]], "identity() (sequencegroupops static method)": [[443, "symforce.ops.impl.sequence_group_ops.SequenceGroupOps.identity"]], "inverse() (sequencegroupops static method)": [[443, "symforce.ops.impl.sequence_group_ops.SequenceGroupOps.inverse"]], "symforce.ops.impl.sequence_group_ops": [[443, "module-symforce.ops.impl.sequence_group_ops"]], "sequenceliegroupops (class in symforce.ops.impl.sequence_lie_group_ops)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps"]], "from_tangent() (sequenceliegroupops static method)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps.from_tangent"]], "local_coordinates() (sequenceliegroupops static method)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps.local_coordinates"]], "retract() (sequenceliegroupops static method)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps.retract"]], "storage_d_tangent() (sequenceliegroupops static method)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.sequence_lie_group_ops": [[444, "module-symforce.ops.impl.sequence_lie_group_ops"]], "tangent_d_storage() (sequenceliegroupops static method)": [[444, "symforce.ops.impl.sequence_lie_group_ops.SequenceLieGroupOps.tangent_D_storage"]], "tangent_dim() (sequenceliegroupops static method)": [[444, 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"symforce.opt.optimizer.Optimizer.Params.lambda_down_factor"]], "lambda_lower_bound (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.lambda_lower_bound"]], "lambda_up_factor (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.lambda_up_factor"]], "lambda_upper_bound (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.lambda_upper_bound"]], "linear_solver_ordering (optimizer.result attribute)": [[466, "symforce.opt.optimizer.Optimizer.Result.linear_solver_ordering"]], "linear_solver_ordering (optimizer.result property)": [[466, "id8"]], "load_iteration_values() (optimizer method)": [[466, "symforce.opt.optimizer.Optimizer.load_iteration_values"]], "optimized_values (optimizer.result attribute)": [[466, "id1"], [466, "symforce.opt.optimizer.Optimizer.Result.optimized_values"]], "status (optimizer.result attribute)": [[466, "symforce.opt.optimizer.Optimizer.Result.status"]], "status (optimizer.result property)": [[466, "id4"]], "symforce.opt.optimizer": [[466, "module-symforce.opt.optimizer"]], "use_diagonal_damping (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.use_diagonal_damping"]], "use_unit_damping (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.use_unit_damping"]], "verbose (optimizer.params attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.verbose"]], "residualblock (class in symforce.opt.residual_block)": [[467, "symforce.opt.residual_block.ResidualBlock"]], "residualblockwithcustomjacobian (class in symforce.opt.residual_block)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian"]], "compute_jacobians() (residualblock method)": [[467, "symforce.opt.residual_block.ResidualBlock.compute_jacobians"]], "compute_jacobians() (residualblockwithcustomjacobian method)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian.compute_jacobians"]], "custom_jacobians (residualblockwithcustomjacobian attribute)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian.custom_jacobians"]], "extra_values (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.extra_values"]], "metadata (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.metadata"]], "residual (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.residual"]], "set_metadata() (residualblock method)": [[467, "symforce.opt.residual_block.ResidualBlock.set_metadata"]], "symforce.opt.residual_block": [[467, "module-symforce.opt.residual_block"]], "inputs (subproblem attribute)": [[468, "symforce.opt.sub_problem.SubProblem.Inputs"], [468, "symforce.opt.sub_problem.SubProblem.inputs"]], "subproblem (class in symforce.opt.sub_problem)": [[468, "symforce.opt.sub_problem.SubProblem"]], "build_inputs() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.build_inputs"]], "build_residuals() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.build_residuals"]], "name (subproblem attribute)": [[468, "symforce.opt.sub_problem.SubProblem.name"]], "optimized_values() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.optimized_values"]], "symforce.opt.sub_problem": [[468, "module-symforce.opt.sub_problem"]], "timestepsubproblem (class in symforce.opt.timestep_sub_problem)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem"]], "build_inputs() (timestepsubproblem method)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem.build_inputs"]], "symforce.opt.timestep_sub_problem": [[469, "module-symforce.opt.timestep_sub_problem"]], "timesteps (timestepsubproblem attribute)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem.timesteps"]], "missingmanifestexception": [[470, "symforce.path_util.MissingManifestException"]], "binary_output_dir() (in module symforce.path_util)": [[470, "symforce.path_util.binary_output_dir"]], "cc_sym_install_dir() (in module symforce.path_util)": [[470, "symforce.path_util.cc_sym_install_dir"]], "symenginepy_install_dir() (in module symforce.path_util)": [[470, "symforce.path_util.symenginepy_install_dir"]], "symforce.path_util": [[470, "module-symforce.path_util"]], "symforce_data_root() (in module symforce.path_util)": [[470, "symforce.path_util.symforce_data_root"]], "symforce_dir() (in module symforce.path_util)": [[470, "symforce.path_util.symforce_dir"]], "symforce_root() (in module symforce.path_util)": [[470, "symforce.path_util.symforce_root"]], "attrdict (class in symforce.python_util)": [[471, "symforce.python_util.AttrDict"]], "invalidkeyerror": [[471, "symforce.python_util.InvalidKeyError"]], "invalidpythonidentifiererror": [[471, "symforce.python_util.InvalidPythonIdentifierError"]], "base_and_indices() (in module symforce.python_util)": [[471, "symforce.python_util.base_and_indices"]], "camelcase_to_screaming_snakecase() (in module symforce.python_util)": [[471, "symforce.python_util.camelcase_to_screaming_snakecase"]], "camelcase_to_snakecase() (in module symforce.python_util)": [[471, "symforce.python_util.camelcase_to_snakecase"]], "dots_and_brackets_to_underscores() (in module symforce.python_util)": [[471, "symforce.python_util.dots_and_brackets_to_underscores"]], "execute_subprocess() (in module symforce.python_util)": [[471, "symforce.python_util.execute_subprocess"]], "files_in_dir() (in module symforce.python_util)": [[471, "symforce.python_util.files_in_dir"]], "get_class_for_method() (in module symforce.python_util)": [[471, "symforce.python_util.get_class_for_method"]], "get_func_from_maybe_bound_function() (in module symforce.python_util)": [[471, "symforce.python_util.get_func_from_maybe_bound_function"]], "getattr_recursive() (in module symforce.python_util)": [[471, "symforce.python_util.getattr_recursive"]], "id_generator() (in module symforce.python_util)": [[471, "symforce.python_util.id_generator"]], "plural() (in module symforce.python_util)": [[471, "symforce.python_util.plural"]], "remove_if_exists() (in module symforce.python_util)": [[471, "symforce.python_util.remove_if_exists"]], "snakecase_to_camelcase() (in module symforce.python_util)": [[471, "symforce.python_util.snakecase_to_camelcase"]], "str_removeprefix() (in module symforce.python_util)": [[471, "symforce.python_util.str_removeprefix"]], "str_removesuffix() (in module symforce.python_util)": [[471, "symforce.python_util.str_removesuffix"]], "str_replace_all() (in module symforce.python_util)": [[471, "symforce.python_util.str_replace_all"]], "symforce.python_util": [[471, "module-symforce.python_util"]], "symforce.slam": [[472, "module-symforce.slam"]], "symforce.slam.imu_preintegration": [[473, "module-symforce.slam.imu_preintegration"]], "generate_manifold_imu_preintegration() (in module symforce.slam.imu_preintegration.generate)": [[474, "symforce.slam.imu_preintegration.generate.generate_manifold_imu_preintegration"]], "internal_imu_unit_gravity_residual() (in module symforce.slam.imu_preintegration.generate)": [[474, "symforce.slam.imu_preintegration.generate.internal_imu_unit_gravity_residual"]], "symforce.slam.imu_preintegration.generate": [[474, "module-symforce.slam.imu_preintegration.generate"]], "handwritten_new_state_d_state_gyro_accel() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.handwritten_new_state_D_state_gyro_accel"]], "imu_manifold_preintegration_update() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.imu_manifold_preintegration_update"]], "integrate_state() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.integrate_state"]], "internal_imu_residual() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.internal_imu_residual"]], "symforce.slam.imu_preintegration.manifold_symbolic": [[475, "module-symforce.slam.imu_preintegration.manifold_symbolic"]], "atancameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.ATANCameraCal"]], "abs (class in symforce.symbolic)": [[476, "symforce.symbolic.Abs"]], "add (class in symforce.symbolic)": [[476, "symforce.symbolic.Add"]], "basic (class in symforce.symbolic)": [[476, "symforce.symbolic.Basic"]], "camera (class in symforce.symbolic)": [[476, "symforce.symbolic.Camera"]], "cameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.CameraCal"]], "complex (class in symforce.symbolic)": [[476, "symforce.symbolic.Complex"]], "contains (class in symforce.symbolic)": [[476, "symforce.symbolic.Contains"]], "databuffer (class in symforce.symbolic)": [[476, "symforce.symbolic.DataBuffer"]], "derivative (class in symforce.symbolic)": [[476, "symforce.symbolic.Derivative"]], "doublespherecameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.DoubleSphereCameraCal"]], "dualquaternion (class in symforce.symbolic)": [[476, "symforce.symbolic.DualQuaternion"]], "dummy (class in symforce.symbolic)": [[476, "symforce.symbolic.Dummy"]], "equirectangularcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.EquirectangularCameraCal"]], "expr (class in symforce.symbolic)": [[476, "symforce.symbolic.Expr"]], "finiteset (class in symforce.symbolic)": [[476, "symforce.symbolic.FiniteSet"]], "float (class in symforce.symbolic)": [[476, "symforce.symbolic.Float"]], "function (class in symforce.symbolic)": [[476, "symforce.symbolic.Function"]], "i1() (in module symforce.symbolic)": [[476, "symforce.symbolic.I1"]], "i11() (in module symforce.symbolic)": [[476, "symforce.symbolic.I11"]], "i2() (in module symforce.symbolic)": [[476, "symforce.symbolic.I2"]], "i22() (in module symforce.symbolic)": [[476, "symforce.symbolic.I22"]], "i3() (in module symforce.symbolic)": [[476, "symforce.symbolic.I3"]], "i33() (in module symforce.symbolic)": [[476, "symforce.symbolic.I33"]], "i4() (in module symforce.symbolic)": [[476, "symforce.symbolic.I4"]], "i44() (in module symforce.symbolic)": [[476, "symforce.symbolic.I44"]], "i5() (in module symforce.symbolic)": [[476, "symforce.symbolic.I5"]], "i55() (in module symforce.symbolic)": [[476, "symforce.symbolic.I55"]], "i6() (in module symforce.symbolic)": [[476, "symforce.symbolic.I6"]], "i66() (in module symforce.symbolic)": [[476, "symforce.symbolic.I66"]], "i7() (in module symforce.symbolic)": [[476, "symforce.symbolic.I7"]], "i77() (in module symforce.symbolic)": [[476, "symforce.symbolic.I77"]], "i8() (in module symforce.symbolic)": [[476, "symforce.symbolic.I8"]], "i88() (in module symforce.symbolic)": [[476, "symforce.symbolic.I88"]], "i9() (in module symforce.symbolic)": [[476, "symforce.symbolic.I9"]], "i99() (in module symforce.symbolic)": [[476, "symforce.symbolic.I99"]], "integer (class in symforce.symbolic)": [[476, "symforce.symbolic.Integer"]], "interval (class in symforce.symbolic)": [[476, "symforce.symbolic.Interval"]], "kroneckerdelta (class in symforce.symbolic)": [[476, "symforce.symbolic.KroneckerDelta"]], "lambertw (class in symforce.symbolic)": [[476, "symforce.symbolic.LambertW"]], "levicivita (class in symforce.symbolic)": [[476, "symforce.symbolic.LeviCivita"]], "linearcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.LinearCameraCal"]], "m (in module symforce.symbolic)": [[476, "symforce.symbolic.M"], [476, "symforce.symbolic.m"]], "m11 (in module symforce.symbolic)": [[476, "symforce.symbolic.M11"]], "m12 (in module symforce.symbolic)": [[476, "symforce.symbolic.M12"]], "m13 (in module symforce.symbolic)": [[476, "symforce.symbolic.M13"]], "m14 (in module symforce.symbolic)": [[476, "symforce.symbolic.M14"]], "m15 (in module symforce.symbolic)": [[476, "symforce.symbolic.M15"]], "m16 (in module symforce.symbolic)": [[476, "symforce.symbolic.M16"]], "m17 (in module symforce.symbolic)": [[476, "symforce.symbolic.M17"]], "m18 (in module symforce.symbolic)": [[476, "symforce.symbolic.M18"]], "m19 (in module symforce.symbolic)": [[476, "symforce.symbolic.M19"]], "m21 (in module symforce.symbolic)": [[476, "symforce.symbolic.M21"]], "m22 (in module symforce.symbolic)": [[476, "symforce.symbolic.M22"]], "m23 (in module symforce.symbolic)": [[476, "symforce.symbolic.M23"]], "m24 (in module symforce.symbolic)": [[476, "symforce.symbolic.M24"]], "m25 (in module symforce.symbolic)": [[476, "symforce.symbolic.M25"]], "m26 (in module symforce.symbolic)": [[476, "symforce.symbolic.M26"]], "m27 (in module symforce.symbolic)": [[476, "symforce.symbolic.M27"]], "m28 (in module symforce.symbolic)": [[476, "symforce.symbolic.M28"]], "m29 (in module symforce.symbolic)": [[476, "symforce.symbolic.M29"]], "m31 (in module symforce.symbolic)": [[476, "symforce.symbolic.M31"]], "m32 (in module symforce.symbolic)": [[476, "symforce.symbolic.M32"]], "m33 (in module symforce.symbolic)": [[476, "symforce.symbolic.M33"]], "m34 (in module symforce.symbolic)": [[476, "symforce.symbolic.M34"]], "m35 (in module symforce.symbolic)": [[476, "symforce.symbolic.M35"]], "m36 (in module symforce.symbolic)": [[476, "symforce.symbolic.M36"]], "m37 (in module symforce.symbolic)": [[476, "symforce.symbolic.M37"]], "m38 (in module symforce.symbolic)": [[476, "symforce.symbolic.M38"]], "m39 (in module symforce.symbolic)": [[476, "symforce.symbolic.M39"]], "m41 (in module symforce.symbolic)": [[476, "symforce.symbolic.M41"]], "m42 (in module symforce.symbolic)": [[476, "symforce.symbolic.M42"]], "m43 (in module symforce.symbolic)": [[476, "symforce.symbolic.M43"]], "m44 (in module symforce.symbolic)": [[476, "symforce.symbolic.M44"]], "m45 (in module symforce.symbolic)": [[476, "symforce.symbolic.M45"]], "m46 (in module symforce.symbolic)": [[476, "symforce.symbolic.M46"]], "m47 (in module symforce.symbolic)": [[476, "symforce.symbolic.M47"]], "m48 (in module symforce.symbolic)": [[476, "symforce.symbolic.M48"]], "m49 (in module symforce.symbolic)": [[476, "symforce.symbolic.M49"]], "m51 (in module symforce.symbolic)": [[476, "symforce.symbolic.M51"]], "m52 (in module symforce.symbolic)": [[476, "symforce.symbolic.M52"]], "m53 (in module symforce.symbolic)": [[476, "symforce.symbolic.M53"]], "m54 (in module symforce.symbolic)": [[476, "symforce.symbolic.M54"]], "m55 (in module symforce.symbolic)": [[476, "symforce.symbolic.M55"]], "m56 (in module symforce.symbolic)": [[476, "symforce.symbolic.M56"]], "m57 (in module symforce.symbolic)": [[476, "symforce.symbolic.M57"]], "m58 (in module symforce.symbolic)": [[476, "symforce.symbolic.M58"]], "m59 (in module symforce.symbolic)": [[476, "symforce.symbolic.M59"]], "m61 (in module symforce.symbolic)": [[476, "symforce.symbolic.M61"]], "m62 (in module symforce.symbolic)": [[476, "symforce.symbolic.M62"]], "m63 (in module symforce.symbolic)": [[476, "symforce.symbolic.M63"]], "m64 (in module symforce.symbolic)": [[476, "symforce.symbolic.M64"]], "m65 (in module symforce.symbolic)": [[476, "symforce.symbolic.M65"]], "m66 (in module symforce.symbolic)": [[476, "symforce.symbolic.M66"]], "m67 (in module symforce.symbolic)": [[476, "symforce.symbolic.M67"]], "m68 (in module symforce.symbolic)": [[476, "symforce.symbolic.M68"]], "m69 (in module symforce.symbolic)": [[476, "symforce.symbolic.M69"]], "m71 (in module symforce.symbolic)": [[476, "symforce.symbolic.M71"]], "m72 (in module symforce.symbolic)": [[476, "symforce.symbolic.M72"]], "m73 (in module symforce.symbolic)": [[476, "symforce.symbolic.M73"]], "m74 (in module symforce.symbolic)": [[476, "symforce.symbolic.M74"]], "m75 (in module symforce.symbolic)": [[476, "symforce.symbolic.M75"]], "m76 (in module symforce.symbolic)": [[476, "symforce.symbolic.M76"]], "m77 (in module symforce.symbolic)": [[476, "symforce.symbolic.M77"]], "m78 (in module symforce.symbolic)": [[476, "symforce.symbolic.M78"]], "m79 (in module symforce.symbolic)": [[476, "symforce.symbolic.M79"]], "m81 (in module symforce.symbolic)": [[476, "symforce.symbolic.M81"]], "m82 (in module symforce.symbolic)": [[476, "symforce.symbolic.M82"]], "m83 (in module symforce.symbolic)": [[476, "symforce.symbolic.M83"]], "m84 (in module symforce.symbolic)": [[476, "symforce.symbolic.M84"]], "m85 (in module symforce.symbolic)": [[476, "symforce.symbolic.M85"]], "m86 (in module symforce.symbolic)": [[476, "symforce.symbolic.M86"]], "m87 (in module symforce.symbolic)": [[476, "symforce.symbolic.M87"]], "m88 (in module symforce.symbolic)": [[476, "symforce.symbolic.M88"]], "m89 (in module symforce.symbolic)": [[476, "symforce.symbolic.M89"]], "m91 (in module symforce.symbolic)": [[476, "symforce.symbolic.M91"]], "m92 (in module symforce.symbolic)": [[476, "symforce.symbolic.M92"]], "m93 (in module symforce.symbolic)": [[476, "symforce.symbolic.M93"]], "m94 (in module symforce.symbolic)": [[476, "symforce.symbolic.M94"]], "m95 (in module symforce.symbolic)": [[476, "symforce.symbolic.M95"]], "m96 (in module symforce.symbolic)": [[476, "symforce.symbolic.M96"]], "m97 (in module symforce.symbolic)": [[476, "symforce.symbolic.M97"]], "m98 (in module symforce.symbolic)": [[476, "symforce.symbolic.M98"]], "m99 (in module symforce.symbolic)": [[476, "symforce.symbolic.M99"]], "matrix (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix"]], "matrix11 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix11"]], "matrix12 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix12"]], "matrix13 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix13"]], "matrix14 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix14"]], "matrix15 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix15"]], "matrix16 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix16"]], "matrix17 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix17"]], "matrix18 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix18"]], "matrix19 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix19"]], "matrix21 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix21"]], "matrix22 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix22"]], "matrix23 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix23"]], "matrix24 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix24"]], "matrix25 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix25"]], "matrix26 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix26"]], "matrix27 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix27"]], "matrix28 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix28"]], "matrix29 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix29"]], "matrix31 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix31"]], "matrix32 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix32"]], "matrix33 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix33"]], "matrix34 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix34"]], "matrix35 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix35"]], "matrix36 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix36"]], "matrix37 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix37"]], "matrix38 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix38"]], "matrix39 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix39"]], "matrix41 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix41"]], "matrix42 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix42"]], "matrix43 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix43"]], "matrix44 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix44"]], "matrix45 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix45"]], "matrix46 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix46"]], "matrix47 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix47"]], "matrix48 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix48"]], "matrix49 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix49"]], "matrix51 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix51"]], "matrix52 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix52"]], "matrix53 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix53"]], "matrix54 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix54"]], "matrix55 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix55"]], "matrix56 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix56"]], "matrix57 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix57"]], "matrix58 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix58"]], "matrix59 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix59"]], "matrix61 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix61"]], "matrix62 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix62"]], "matrix63 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix63"]], "matrix64 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix64"]], "matrix65 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix65"]], "matrix66 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix66"]], "matrix67 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix67"]], "matrix68 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix68"]], "matrix69 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix69"]], "matrix71 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix71"]], "matrix72 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix72"]], "matrix73 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix73"]], "matrix74 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix74"]], "matrix75 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix75"]], "matrix76 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix76"]], "matrix77 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix77"]], "matrix78 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix78"]], "matrix79 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix79"]], "matrix81 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix81"]], "matrix82 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix82"]], "matrix83 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix83"]], "matrix84 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix84"]], "matrix85 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix85"]], "matrix86 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix86"]], "matrix87 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix87"]], "matrix88 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix88"]], "matrix89 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix89"]], "matrix91 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix91"]], "matrix92 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix92"]], "matrix93 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix93"]], "matrix94 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix94"]], "matrix95 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix95"]], "matrix96 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix96"]], "matrix97 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix97"]], "matrix98 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix98"]], "matrix99 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix99"]], "max (class in symforce.symbolic)": [[476, "symforce.symbolic.Max"]], "min (class in symforce.symbolic)": [[476, "symforce.symbolic.Min"]], "mod() (in module symforce.symbolic)": [[476, "symforce.symbolic.Mod"]], "mul (class in symforce.symbolic)": [[476, "symforce.symbolic.Mul"]], "number (class in symforce.symbolic)": [[476, "symforce.symbolic.Number"]], "piecewise (class in symforce.symbolic)": [[476, "symforce.symbolic.Piecewise"]], "polynomialcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.PolynomialCameraCal"]], "pose2 (class in symforce.symbolic)": [[476, "symforce.symbolic.Pose2"]], "pose3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Pose3"]], "posedcamera (class in symforce.symbolic)": [[476, "symforce.symbolic.PosedCamera"]], "pow (class in symforce.symbolic)": [[476, "symforce.symbolic.Pow"]], "quaternion (class in symforce.symbolic)": [[476, "symforce.symbolic.Quaternion"]], "rational (class in symforce.symbolic)": [[476, "symforce.symbolic.Rational"]], "realnumber (in module symforce.symbolic)": [[476, "symforce.symbolic.RealNumber"]], "rot2 (class in symforce.symbolic)": [[476, "symforce.symbolic.Rot2"]], "rot3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Rot3"]], "scalar (in module symforce.symbolic)": [[476, "symforce.symbolic.Scalar"]], "sphericalcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.SphericalCameraCal"]], "storage (class in symforce.symbolic)": [[476, "symforce.symbolic.Storage"]], "subs (class in symforce.symbolic)": [[476, "symforce.symbolic.Subs"]], "symbol (class in symforce.symbolic)": [[476, "symforce.symbolic.Symbol"]], "sympifyerror": [[476, "symforce.symbolic.SympifyError"]], "unevaluatedexpr (class in symforce.symbolic)": [[476, "symforce.symbolic.UnevaluatedExpr"]], "unit3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Unit3"]], "v1 (in module symforce.symbolic)": [[476, "symforce.symbolic.V1"]], "v2 (in module symforce.symbolic)": [[476, "symforce.symbolic.V2"]], "v3 (in module symforce.symbolic)": [[476, "symforce.symbolic.V3"]], "v4 (in module symforce.symbolic)": [[476, "symforce.symbolic.V4"]], "v5 (in module symforce.symbolic)": [[476, "symforce.symbolic.V5"]], "v6 (in module symforce.symbolic)": [[476, "symforce.symbolic.V6"]], "v7 (in module symforce.symbolic)": [[476, "symforce.symbolic.V7"]], "v8 (in module symforce.symbolic)": [[476, "symforce.symbolic.V8"]], "v9 (in module symforce.symbolic)": [[476, "symforce.symbolic.V9"]], "vector1 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector1"]], "vector2 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector2"]], "vector3 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector3"]], "vector4 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector4"]], "vector5 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector5"]], "vector6 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector6"]], "vector7 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector7"]], "vector8 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector8"]], "vector9 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector9"]], "vectorclassliegroupops (class in symforce.symbolic)": [[476, "symforce.symbolic.VectorClassLieGroupOps"]], "acos (class in symforce.symbolic)": [[476, "symforce.symbolic.acos"]], "acos_safe() (in module symforce.symbolic)": [[476, "symforce.symbolic.acos_safe"]], "acosh (class in symforce.symbolic)": [[476, "symforce.symbolic.acosh"]], "acot (class in symforce.symbolic)": [[476, "symforce.symbolic.acot"]], "acoth (class in symforce.symbolic)": [[476, "symforce.symbolic.acoth"]], "acsc (class in symforce.symbolic)": [[476, "symforce.symbolic.acsc"]], "acsch (class in symforce.symbolic)": [[476, "symforce.symbolic.acsch"]], "angle_diff() (in module symforce.symbolic)": [[476, "symforce.symbolic.angle_diff"]], "argmax() (in module symforce.symbolic)": [[476, "symforce.symbolic.argmax"]], "argmax_onehot() (in module symforce.symbolic)": [[476, "symforce.symbolic.argmax_onehot"]], "args (basic attribute)": [[476, "symforce.symbolic.Basic.args"]], "args_as_sage() (basic method)": [[476, "symforce.symbolic.Basic.args_as_sage"]], "args_as_sympy() (basic method)": [[476, "symforce.symbolic.Basic.args_as_sympy"]], "as_base_exp() (pow method)": [[476, "symforce.symbolic.Pow.as_base_exp"]], "as_coefficients_dict() (add method)": [[476, "symforce.symbolic.Add.as_coefficients_dict"]], "as_coefficients_dict() (basic method)": [[476, "symforce.symbolic.Basic.as_coefficients_dict"]], "as_coefficients_dict() (mul method)": [[476, "symforce.symbolic.Mul.as_coefficients_dict"]], "as_numer_denom() (basic method)": [[476, "symforce.symbolic.Basic.as_numer_denom"]], "as_real_imag() (basic method)": [[476, "symforce.symbolic.Basic.as_real_imag"]], "asec (class in symforce.symbolic)": [[476, "symforce.symbolic.asec"]], "asech (class in symforce.symbolic)": [[476, "symforce.symbolic.asech"]], "asin (class in symforce.symbolic)": [[476, "symforce.symbolic.asin"]], "asin_safe() (in module symforce.symbolic)": [[476, "symforce.symbolic.asin_safe"]], "asinh (class in symforce.symbolic)": [[476, "symforce.symbolic.asinh"]], "atan (class in symforce.symbolic)": [[476, "symforce.symbolic.atan"]], "atan2() (in module symforce.symbolic)": [[476, "symforce.symbolic.atan2"]], "atanh (class in symforce.symbolic)": [[476, "symforce.symbolic.atanh"]], "atoms() (basic method)": [[476, "symforce.symbolic.Basic.atoms"]], "base (pow property)": [[476, "symforce.symbolic.Pow.base"]], "beta (class in symforce.symbolic)": [[476, "symforce.symbolic.beta"]], "ceiling (class in symforce.symbolic)": [[476, "symforce.symbolic.ceiling"]], "clamp() (in module symforce.symbolic)": [[476, "symforce.symbolic.clamp"]], "coeff() (basic method)": [[476, "symforce.symbolic.Basic.coeff"]], "conjugate (class in symforce.symbolic)": [[476, "symforce.symbolic.conjugate"]], "copy() (basic method)": [[476, "symforce.symbolic.Basic.copy"]], "copysign_no_zero() (in module symforce.symbolic)": [[476, "symforce.symbolic.copysign_no_zero"]], "cos (class in symforce.symbolic)": [[476, "symforce.symbolic.cos"]], "cosh (class in symforce.symbolic)": [[476, "symforce.symbolic.cosh"]], "cot (class in symforce.symbolic)": [[476, "symforce.symbolic.cot"]], "coth (class in symforce.symbolic)": [[476, "symforce.symbolic.coth"]], "count_ops() (in module symforce.symbolic)": [[476, "symforce.symbolic.count_ops"]], "create_named_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.create_named_scope"]], "csc (class in symforce.symbolic)": [[476, "symforce.symbolic.csc"]], "csch (class in symforce.symbolic)": [[476, "symforce.symbolic.csch"]], "cse() (in module symforce.symbolic)": [[476, "symforce.symbolic.cse"]], "diff() (basic method)": [[476, "symforce.symbolic.Basic.diff"]], "diff() (in module symforce.symbolic)": [[476, "symforce.symbolic.diff"]], "digamma() (in module symforce.symbolic)": [[476, "symforce.symbolic.digamma"]], "dirichlet_eta (class in symforce.symbolic)": [[476, "symforce.symbolic.dirichlet_eta"]], "doit() (integer method)": [[476, "symforce.symbolic.Integer.doit"]], "epsilon() (in module symforce.symbolic)": [[476, "symforce.symbolic.epsilon"]], "erf (class in symforce.symbolic)": [[476, "symforce.symbolic.erf"]], "erfc (class in symforce.symbolic)": [[476, "symforce.symbolic.erfc"]], "evalf() (basic method)": [[476, "symforce.symbolic.Basic.evalf"]], "exp (pow property)": [[476, "symforce.symbolic.Pow.exp"]], "exp() (in module symforce.symbolic)": [[476, "symforce.symbolic.exp"]], "expand() (basic method)": [[476, "symforce.symbolic.Basic.expand"]], "expand() (in module symforce.symbolic)": [[476, "symforce.symbolic.expand"]], "expr (derivative property)": [[476, "symforce.symbolic.Derivative.expr"]], "expr (subs property)": [[476, "symforce.symbolic.Subs.expr"]], "floor (class in symforce.symbolic)": [[476, "symforce.symbolic.floor"]], "free_symbols (basic attribute)": [[476, "symforce.symbolic.Basic.free_symbols"]], "func (abs property)": [[476, "symforce.symbolic.Abs.func"]], "func (add property)": [[476, "symforce.symbolic.Add.func"]], "func (derivative property)": [[476, "symforce.symbolic.Derivative.func"]], "func (dummy attribute)": [[476, "symforce.symbolic.Dummy.func"]], "func (integer property)": [[476, "symforce.symbolic.Integer.func"]], "func (max property)": [[476, "symforce.symbolic.Max.func"]], "func (min property)": [[476, "symforce.symbolic.Min.func"]], "func (mul property)": [[476, "symforce.symbolic.Mul.func"]], "func (pow property)": [[476, "symforce.symbolic.Pow.func"]], "func (rational property)": [[476, "symforce.symbolic.Rational.func"]], "func (subs property)": [[476, "symforce.symbolic.Subs.func"]], "func() (function method)": [[476, "symforce.symbolic.Function.func"]], "gamma() (in module symforce.symbolic)": [[476, "symforce.symbolic.gamma"]], "get_num_den() (integer method)": [[476, "symforce.symbolic.Integer.get_num_den"]], "get_num_den() (rational method)": [[476, "symforce.symbolic.Rational.get_num_den"]], "get_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.get_scope"]], "greater() (in module symforce.symbolic)": [[476, "symforce.symbolic.greater"]], "greater_equal() (in module symforce.symbolic)": [[476, "symforce.symbolic.greater_equal"]], "has() (basic method)": [[476, "symforce.symbolic.Basic.has"]], "identity (add attribute)": [[476, "symforce.symbolic.Add.identity"]], "identity (mul attribute)": [[476, "symforce.symbolic.Mul.identity"]], "imag (number attribute)": [[476, "symforce.symbolic.Number.imag"]], "init_printing() (in module symforce.symbolic)": [[476, "symforce.symbolic.init_printing"]], "integer_nthroot() (in module symforce.symbolic)": [[476, "symforce.symbolic.integer_nthroot"]], "is_add (add property)": [[476, "symforce.symbolic.Add.is_Add"]], "is_add (basic attribute)": [[476, "symforce.symbolic.Basic.is_Add"]], "is_algebraicnumber (basic attribute)": [[476, "symforce.symbolic.Basic.is_AlgebraicNumber"]], "is_atom (basic attribute)": [[476, "symforce.symbolic.Basic.is_Atom"]], "is_atom (number attribute)": [[476, "symforce.symbolic.Number.is_Atom"]], "is_boolean (basic attribute)": [[476, "symforce.symbolic.Basic.is_Boolean"]], "is_databufferelement (basic attribute)": [[476, "symforce.symbolic.Basic.is_DataBufferElement"]], "is_derivative (basic attribute)": [[476, "symforce.symbolic.Basic.is_Derivative"]], "is_derivative (derivative property)": [[476, "symforce.symbolic.Derivative.is_Derivative"]], "is_dummy (basic attribute)": [[476, "symforce.symbolic.Basic.is_Dummy"]], "is_dummy (dummy attribute)": [[476, "symforce.symbolic.Dummy.is_Dummy"]], "is_equality (basic attribute)": [[476, "symforce.symbolic.Basic.is_Equality"]], "is_float (basic attribute)": [[476, "symforce.symbolic.Basic.is_Float"]], "is_float (float property)": [[476, "symforce.symbolic.Float.is_Float"]], "is_function (basic attribute)": [[476, "symforce.symbolic.Basic.is_Function"]], "is_function (function property)": [[476, "symforce.symbolic.Function.is_Function"]], "is_integer (basic attribute)": [[476, "symforce.symbolic.Basic.is_Integer"], [476, "symforce.symbolic.Basic.is_integer"]], "is_integer (integer property)": [[476, "symforce.symbolic.Integer.is_Integer"], [476, "symforce.symbolic.Integer.is_integer"]], "is_matrix (basic attribute)": [[476, "symforce.symbolic.Basic.is_Matrix"]], "is_mul (basic attribute)": [[476, "symforce.symbolic.Basic.is_Mul"]], "is_mul (mul property)": [[476, "symforce.symbolic.Mul.is_Mul"]], "is_not (basic attribute)": [[476, "symforce.symbolic.Basic.is_Not"]], "is_number (basic attribute)": [[476, "symforce.symbolic.Basic.is_Number"], [476, "symforce.symbolic.Basic.is_number"]], "is_number (number attribute)": [[476, "symforce.symbolic.Number.is_Number"], [476, "symforce.symbolic.Number.is_number"]], "is_pow (basic attribute)": [[476, "symforce.symbolic.Basic.is_Pow"]], "is_pow (pow property)": [[476, "symforce.symbolic.Pow.is_Pow"]], "is_rational (basic attribute)": [[476, "symforce.symbolic.Basic.is_Rational"]], "is_rational (rational property)": [[476, "symforce.symbolic.Rational.is_Rational"], [476, "symforce.symbolic.Rational.is_rational"]], "is_relational (basic attribute)": [[476, "symforce.symbolic.Basic.is_Relational"]], "is_symbol (basic attribute)": [[476, "symforce.symbolic.Basic.is_Symbol"], [476, "symforce.symbolic.Basic.is_symbol"]], "is_commutative (number attribute)": [[476, "symforce.symbolic.Number.is_commutative"]], "is_commutative (pow property)": [[476, "symforce.symbolic.Pow.is_commutative"]], "is_complex (number attribute)": [[476, "symforce.symbolic.Number.is_complex"]], "is_complex (sign property)": [[476, "symforce.symbolic.sign.is_complex"]], "is_finite (basic attribute)": [[476, "symforce.symbolic.Basic.is_finite"]], "is_finite (rational property)": [[476, "symforce.symbolic.Rational.is_finite"]], "is_finite (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_finite"]], "is_finite (sign property)": [[476, "symforce.symbolic.sign.is_finite"]], "is_integer (rational property)": [[476, "symforce.symbolic.Rational.is_integer"]], "is_integer (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_integer"]], "is_irrational (float property)": [[476, "symforce.symbolic.Float.is_irrational"]], "is_negative (abs property)": [[476, "symforce.symbolic.Abs.is_negative"]], "is_negative (basic attribute)": [[476, "symforce.symbolic.Basic.is_negative"]], "is_negative (number attribute)": [[476, "symforce.symbolic.Number.is_negative"]], "is_negative() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_negative"]], "is_nonnegative (basic attribute)": [[476, "symforce.symbolic.Basic.is_nonnegative"]], "is_nonnegative (number attribute)": [[476, "symforce.symbolic.Number.is_nonnegative"]], "is_nonnegative() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_nonnegative"]], "is_nonpositive (basic attribute)": [[476, "symforce.symbolic.Basic.is_nonpositive"]], "is_nonpositive (number attribute)": [[476, "symforce.symbolic.Number.is_nonpositive"]], "is_nonpositive() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_nonpositive"]], "is_nonzero (number attribute)": [[476, "symforce.symbolic.Number.is_nonzero"]], "is_number (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_number"]], "is_positive (basic attribute)": [[476, "symforce.symbolic.Basic.is_positive"]], "is_positive (number attribute)": [[476, "symforce.symbolic.Number.is_positive"]], "is_positive() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_positive"]], "is_rational (float property)": [[476, "symforce.symbolic.Float.is_rational"]], "is_real (abs property)": [[476, "symforce.symbolic.Abs.is_real"]], "is_real (basic attribute)": [[476, "symforce.symbolic.Basic.is_real"]], "is_real (float property)": [[476, "symforce.symbolic.Float.is_real"]], "is_real (rational property)": [[476, "symforce.symbolic.Rational.is_real"]], "is_zero (basic attribute)": [[476, "symforce.symbolic.Basic.is_zero"]], "isprime() (in module symforce.symbolic)": [[476, "symforce.symbolic.isprime"]], "lambdify() (in module symforce.symbolic)": [[476, "symforce.symbolic.lambdify"]], "latex() (in module symforce.symbolic)": [[476, "symforce.symbolic.latex"]], "less() (in module symforce.symbolic)": [[476, "symforce.symbolic.less"]], "less_equal() (in module symforce.symbolic)": [[476, "symforce.symbolic.less_equal"]], "limit() (in module symforce.symbolic)": [[476, "symforce.symbolic.limit"]], "linsolve() (in module symforce.symbolic)": [[476, "symforce.symbolic.linsolve"]], "log (class in symforce.symbolic)": [[476, "symforce.symbolic.log"]], "loggamma (class in symforce.symbolic)": [[476, "symforce.symbolic.loggamma"]], "logical_and() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_and"]], "logical_not() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_not"]], "logical_or() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_or"]], "lowergamma (class in symforce.symbolic)": [[476, "symforce.symbolic.lowergamma"]], "matrix_type_from_shape() (in module symforce.symbolic)": [[476, "symforce.symbolic.matrix_type_from_shape"]], "msubs() (basic method)": [[476, "symforce.symbolic.Basic.msubs"]], "n() (basic method)": [[476, "symforce.symbolic.Basic.n"]], "original_get_dict() (in module symforce.symbolic)": [[476, "symforce.symbolic.original_get_dict"]], "p (integer property)": [[476, "symforce.symbolic.Integer.p"]], "p (rational property)": [[476, "symforce.symbolic.Rational.p"]], "perfect_power() (in module symforce.symbolic)": [[476, "symforce.symbolic.perfect_power"]], "point (subs property)": [[476, "symforce.symbolic.Subs.point"]], "polygamma (class in symforce.symbolic)": [[476, "symforce.symbolic.polygamma"]], "q (integer property)": [[476, "symforce.symbolic.Integer.q"]], "q (rational property)": [[476, "symforce.symbolic.Rational.q"]], "real (number attribute)": [[476, "symforce.symbolic.Number.real"]], "replace() (basic method)": [[476, "symforce.symbolic.Basic.replace"]], "scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.scope"]], "sec (class in symforce.symbolic)": [[476, "symforce.symbolic.sec"]], "sech (class in symforce.symbolic)": [[476, "symforce.symbolic.sech"]], "series() (in module symforce.symbolic)": [[476, "symforce.symbolic.series"]], "set_eval_on_sympify() (in module symforce.symbolic)": [[476, "symforce.symbolic.set_eval_on_sympify"]], "set_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.set_scope"]], "sign (class in symforce.symbolic)": [[476, "symforce.symbolic.sign"]], "sign_no_zero() (in module symforce.symbolic)": [[476, "symforce.symbolic.sign_no_zero"]], "simplify() (basic method)": [[476, "symforce.symbolic.Basic.simplify"]], "simplify() (in module symforce.symbolic)": [[476, "symforce.symbolic.simplify"]], "sin (class in symforce.symbolic)": [[476, "symforce.symbolic.sin"]], "sinh (class in symforce.symbolic)": [[476, "symforce.symbolic.sinh"]], "solve() (in module symforce.symbolic)": [[476, "symforce.symbolic.solve"]], "sqrt() (in module symforce.symbolic)": [[476, "symforce.symbolic.sqrt"]], "sqrt_mod() (in module symforce.symbolic)": [[476, "symforce.symbolic.sqrt_mod"]], "subs() (basic method)": [[476, "symforce.symbolic.Basic.subs"]], "subs_dict() (basic method)": [[476, "symforce.symbolic.Basic.subs_dict"]], "subs_oldnew() (basic method)": [[476, "symforce.symbolic.Basic.subs_oldnew"]], "symbols() (in module symforce.symbolic)": [[476, "symforce.symbolic.symbols"]], "symforce.symbolic": [[476, "module-symforce.symbolic"]], "sympify() (in module symforce.symbolic)": [[476, "symforce.symbolic.sympify"]], "tan (class in symforce.symbolic)": [[476, "symforce.symbolic.tan"]], "tanh (class in symforce.symbolic)": [[476, "symforce.symbolic.tanh"]], "trigamma() (in module symforce.symbolic)": [[476, "symforce.symbolic.trigamma"]], "uppergamma (class in symforce.symbolic)": [[476, "symforce.symbolic.uppergamma"]], "var() (in module symforce.symbolic)": [[476, "symforce.symbolic.var"]], "variables (derivative property)": [[476, "symforce.symbolic.Derivative.variables"]], "variables (subs property)": [[476, "symforce.symbolic.Subs.variables"]], "wrap_angle() (in module symforce.symbolic)": [[476, "symforce.symbolic.wrap_angle"]], "xreplace() (basic method)": [[476, "symforce.symbolic.Basic.xreplace"]], "zeta (class in symforce.symbolic)": [[476, "symforce.symbolic.zeta"]], "symforce.test_util": [[477, "module-symforce.test_util"]], "backend_test_function() (in module symforce.test_util.backend_coverage_expressions)": [[478, "symforce.test_util.backend_coverage_expressions.backend_test_function"]], "symforce.test_util.backend_coverage_expressions": [[478, "module-symforce.test_util.backend_coverage_expressions"]], "camcaltestmixin (class in symforce.test_util.cam_cal_test_mixin)": [[479, "symforce.test_util.cam_cal_test_mixin.CamCalTestMixin"]], "symforce.test_util.cam_cal_test_mixin": [[479, "module-symforce.test_util.cam_cal_test_mixin"]], "test_storage_order() (camcaltestmixin method)": [[479, "symforce.test_util.cam_cal_test_mixin.CamCalTestMixin.test_storage_order"]], "camtestmixin (class in symforce.test_util.cam_test_mixin)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin"]], "epsilon (camtestmixin attribute)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.EPSILON"]], "element() (camtestmixin class method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.element"]], "symforce.test_util.cam_test_mixin": [[480, "module-symforce.test_util.cam_test_mixin"]], "test_camera_ray_from_pixel() (camtestmixin method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.test_camera_ray_from_pixel"]], "test_pixel_from_camera_point() (camtestmixin method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.test_pixel_from_camera_point"]], "is_derivative_with_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_derivative_with_epsilon_correct"]], "is_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_epsilon_correct"]], "is_value_with_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_value_with_epsilon_correct"]], "symforce.test_util.epsilon_handling": [[481, "module-symforce.test_util.epsilon_handling"]], "groupopstestmixin (class in symforce.test_util.group_ops_test_mixin)": [[482, "symforce.test_util.group_ops_test_mixin.GroupOpsTestMixin"]], "symforce.test_util.group_ops_test_mixin": [[482, "module-symforce.test_util.group_ops_test_mixin"]], "test_group_ops() (groupopstestmixin method)": [[482, "symforce.test_util.group_ops_test_mixin.GroupOpsTestMixin.test_group_ops"]], "epsilon (liegroupopstestmixin attribute)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.EPSILON"]], "liegroupopstestmixin (class in symforce.test_util.lie_group_ops_test_mixin)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin"]], "manifold_is_defined_in_terms_of_group_ops (liegroupopstestmixin attribute)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.MANIFOLD_IS_DEFINED_IN_TERMS_OF_GROUP_OPS"]], "symforce.test_util.lie_group_ops_test_mixin": [[483, "module-symforce.test_util.lie_group_ops_test_mixin"]], "test_lie_group_ops() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_lie_group_ops"]], "test_manifold_ops_match_group_ops_definitions() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_manifold_ops_match_group_ops_definitions"]], "test_storage_d_tangent() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_storage_D_tangent"]], "test_tangent_d_storage() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_tangent_D_storage"]], "symforce.test_util.random_expressions": [[484, "module-symforce.test_util.random_expressions"]], "opprobability (class in symforce.test_util.random_expressions.op_probabilities)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability"]], "arity (opprobability property)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.arity"]], "func (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.func"]], "name (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.name"]], "prob (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.prob"]], "symforce.test_util.random_expressions.op_probabilities": [[485, "module-symforce.test_util.random_expressions.op_probabilities"]], "unarybinaryexpressiongen (class in symforce.test_util.random_expressions.unary_binary_expression_gen)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen"]], "build_expr() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.build_expr"]], "build_expr_vec() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.build_expr_vec"]], "build_tree_sequence() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.build_tree_sequence"]], "default() (unarybinaryexpressiongen class method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.default"]], "generate_d() (unarybinaryexpressiongen static method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.generate_D"]], "sample_next_pos() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.sample_next_pos"]], "seq_to_expr() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.seq_to_expr"]], "symforce.test_util.random_expressions.unary_binary_expression_gen": [[486, "module-symforce.test_util.random_expressions.unary_binary_expression_gen"]], "storageopstestmixin (class in symforce.test_util.storage_ops_test_mixin)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin"]], "element() (storageopstestmixin class method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.element"]], "element_type() (storageopstestmixin class method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.element_type"]], "symforce.test_util.storage_ops_test_mixin": [[487, "module-symforce.test_util.storage_ops_test_mixin"]], "test_storage_ops() (storageopstestmixin method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.test_storage_ops"]], "testcase (class in symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.TestCase"]], "expected_failure_on_sympy() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.expected_failure_on_sympy"]], "main() (testcase static method)": [[488, "symforce.test_util.test_case.TestCase.main"]], "setup() (testcase method)": [[488, "symforce.test_util.test_case.TestCase.setUp"]], "should_run_slow_tests() (testcase static method)": [[488, "symforce.test_util.test_case.TestCase.should_run_slow_tests"]], "slow_on_sympy() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.slow_on_sympy"]], "symengine_only() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.symengine_only"]], "symforce.test_util.test_case": [[488, "module-symforce.test_util.test_case"]], "sympy_only() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.sympy_only"]], "keep_paths (symforcetestcasemixin attribute)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.KEEP_PATHS"]], "liegroupopstype (symforcetestcasemixin attribute)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.LieGroupOpsType"]], "symforcetestcasemixin (class in symforce.test_util.test_case_mixin)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin"]], "assertarrayequal() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertArrayEqual"]], "assertliegroupnear() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertLieGroupNear"]], "assertnotequal() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertNotEqual"]], "assertstoragenear() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertStorageNear"]], "compare_or_update() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.compare_or_update"]], "compare_or_update_directory() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.compare_or_update_directory"]], "compare_or_update_file() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.compare_or_update_file"]], "main() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.main"]], "make_output_dir() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.make_output_dir"]], "setup() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.setUp"]], "should_update() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.should_update"]], "symforce.test_util.test_case_mixin": [[489, "module-symforce.test_util.test_case_mixin"]], "teardown() (symforcetestcasemixin method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.tearDown"]], "deduce_input_type() (in module symforce.type_helpers)": [[490, "symforce.type_helpers.deduce_input_type"]], "deduce_input_types() (in module symforce.type_helpers)": 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(in module symforce.util)": [[493, "symforce.util.lambdify"]], "numbify() (in module symforce.util)": [[493, "symforce.util.numbify"]], "specialize_args() (in module symforce.util)": [[493, "symforce.util.specialize_args"]], "specialize_types() (in module symforce.util)": [[493, "symforce.util.specialize_types"]], "symbolic_eval() (in module symforce.util)": [[493, "symforce.util.symbolic_eval"]], "symforce.util": [[493, "module-symforce.util"]], "symforce.values": [[494, "module-symforce.values"]], "attraccessor (class in symforce.values.attr_accessor)": [[495, "symforce.values.attr_accessor.AttrAccessor"]], "__dir__() (attraccessor method)": [[495, "symforce.values.attr_accessor.AttrAccessor.__dir__"]], "__getattr__() (attraccessor method)": [[495, "symforce.values.attr_accessor.AttrAccessor.__getattr__"]], "__setattr__() (attraccessor method)": [[495, "symforce.values.attr_accessor.AttrAccessor.__setattr__"]], "symforce.values.attr_accessor": [[495, "module-symforce.values.attr_accessor"]], "generatedkey (class in symforce.values.generated_key_selection)": [[496, "symforce.values.generated_key_selection.GeneratedKey"]], "letter (generatedkey attribute)": [[496, "symforce.values.generated_key_selection.GeneratedKey.letter"]], "pick_generated_keys_for_variable_names() (in module symforce.values.generated_key_selection)": [[496, "symforce.values.generated_key_selection.pick_generated_keys_for_variable_names"]], "sub (generatedkey attribute)": [[496, "symforce.values.generated_key_selection.GeneratedKey.sub"]], "symforce.values.generated_key_selection": [[496, "module-symforce.values.generated_key_selection"]], "indexentry (class in symforce.values.index_entry)": [[497, "symforce.values.index_entry.IndexEntry"]], "datatype() (indexentry method)": [[497, "symforce.values.index_entry.IndexEntry.datatype"]], "item_index (indexentry attribute)": [[497, "id3"], [497, "symforce.values.index_entry.IndexEntry.item_index"]], "offset (indexentry attribute)": [[497, "id0"], [497, "symforce.values.index_entry.IndexEntry.offset"]], "shape (indexentry attribute)": [[497, "id2"], [497, "symforce.values.index_entry.IndexEntry.shape"]], "storage_dim (indexentry attribute)": [[497, "id1"], [497, "symforce.values.index_entry.IndexEntry.storage_dim"]], "stored_datatype (indexentry attribute)": [[497, "symforce.values.index_entry.IndexEntry.stored_datatype"]], "symforce.values.index_entry": [[497, "module-symforce.values.index_entry"]], "values (class in symforce.values.values)": [[498, "symforce.values.values.Values"]], "__deepcopy__() (values method)": [[498, "symforce.values.values.Values.__deepcopy__"]], "__eq__() (values method)": [[498, "symforce.values.values.Values.__eq__"]], "__getstate__() (values method)": [[498, "symforce.values.values.Values.__getstate__"]], "__len__() (values method)": [[498, "symforce.values.values.Values.__len__"]], "__repr__() (values method)": [[498, 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496, 498, 507, 510], "x": [0, 2, 11, 14, 15, 19, 22, 28, 35, 36, 38, 39, 43, 77, 78, 79, 80, 81, 82, 83, 84, 87, 88, 89, 98, 108, 116, 119, 127, 150, 234, 289, 290, 291, 292, 295, 299, 303, 307, 311, 327, 333, 334, 335, 337, 338, 339, 341, 350, 351, 352, 353, 354, 355, 356, 357, 359, 376, 408, 409, 411, 412, 413, 414, 416, 417, 419, 420, 422, 424, 456, 458, 462, 464, 468, 476, 478, 481, 484, 493, 498, 506, 508, 509, 511, 512, 514, 515], "where": [0, 1, 2, 3, 5, 7, 8, 10, 11, 13, 14, 15, 19, 20, 22, 23, 25, 27, 28, 32, 35, 36, 43, 79, 88, 89, 116, 119, 132, 134, 234, 287, 290, 338, 339, 341, 354, 359, 360, 365, 368, 371, 373, 374, 376, 377, 378, 387, 388, 390, 409, 417, 423, 447, 456, 457, 458, 462, 463, 464, 465, 468, 469, 475, 476, 497, 498, 507, 510, 515], "ar": [0, 1, 2, 3, 5, 6, 7, 8, 13, 14, 15, 16, 19, 20, 22, 23, 25, 26, 29, 32, 35, 36, 38, 40, 43, 78, 79, 85, 89, 108, 116, 130, 131, 132, 134, 183, 234, 287, 290, 337, 339, 341, 350, 351, 352, 353, 354, 356, 357, 358, 359, 360, 365, 366, 368, 371, 376, 378, 384, 387, 388, 409, 411, 413, 414, 415, 416, 417, 419, 420, 423, 424, 429, 440, 450, 451, 452, 453, 456, 457, 459, 460, 462, 464, 465, 466, 467, 468, 471, 475, 476, 484, 485, 486, 489, 496, 498, 499, 506, 507, 509, 510, 511, 512, 515], "dens": [0, 2, 3, 14, 15, 19, 22, 23, 29, 35, 36, 43, 346, 360, 361, 376, 378, 506, 507, 509], "thi": [0, 1, 2, 3, 11, 12, 13, 14, 15, 16, 19, 20, 22, 23, 28, 29, 30, 31, 32, 35, 36, 38, 39, 40, 43, 48, 51, 79, 83, 84, 85, 88, 89, 99, 100, 101, 102, 103, 104, 105, 106, 107, 116, 117, 119, 128, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 151, 166, 183, 184, 185, 186, 187, 188, 189, 190, 221, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 287, 290, 334, 335, 336, 337, 338, 339, 341, 352, 353, 354, 357, 358, 359, 360, 365, 366, 368, 371, 372, 373, 374, 376, 377, 378, 379, 380, 381, 384, 385, 387, 394, 395, 397, 400, 401, 409, 410, 411, 412, 413, 414, 415, 416, 417, 419, 420, 422, 423, 426, 427, 441, 449, 450, 451, 452, 453, 454, 456, 457, 458, 459, 460, 465, 466, 467, 468, 470, 471, 475, 476, 478, 479, 480, 482, 483, 484, 486, 487, 488, 489, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 505, 506, 507, 508, 509, 510, 511, 512, 514, 515], "ha": [0, 1, 2, 3, 5, 13, 16, 19, 20, 22, 23, 25, 30, 32, 38, 40, 43, 83, 84, 99, 117, 128, 135, 136, 137, 138, 139, 141, 151, 166, 221, 234, 287, 334, 335, 341, 351, 352, 360, 371, 376, 384, 385, 411, 412, 413, 422, 452, 462, 466, 471, 476, 493, 496, 499, 505, 507, 510, 511, 515], "alreadi": [0, 1, 2, 13, 16, 19, 20, 22, 32, 40, 43, 360, 376, 388, 492, 496, 502, 506, 507, 511, 512], "been": [0, 1, 2, 5, 12, 13, 19, 20, 22, 25, 30, 32, 43, 287, 341, 360, 384, 388, 411, 466, 476, 497, 502, 507, 510], "call": [0, 1, 2, 3, 12, 13, 14, 16, 19, 20, 22, 23, 30, 32, 35, 40, 43, 287, 334, 335, 341, 360, 365, 366, 368, 371, 372, 373, 376, 378, 395, 397, 401, 409, 411, 426, 427, 451, 453, 456, 465, 466, 471, 476, 481, 488, 489, 491, 498, 501, 502, 503, 505, 506, 507, 510, 512, 515], "void": [0, 1, 2, 3, 4, 5, 6, 7, 8, 11, 12, 13, 14, 15, 16, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 35, 36, 38, 40, 43, 48, 51, 77, 79, 80, 81, 82, 83, 84, 86, 87, 88, 89, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 116, 117, 127, 128, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 150, 151, 166, 184, 185, 186, 187, 188, 189, 190, 221, 234, 235, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 284, 506, 509], "solveinplac": [0, 2, 14, 19, 22, 35, 43], "place": [0, 2, 13, 14, 19, 22, 32, 35, 43, 287, 360, 377, 379, 489, 506, 507, 510], "auto": [0, 11, 19, 28, 39, 43, 83, 84, 86, 87, 89, 131, 234, 506], "lower": [0, 2, 14, 15, 19, 22, 35, 36, 43, 132, 134, 234, 411, 456, 475, 476], "triangular": [0, 2, 14, 19, 22, 35, 43, 132, 134, 234, 475], "last": [0, 2, 3, 5, 6, 7, 8, 19, 22, 23, 25, 26, 43, 130, 131, 132, 134, 234, 466, 475], "have": [0, 2, 11, 12, 14, 15, 19, 22, 28, 30, 31, 32, 35, 36, 38, 43, 51, 131, 234, 287, 339, 341, 365, 366, 372, 376, 378, 379, 385, 388, 390, 395, 411, 417, 422, 426, 429, 464, 465, 476, 485, 490, 491, 493, 496, 497, 498, 499, 502, 506, 509, 510, 511], "diagon": [0, 2, 6, 13, 14, 15, 19, 22, 26, 32, 35, 36, 43, 100, 101, 102, 103, 104, 106, 107, 130, 131, 184, 185, 186, 187, 188, 189, 190, 234, 360, 400, 411, 458, 466, 475, 476, 498, 507], "entri": [0, 1, 2, 3, 6, 13, 14, 16, 19, 20, 22, 23, 26, 32, 35, 40, 43, 360, 389, 411, 414, 457, 466, 467, 468, 476, 497, 498, 505, 507], "permut": [0, 2, 14, 19, 22, 31, 35, 43, 51], "unit": [0, 2, 14, 19, 22, 35, 43, 79, 85, 89, 116, 183, 234, 290, 339, 354, 356, 358, 365, 409, 410, 411, 414, 417, 422, 476], "deriv": [0, 3, 6, 11, 16, 19, 23, 26, 28, 29, 39, 40, 43, 77, 79, 80, 81, 82, 83, 84, 88, 98, 116, 127, 130, 131, 132, 134, 150, 234, 289, 290, 291, 292, 295, 299, 303, 307, 311, 327, 333, 338, 340, 341, 354, 360, 365, 368, 376, 377, 411, 423, 457, 467, 468, 469, 475, 476, 481, 506, 507, 509, 510], "analyzesparsitypattern": [0, 2, 14, 19, 22, 35, 43], "eigenbas": [0, 19, 29, 43], "defin": [0, 2, 11, 15, 18, 19, 22, 28, 36, 38, 43, 89, 119, 223, 234, 339, 365, 368, 376, 378, 388, 394, 411, 417, 422, 430, 431, 449, 450, 451, 453, 456, 458, 460, 462, 463, 464, 465, 468, 476, 484, 496, 501, 502, 503, 505, 506, 509, 511, 514, 515], "satisfi": [0, 2, 19, 22, 43, 409, 427, 476], "interfac": [0, 2, 16, 19, 22, 32, 40, 43, 341, 360, 379, 422, 423, 426, 447, 453, 476, 507, 511, 512, 515], "No": [0, 2, 19, 22, 43], "analysi": [0, 1, 2, 12, 19, 20, 22, 30, 43, 465, 506, 512], "need": [0, 1, 2, 12, 16, 19, 20, 22, 30, 40, 43, 83, 84, 234, 287, 334, 335, 341, 365, 368, 376, 380, 384, 388, 394, 403, 406, 411, 412, 413, 419, 420, 422, 457, 458, 460, 465, 468, 470, 476, 497, 499, 505, 506, 509, 510, 511, 515], "so": [0, 2, 3, 5, 11, 13, 15, 19, 22, 23, 25, 28, 29, 32, 36, 43, 83, 84, 88, 234, 287, 334, 335, 338, 359, 360, 365, 368, 371, 373, 387, 412, 413, 419, 420, 458, 466, 476, 500, 501, 506, 507, 508, 510, 511, 512], "op": [0, 2, 19, 22, 43, 234, 237, 252, 267, 286, 288, 340, 341, 372, 376, 378, 383, 411, 422, 423, 424, 458, 476, 484, 485, 486, 490, 493, 499, 506, 509, 511], "linearizeddensefactor": [1, 3, 12, 20, 23, 30, 43, 360, 507], "linearizationtyp": [1, 11, 12, 20, 28, 30, 43], "std": [1, 3, 5, 7, 8, 10, 11, 12, 13, 14, 16, 18, 20, 21, 23, 25, 27, 28, 30, 31, 32, 35, 36, 37, 39, 40, 43, 44, 51, 56, 57, 62, 63, 66, 67, 75, 76, 97, 115, 119, 126, 149, 164, 173, 181, 197, 205, 219, 223, 231, 234, 365, 368, 506, 509], "string": [1, 6, 11, 12, 13, 18, 20, 21, 26, 28, 30, 32, 43, 341, 365, 367, 368, 371, 373, 374, 377, 387, 451, 454, 459, 466, 471, 476, 481, 496, 497, 498, 506], "name": [1, 11, 12, 13, 16, 20, 21, 28, 30, 32, 40, 43, 89, 223, 234, 287, 339, 340, 341, 346, 350, 352, 354, 357, 359, 360, 361, 365, 368, 371, 373, 374, 376, 377, 378, 379, 384, 387, 388, 389, 390, 409, 411, 413, 414, 415, 416, 417, 422, 429, 433, 436, 437, 440, 441, 442, 445, 451, 452, 454, 455, 457, 459, 465, 466, 467, 468, 469, 471, 476, 479, 484, 485, 486, 489, 490, 496, 498, 499, 506, 507, 509, 515], "vector": [1, 3, 5, 6, 7, 8, 11, 12, 13, 14, 16, 20, 21, 23, 25, 26, 28, 29, 30, 31, 32, 34, 35, 36, 40, 43, 48, 51, 53, 56, 57, 85, 89, 100, 101, 102, 103, 104, 106, 107, 132, 134, 183, 184, 185, 186, 187, 188, 189, 190, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 337, 339, 358, 360, 365, 366, 368, 371, 372, 374, 377, 409, 411, 412, 413, 415, 416, 417, 419, 420, 423, 427, 429, 430, 431, 447, 449, 450, 452, 454, 457, 458, 462, 463, 464, 466, 467, 475, 476, 486, 498, 503, 505, 506, 507, 509, 510, 512], "kei": [1, 3, 4, 5, 7, 8, 12, 13, 16, 17, 20, 21, 23, 24, 25, 30, 32, 40, 41, 42, 43, 46, 76, 340, 341, 360, 365, 368, 371, 374, 376, 377, 378, 384, 388, 389, 397, 451, 455, 457, 459, 465, 466, 467, 471, 476, 494, 495, 496, 497, 498, 506, 507, 515], "key_ord": [1, 12, 20, 30, 43], "include_jacobian": [1, 11, 12, 13, 20, 28, 30, 32, 43, 466], "construct": [1, 5, 7, 8, 10, 12, 13, 14, 16, 20, 25, 27, 30, 32, 35, 40, 43, 337, 350, 352, 354, 357, 359, 360, 376, 397, 409, 410, 411, 412, 413, 414, 415, 416, 417, 451, 454, 457, 458, 459, 465, 466, 476, 484, 486, 490, 492, 493, 498, 499, 501, 505, 507, 510, 511], "linear": [1, 3, 5, 6, 9, 11, 13, 16, 17, 20, 23, 25, 26, 28, 31, 32, 39, 40, 41, 43, 51, 76, 82, 132, 134, 234, 333, 340, 341, 357, 360, 376, 411, 452, 455, 457, 459, 462, 463, 465, 466, 475, 476, 481, 501, 503, 505, 506, 507, 508, 510, 511], "from": [1, 3, 5, 7, 8, 12, 16, 18, 20, 21, 23, 25, 30, 40, 43, 79, 88, 89, 99, 100, 101, 102, 103, 104, 106, 107, 116, 117, 128, 132, 133, 134, 151, 184, 185, 186, 187, 188, 189, 190, 223, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 287, 290, 336, 337, 338, 339, 346, 352, 354, 357, 359, 360, 361, 366, 373, 376, 378, 379, 385, 387, 388, 389, 395, 401, 409, 410, 411, 412, 413, 414, 415, 416, 417, 419, 420, 422, 425, 449, 450, 451, 452, 453, 454, 456, 457, 458, 459, 462, 463, 465, 466, 467, 468, 469, 471, 475, 476, 479, 480, 482, 483, 484, 486, 487, 490, 492, 496, 497, 498, 499, 502, 503, 504, 505, 507, 508, 510, 511, 512, 513, 514, 515], "option": [1, 3, 11, 12, 16, 18, 20, 23, 28, 30, 31, 38, 39, 40, 41, 43, 51, 78, 85, 108, 183, 234, 287, 351, 358, 365, 368, 371, 373, 374, 376, 377, 384, 387, 390, 411, 441, 458, 462, 463, 464, 465, 467, 468, 469, 476, 484, 496, 497, 499, 510, 514], "paramet": [1, 2, 3, 5, 6, 7, 8, 11, 12, 13, 14, 16, 20, 21, 22, 23, 25, 26, 28, 30, 32, 35, 39, 40, 43, 77, 79, 80, 81, 82, 88, 98, 116, 127, 135, 136, 137, 138, 139, 141, 150, 234, 287, 289, 290, 291, 292, 295, 296, 297, 299, 300, 301, 303, 304, 305, 307, 308, 309, 311, 312, 313, 315, 316, 318, 319, 321, 322, 324, 325, 327, 328, 329, 331, 332, 333, 334, 335, 336, 337, 338, 339, 341, 344, 346, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 364, 365, 367, 368, 371, 373, 374, 376, 377, 378, 379, 380, 381, 383, 384, 385, 386, 387, 388, 389, 390, 394, 395, 397, 400, 401, 403, 406, 409, 410, 411, 412, 413, 414, 415, 416, 417, 419, 420, 422, 423, 424, 425, 426, 427, 429, 430, 431, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 449, 450, 451, 452, 453, 454, 456, 457, 458, 459, 460, 462, 463, 464, 465, 466, 467, 468, 469, 471, 474, 475, 476, 478, 481, 484, 485, 486, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 507, 508, 510], "debug": [1, 20, 31, 32, 43, 51, 341, 360, 466, 467, 488, 489, 499, 506, 507], "inform": [1, 5, 7, 8, 20, 25, 32, 43, 79, 83, 84, 100, 101, 102, 103, 104, 105, 106, 107, 116, 119, 135, 136, 137, 138, 139, 141, 184, 185, 186, 187, 188, 189, 190, 234, 290, 334, 335, 341, 354, 376, 377, 384, 385, 387, 397, 400, 412, 413, 422, 458, 466, 476, 497, 498, 500, 502, 506, 509], "onli": [1, 3, 12, 16, 20, 23, 30, 31, 40, 43, 51, 99, 117, 128, 131, 132, 134, 135, 136, 137, 138, 139, 141, 151, 166, 221, 234, 287, 357, 359, 360, 365, 366, 368, 371, 372, 376, 378, 379, 380, 384, 385, 388, 411, 427, 441, 452, 456, 458, 465, 466, 467, 475, 476, 481, 488, 491, 492, 495, 498, 502, 506, 507, 510, 511, 515], "pointer": [1, 12, 16, 20, 30, 32, 40, 43, 360, 368, 437, 507, 509], "must": [1, 3, 12, 13, 14, 16, 20, 23, 30, 32, 35, 40, 43, 100, 101, 102, 103, 104, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 287, 341, 360, 376, 384, 411, 422, 430, 431, 449, 453, 456, 458, 462, 463, 468, 476, 481, 497, 506, 507, 510, 511], "scope": [1, 12, 20, 30, 38, 43, 340, 341, 421, 422, 476, 488, 489, 494, 498, 509, 515], "lifetim": [1, 11, 12, 20, 28, 30, 43, 451, 476], "object": [1, 3, 5, 7, 8, 11, 12, 13, 16, 20, 23, 25, 28, 30, 32, 40, 43, 289, 290, 291, 292, 295, 296, 297, 299, 300, 301, 303, 304, 305, 307, 308, 309, 311, 312, 313, 315, 316, 318, 319, 321, 322, 324, 325, 327, 328, 329, 331, 332, 333, 334, 335, 336, 337, 338, 339, 341, 348, 351, 360, 376, 377, 378, 384, 387, 388, 394, 395, 414, 422, 433, 436, 437, 440, 441, 445, 449, 450, 451, 453, 455, 457, 458, 459, 465, 466, 467, 468, 471, 476, 479, 480, 485, 486, 487, 490, 495, 496, 497, 498, 506, 507, 508, 509, 512, 514, 515], "If": [1, 3, 6, 12, 13, 16, 20, 23, 26, 30, 31, 32, 40, 43, 51, 78, 83, 84, 85, 108, 119, 130, 131, 132, 134, 183, 234, 334, 335, 351, 353, 358, 360, 371, 373, 376, 378, 384, 387, 388, 403, 406, 411, 412, 413, 419, 420, 422, 423, 424, 440, 451, 452, 453, 457, 458, 465, 466, 471, 475, 476, 486, 490, 492, 493, 496, 497, 506, 507, 510, 514], "provid": [1, 3, 12, 14, 20, 23, 30, 35, 38, 43, 287, 365, 368, 371, 373, 374, 376, 377, 387, 388, 403, 406, 411, 414, 422, 457, 465, 468, 469, 471, 476, 478, 480, 481, 484, 486, 487, 489, 493, 495, 498, 499, 506, 509, 510, 511, 512, 515], "act": [1, 3, 12, 20, 23, 30, 43, 360, 507, 515], "an": [1, 3, 5, 7, 8, 10, 11, 12, 13, 14, 16, 18, 20, 21, 23, 25, 27, 28, 29, 30, 32, 35, 38, 39, 40, 43, 48, 78, 85, 89, 99, 108, 117, 119, 128, 130, 131, 132, 134, 135, 136, 137, 138, 139, 141, 151, 183, 223, 234, 336, 337, 339, 341, 351, 358, 360, 365, 367, 368, 371, 374, 376, 377, 378, 379, 385, 387, 388, 389, 403, 406, 409, 411, 412, 413, 415, 416, 417, 419, 420, 422, 423, 425, 427, 429, 430, 431, 440, 450, 451, 452, 456, 457, 458, 460, 464, 465, 466, 468, 469, 471, 475, 476, 480, 481, 484, 486, 487, 489, 490, 491, 492, 495, 498, 499, 503, 505, 507, 508, 509, 511, 512, 515], "order": [1, 3, 5, 10, 11, 12, 13, 14, 15, 16, 20, 23, 25, 27, 28, 30, 32, 35, 36, 39, 40, 43, 82, 234, 333, 357, 360, 378, 379, 423, 453, 457, 459, 466, 476, 479, 498, 506, 507, 515], "set": [1, 3, 5, 11, 12, 13, 16, 20, 23, 25, 28, 29, 30, 32, 34, 40, 43, 48, 53, 78, 88, 108, 130, 131, 234, 287, 338, 341, 351, 359, 360, 364, 365, 367, 368, 370, 371, 373, 374, 376, 377, 389, 394, 397, 411, 422, 427, 453, 456, 457, 459, 460, 465, 466, 467, 468, 471, 475, 476, 484, 486, 495, 496, 498, 499, 500, 501, 502, 503, 504, 506, 507, 509, 512, 515], "form": [1, 11, 12, 13, 15, 16, 20, 28, 30, 32, 36, 40, 43, 346, 360, 378, 409, 427, 451, 456, 466, 471, 476, 484, 492, 498, 500, 501, 506, 507, 510, 511], "state": [1, 5, 7, 8, 11, 12, 20, 25, 28, 30, 32, 43, 89, 234, 339, 417, 466, 475, 476, 495, 498, 506, 515], "optim": [1, 2, 3, 4, 5, 6, 7, 8, 11, 12, 16, 17, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 40, 41, 43, 51, 76, 340, 341, 360, 365, 368, 371, 374, 377, 378, 387, 394, 395, 397, 400, 403, 406, 408, 411, 412, 413, 419, 420, 450, 452, 455, 456, 457, 458, 459, 462, 463, 464, 465, 467, 468, 476, 498, 500, 501, 502, 503, 504, 505, 507, 511, 512], "can": [1, 2, 3, 5, 7, 8, 10, 11, 12, 13, 14, 15, 16, 20, 21, 22, 23, 25, 27, 28, 30, 32, 35, 36, 38, 40, 43, 89, 100, 101, 102, 103, 104, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 287, 339, 341, 360, 365, 368, 376, 380, 387, 388, 409, 410, 411, 417, 419, 420, 422, 423, 429, 440, 449, 450, 451, 452, 453, 454, 457, 458, 459, 466, 467, 468, 476, 484, 486, 489, 493, 496, 498, 499, 500, 501, 503, 505, 506, 507, 508, 509, 510, 511, 512, 514, 515], "equal": [1, 12, 20, 30, 43, 119, 234, 376, 378, 388, 411, 422, 451, 452, 454, 456, 462, 463, 476, 489, 497, 498, 511], "all": [1, 3, 12, 13, 16, 20, 23, 30, 32, 34, 38, 40, 43, 53, 88, 130, 131, 234, 287, 338, 348, 359, 360, 371, 376, 378, 381, 384, 385, 387, 394, 395, 411, 414, 451, 457, 465, 466, 467, 468, 471, 475, 476, 484, 486, 488, 489, 496, 498, 499, 500, 501, 502, 503, 506, 507, 510, 511, 512], "subset": [1, 3, 12, 13, 16, 20, 23, 30, 32, 40, 43, 360, 459, 466, 507], "comput": [1, 3, 5, 11, 12, 13, 14, 20, 23, 25, 28, 30, 32, 35, 39, 43, 78, 85, 88, 100, 101, 102, 103, 104, 106, 107, 108, 183, 184, 185, 186, 187, 188, 189, 190, 234, 338, 346, 351, 353, 358, 359, 360, 365, 368, 376, 388, 403, 406, 410, 411, 412, 413, 416, 419, 420, 422, 423, 450, 452, 457, 458, 459, 460, 462, 463, 464, 465, 466, 467, 476, 481, 486, 498, 501, 504, 506, 507, 509, 510, 511, 512, 514, 515], "default": [1, 3, 4, 10, 12, 13, 14, 16, 20, 23, 24, 27, 29, 30, 32, 35, 38, 39, 40, 43, 78, 108, 234, 287, 341, 351, 360, 365, 368, 371, 374, 376, 377, 385, 387, 388, 422, 457, 462, 463, 465, 466, 468, 469, 471, 476, 481, 484, 486, 489, 498, 499, 505, 507, 510, 511], "relinear": [1, 12, 20, 30, 43], "alloc": [1, 11, 12, 13, 20, 28, 30, 32, 43, 360, 506, 507], "fill": [1, 13, 14, 20, 31, 32, 35, 43, 51, 360, 411, 466, 467, 476, 507], "out": [1, 5, 7, 8, 13, 14, 16, 20, 21, 25, 31, 32, 34, 35, 40, 43, 51, 53, 78, 108, 234, 235, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 284, 287, 351, 360, 366, 466, 467, 476, 499, 506, 507, 511, 514], "jacobian": [1, 3, 5, 7, 8, 11, 12, 13, 20, 23, 25, 28, 29, 30, 31, 32, 43, 48, 51, 73, 74, 100, 101, 102, 103, 104, 105, 106, 107, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 184, 185, 186, 187, 188, 189, 190, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 341, 360, 376, 380, 408, 411, 423, 452, 457, 459, 465, 466, 467, 476, 498, 506, 507, 511, 512, 515], "isiniti": [1, 12, 14, 15, 20, 29, 30, 32, 35, 36, 43, 48], "whether": [1, 12, 14, 16, 20, 29, 30, 35, 40, 43, 48, 78, 85, 108, 183, 234, 351, 358, 360, 368, 376, 378, 388, 411, 422, 457, 460, 465, 466, 470, 476, 492, 507, 508, 509, 510], "onc": [1, 13, 14, 15, 20, 32, 35, 36, 43, 360, 453, 484, 506, 507, 509], "matter": [1, 20, 43, 499], "becaus": [1, 20, 29, 43, 83, 84, 234, 334, 335, 376, 380, 409, 411, 412, 413, 419, 420, 423, 449, 450, 451, 456, 457, 458, 467, 476, 492, 498, 501, 510, 512, 514], "mani": [1, 3, 20, 23, 43, 341, 360, 409, 422, 476, 486, 499, 506, 507, 509, 511], "calcul": [1, 5, 7, 8, 20, 25, 39, 43, 132, 134, 234, 387, 475], "first": [1, 5, 6, 7, 8, 11, 12, 14, 15, 20, 25, 26, 28, 30, 35, 36, 43, 88, 130, 131, 132, 134, 234, 338, 346, 353, 359, 371, 376, 378, 411, 417, 423, 453, 464, 466, 475, 476, 484, 489, 490, 496, 498, 502, 506, 508, 509, 515], "cach": [1, 3, 16, 20, 23, 40, 43, 360, 376, 387, 507], "subsequ": [1, 14, 20, 35, 43, 371], "also": [1, 16, 20, 40, 43, 287, 371, 409, 411, 412, 413, 414, 422, 449, 450, 452, 457, 465, 466, 468, 471, 476, 490, 497, 498, 499, 502, 505, 506, 508, 509, 510, 511, 512, 515], "matric": [1, 15, 20, 29, 30, 34, 36, 43, 53, 86, 87, 234, 240, 255, 270, 336, 337, 346, 365, 368, 371, 374, 376, 377, 378, 411, 414, 415, 416, 452, 457, 476], "expect": [1, 5, 20, 25, 29, 39, 43, 48, 83, 84, 132, 134, 234, 334, 335, 337, 378, 412, 413, 416, 440, 465, 475, 476, 481, 488, 489, 499, 509, 510, 511, 512], "right": [1, 3, 11, 20, 23, 28, 43, 83, 84, 86, 87, 234, 334, 335, 336, 337, 360, 409, 410, 411, 412, 413, 414, 415, 416, 456, 459, 462, 476, 481, 507, 508, 509, 510, 511, 512, 514, 515], "size": [1, 5, 16, 20, 25, 30, 31, 39, 40, 43, 51, 78, 85, 108, 183, 234, 270, 342, 348, 351, 358, 360, 394, 411, 440, 452, 454, 468, 469, 471, 476, 484, 496, 500, 505, 506, 507, 508, 510, 511], "The": [1, 3, 5, 7, 8, 11, 13, 14, 15, 16, 20, 21, 23, 25, 28, 31, 32, 35, 36, 39, 40, 43, 51, 77, 78, 79, 80, 81, 82, 83, 84, 85, 88, 89, 98, 99, 108, 116, 117, 127, 128, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 150, 151, 166, 183, 221, 234, 289, 290, 291, 292, 295, 299, 303, 307, 333, 334, 335, 338, 339, 341, 350, 351, 352, 354, 355, 356, 357, 358, 359, 360, 368, 373, 376, 377, 378, 379, 385, 389, 395, 397, 400, 408, 411, 412, 413, 417, 419, 420, 422, 423, 424, 452, 456, 457, 458, 459, 460, 462, 463, 464, 465, 466, 467, 468, 469, 470, 475, 476, 478, 481, 484, 486, 489, 492, 493, 496, 497, 498, 499, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 515], "thei": [1, 20, 43, 365, 368, 371, 374, 377, 414, 423, 424, 452, 453, 459, 466, 476, 486, 511, 515], "appear": [1, 20, 43, 376], "e": [1, 5, 7, 8, 11, 13, 15, 16, 20, 21, 25, 28, 29, 32, 36, 40, 43, 48, 83, 84, 88, 119, 132, 134, 234, 287, 334, 335, 338, 359, 360, 365, 366, 368, 372, 376, 377, 378, 388, 411, 412, 413, 422, 440, 449, 451, 453, 457, 458, 460, 466, 467, 468, 470, 471, 475, 476, 486, 489, 497, 498, 499, 506, 507, 509, 510, 511, 512, 515], "unordered_map": [1, 12, 13, 16, 20, 30, 32, 40, 43], "key_t": [1, 10, 12, 20, 27, 30, 42, 43, 76, 360, 507], "index_entry_t": [1, 3, 12, 16, 20, 23, 30, 40, 43, 360, 466, 497, 507], "stateindex": [1, 12, 13, 20, 30, 32, 43], "map": [1, 16, 20, 29, 40, 43, 82, 89, 234, 333, 339, 348, 357, 360, 373, 376, 378, 388, 411, 412, 413, 415, 416, 417, 419, 420, 450, 452, 459, 465, 466, 467, 476, 493, 496, 498, 507, 512], "problem": [1, 5, 6, 7, 8, 11, 13, 15, 16, 20, 25, 26, 28, 29, 30, 31, 32, 36, 40, 43, 48, 51, 360, 385, 395, 397, 403, 406, 414, 456, 457, 458, 462, 463, 464, 465, 466, 476, 499, 500, 501, 502, 504, 505, 507], "index": [1, 3, 11, 16, 20, 23, 28, 30, 31, 40, 43, 51, 360, 365, 371, 374, 377, 388, 390, 394, 422, 466, 471, 476, 494, 497, 498, 507, 515], "correspond": [1, 3, 5, 6, 7, 8, 13, 20, 23, 25, 26, 29, 32, 43, 48, 99, 117, 128, 135, 136, 137, 138, 139, 141, 151, 166, 221, 234, 360, 376, 378, 379, 385, 394, 395, 462, 463, 464, 466, 498, 499, 500, 501, 502, 507, 515], "valu": [1, 3, 4, 5, 6, 10, 11, 12, 13, 14, 17, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 41, 43, 48, 51, 53, 79, 85, 88, 99, 100, 101, 102, 103, 104, 106, 107, 116, 117, 128, 135, 136, 137, 138, 139, 140, 141, 151, 166, 183, 184, 185, 186, 187, 188, 189, 190, 221, 223, 234, 287, 290, 338, 340, 341, 350, 351, 352, 353, 354, 357, 358, 359, 360, 367, 376, 377, 378, 380, 384, 385, 387, 388, 389, 394, 400, 403, 406, 409, 411, 412, 413, 419, 420, 422, 424, 427, 450, 451, 452, 453, 454, 456, 457, 458, 459, 460, 462, 463, 464, 465, 466, 467, 468, 476, 481, 490, 492, 500, 501, 505, 506, 507, 509, 511, 512, 514], "offset": [1, 16, 20, 40, 43, 360, 494, 497, 507, 515], "read": [1, 5, 20, 25, 43, 132, 134, 234, 475], "after": [1, 5, 6, 7, 8, 11, 16, 20, 25, 26, 28, 40, 43, 132, 134, 234, 287, 341, 376, 378, 379, 384, 423, 459, 462, 463, 475, 499], "updat": [1, 11, 12, 13, 16, 20, 28, 30, 32, 40, 43, 130, 131, 234, 341, 360, 412, 413, 419, 420, 450, 452, 470, 474, 475, 476, 489, 498, 499, 507, 512], "new": [1, 6, 11, 12, 13, 16, 20, 26, 28, 30, 32, 40, 43, 130, 131, 234, 341, 351, 358, 360, 365, 368, 376, 411, 451, 471, 475, 476, 478, 498, 506, 507], "evalu": [1, 3, 12, 20, 23, 29, 30, 43, 48, 119, 132, 134, 234, 360, 411, 423, 451, 454, 456, 459, 460, 475, 476, 481, 489, 493, 498, 506, 507, 510, 511, 514], "point": [1, 3, 5, 11, 12, 20, 23, 25, 28, 30, 43, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 98, 108, 116, 119, 127, 135, 136, 137, 138, 139, 141, 150, 166, 183, 221, 234, 289, 290, 291, 292, 295, 299, 303, 307, 311, 327, 333, 334, 335, 336, 337, 338, 339, 341, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 385, 397, 411, 415, 416, 417, 452, 456, 458, 462, 466, 470, 476, 505, 507, 508, 509, 510, 511], "more": [1, 5, 11, 12, 13, 14, 16, 20, 25, 28, 30, 32, 35, 40, 43, 77, 79, 83, 84, 98, 116, 119, 131, 135, 136, 137, 138, 139, 141, 234, 289, 290, 334, 335, 341, 350, 354, 360, 365, 368, 371, 373, 374, 376, 377, 385, 387, 397, 412, 413, 414, 419, 420, 422, 424, 452, 456, 466, 471, 476, 484, 496, 497, 498, 499, 500, 501, 502, 506, 507, 509, 510, 511, 512], "effici": [1, 5, 12, 13, 14, 16, 20, 25, 30, 32, 35, 40, 43, 334, 335, 360, 364, 370, 373, 414, 419, 420, 466, 476, 500, 501, 507, 509], "than": [1, 3, 5, 10, 12, 13, 16, 20, 23, 25, 27, 30, 32, 40, 43, 334, 335, 360, 372, 373, 411, 419, 420, 422, 423, 426, 440, 456, 458, 462, 466, 476, 484, 489, 497, 498, 505, 506, 507, 511, 512, 515], "reconstruct": [1, 12, 20, 30, 43, 497, 498, 511, 512, 515], "repeatedli": [1, 12, 14, 20, 30, 35, 43, 466, 506], "On": [1, 12, 20, 30, 43, 83, 84, 234, 334, 335, 412, 413, 476], "memori": [1, 12, 13, 16, 20, 30, 32, 40, 43, 360, 366, 506, 507], "perform": [1, 12, 16, 20, 30, 40, 43, 223, 287, 341, 360, 378, 411, 441, 453, 476, 500, 501, 502, 505, 506, 507, 512, 514, 515], "repeat": [1, 3, 11, 12, 13, 16, 20, 23, 28, 30, 32, 40, 43, 360, 507], "correctli": [1, 20, 43, 478, 481, 510], "todo": [1, 10, 11, 12, 18, 20, 27, 28, 30, 39, 43, 79, 116, 234, 290, 354, 476, 506], "aaron": [1, 11, 12, 20, 28, 30, 39, 43, 79, 116, 234, 290, 354, 476, 498, 506], "should": [1, 3, 4, 5, 12, 15, 16, 20, 23, 24, 25, 30, 31, 36, 40, 43, 51, 83, 84, 88, 130, 131, 234, 287, 334, 335, 338, 341, 359, 360, 365, 366, 368, 371, 374, 376, 377, 378, 384, 387, 412, 413, 419, 420, 422, 423, 453, 457, 460, 465, 466, 467, 468, 469, 475, 476, 478, 490, 493, 499, 506, 507, 510, 511], "except": [1, 12, 20, 30, 31, 43, 51, 341, 365, 371, 374, 376, 377, 469, 470, 471, 476, 489], "initi": [1, 5, 6, 12, 13, 16, 20, 25, 26, 29, 30, 32, 34, 40, 43, 48, 53, 130, 131, 234, 287, 341, 360, 365, 411, 466, 471, 475, 476, 500, 501, 502, 505, 506, 507, 510, 511], "eigensolv": [2, 22, 43], "": [2, 13, 15, 16, 22, 32, 36, 40, 43, 88, 132, 134, 234, 287, 338, 359, 360, 365, 368, 371, 372, 374, 376, 377, 379, 389, 390, 411, 419, 420, 422, 427, 452, 454, 458, 460, 466, 469, 471, 475, 476, 490, 496, 497, 499, 506, 507, 508, 509, 510, 511, 512, 514, 515], "spars": [2, 3, 11, 14, 15, 22, 23, 28, 29, 30, 31, 35, 36, 43, 51, 346, 360, 361, 376, 378, 394, 457, 465, 506, 507], "special": [2, 22, 43, 234, 237, 252, 267, 365, 368, 453, 493, 511], "anyth": [2, 22, 43, 425, 510], "sparsesolv": [2, 22, 43], "concept": [2, 16, 22, 40, 43, 234, 237, 252, 267, 360, 408, 411, 426, 449, 450, 451, 453, 476, 482, 483, 487, 507, 510, 512, 515], "For": [2, 3, 6, 7, 8, 12, 13, 21, 22, 23, 25, 26, 30, 32, 43, 83, 84, 119, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 334, 335, 360, 376, 378, 385, 409, 411, 412, 413, 422, 427, 429, 430, 431, 437, 449, 452, 456, 464, 466, 468, 469, 476, 481, 493, 496, 497, 499, 501, 506, 507, 509, 510, 511, 513], "exampl": [2, 3, 5, 11, 13, 21, 22, 23, 25, 27, 28, 32, 38, 43, 119, 234, 340, 341, 350, 352, 354, 357, 359, 376, 378, 388, 409, 411, 413, 414, 415, 416, 417, 429, 440, 451, 452, 453, 456, 464, 465, 466, 468, 469, 471, 476, 480, 487, 493, 495, 496, 497, 498, 499, 500, 501, 502, 506, 508, 509, 511, 512, 513], "linearsolv": [2, 11, 22, 28, 43], "doubl": [2, 5, 11, 13, 21, 22, 23, 25, 26, 28, 29, 31, 32, 34, 40, 43, 48, 73, 76, 79, 98, 116, 119, 127, 150, 165, 174, 182, 198, 206, 220, 224, 232, 234, 235, 283, 284, 285, 290, 354, 366, 367, 368, 388, 471, 476, 506, 509], "cholmoddecomposit": [2, 22, 43], "sparsematrix": [2, 3, 11, 14, 22, 23, 28, 29, 31, 35, 36, 43, 48, 55, 73, 74, 223, 234], "nonlinearsolv": [2, 13, 22, 32, 43, 360, 507], "cannot": [2, 22, 43, 419, 420, 498, 499], "actual": [2, 22, 43, 88, 234, 338, 341, 359, 378, 395, 401, 422, 464, 470, 476, 489, 500, 501, 502, 510], "copi": [2, 4, 13, 16, 22, 24, 32, 40, 43, 287, 341, 360, 412, 413, 471, 476, 494, 498, 507], "back": [2, 22, 43, 86, 87, 234, 287, 336, 337, 415, 416, 422, 466, 476, 508, 515], "argument": [2, 3, 5, 6, 7, 8, 13, 14, 22, 23, 25, 26, 29, 32, 35, 39, 43, 352, 357, 359, 360, 365, 368, 371, 374, 376, 377, 383, 411, 422, 440, 454, 457, 458, 459, 460, 465, 468, 476, 479, 489, 490, 491, 493, 503, 506, 507, 509, 510, 514], "permutationmatrix": [2, 14, 22, 35, 43], "scalartyp": [3, 11, 12, 13, 23, 28, 30, 32, 43, 77, 79, 80, 81, 82, 83, 84, 86, 87, 88, 89, 98, 116, 127, 150, 165, 174, 182, 198, 206, 220, 232, 234, 235, 284, 285, 362, 366, 367, 368], "residu": [3, 5, 7, 8, 11, 23, 25, 28, 29, 30, 43, 48, 73, 74, 99, 100, 101, 102, 103, 104, 105, 106, 107, 117, 128, 132, 134, 135, 136, 137, 138, 139, 140, 141, 151, 166, 184, 185, 186, 187, 188, 189, 190, 221, 234, 341, 360, 376, 385, 397, 400, 455, 456, 457, 458, 459, 460, 462, 463, 464, 465, 466, 467, 468, 474, 475, 500, 501, 502, 503, 505, 506, 507, 511, 515], "term": [3, 11, 15, 23, 28, 36, 43, 100, 101, 102, 103, 104, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 360, 361, 376, 378, 429, 468, 506, 507, 509, 511], "creat": [3, 5, 11, 13, 16, 23, 25, 28, 31, 32, 40, 43, 51, 79, 116, 223, 234, 290, 336, 341, 354, 360, 376, 383, 389, 394, 411, 415, 440, 453, 459, 465, 466, 476, 488, 489, 497, 498, 499, 505, 506, 507, 508, 509, 510, 511, 515], "input": [3, 23, 39, 43, 337, 360, 361, 366, 368, 371, 372, 376, 378, 384, 387, 416, 419, 420, 424, 455, 457, 459, 465, 467, 468, 469, 476, 478, 490, 493, 498, 503, 505, 506, 507, 509, 510, 515], "given": [3, 5, 6, 7, 8, 12, 13, 16, 21, 23, 25, 26, 30, 32, 40, 43, 78, 85, 88, 108, 183, 234, 338, 346, 350, 351, 352, 353, 354, 357, 358, 359, 360, 365, 368, 371, 373, 374, 376, 377, 378, 379, 381, 383, 385, 386, 388, 394, 400, 409, 411, 413, 414, 415, 416, 417, 422, 425, 427, 440, 447, 451, 453, 454, 457, 458, 459, 462, 463, 464, 466, 471, 475, 476, 478, 481, 484, 486, 489, 493, 495, 498, 502, 504, 505, 506, 507, 508, 510, 511, 512], "gener": [3, 5, 23, 25, 29, 43, 83, 84, 86, 87, 88, 89, 234, 235, 267, 270, 274, 275, 276, 277, 279, 284, 287, 334, 335, 337, 338, 339, 341, 342, 343, 344, 345, 346, 359, 360, 361, 365, 366, 368, 371, 372, 374, 376, 377, 378, 380, 381, 382, 384, 385, 386, 388, 389, 391, 393, 395, 396, 397, 399, 401, 409, 412, 413, 414, 415, 416, 417, 419, 420, 422, 429, 447, 455, 457, 458, 459, 465, 466, 467, 470, 471, 472, 473, 476, 478, 484, 485, 486, 489, 492, 493, 496, 498, 499, 500, 501, 502, 505, 507, 515], "approxim": [3, 5, 11, 23, 25, 28, 39, 43, 360, 423, 452, 457, 459, 481, 484, 486, 507, 510], "contain": [3, 10, 12, 13, 16, 23, 27, 30, 31, 32, 40, 43, 47, 51, 100, 101, 102, 103, 104, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 287, 334, 336, 340, 341, 360, 368, 378, 381, 384, 385, 412, 415, 454, 457, 459, 465, 466, 469, 471, 476, 485, 495, 496, 497, 498, 501, 503, 504, 505, 506, 507, 511, 515], "helper": [3, 23, 43, 130, 131, 132, 134, 223, 234, 348, 378, 387, 425, 475, 477, 479, 480, 482, 483, 486, 487, 488, 489, 495, 504, 505], "constructor": [3, 4, 13, 14, 23, 24, 32, 35, 43, 357, 359, 465, 466, 476, 479, 511], "simplifi": [3, 23, 43, 340, 341, 376, 408, 411, 421, 422, 426, 448, 451, 454, 457, 467, 476, 494, 498, 506, 510, 511, 512, 514], "creation": [3, 23, 43, 466], "linearizeddensefactortypehelp": [3, 23, 43, 76], "linearizedsparsefactor": [3, 12, 23, 30, 43], "linearizedsparsefactortypehelp": [3, 23, 43, 76], "jacobianmatrixtyp": [3, 23, 43], "jacobianfunc": [3, 23, 43], "vectorx": [3, 15, 16, 23, 28, 29, 36, 40, 43, 48, 224, 234], "densejacobianfunc": [3, 23, 43], "matrixx": [3, 11, 13, 15, 23, 28, 29, 31, 32, 36, 39, 43, 48, 52, 224, 234], "sparsejacobianfunc": [3, 23, 43], "hessianfunc": [3, 23, 43], "densehessianfunc": [3, 23, 43], "sparsehessianfunc": [3, 23, 43], "hessian_func": [3, 23, 43], "keys_to_func": [3, 5, 7, 8, 23, 25, 43, 360, 507], "keys_to_optim": [3, 23, 30, 43, 360, 507], "directli": [3, 23, 43, 89, 234, 339, 376, 389, 411, 417, 426, 471, 476, 506, 509, 512, 515], "hessian": [3, 5, 7, 8, 11, 12, 13, 15, 23, 25, 28, 29, 30, 32, 36, 43, 48, 73, 74, 100, 101, 102, 103, 104, 105, 106, 107, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 184, 185, 186, 187, 188, 189, 190, 234, 360, 376, 457, 459, 465, 466, 506, 507], "functor": [3, 5, 14, 23, 25, 32, 35, 39, 43, 457], "lowest": [3, 23, 43, 466], "level": [3, 23, 43, 341, 459, 468, 489, 498, 499], "accept": [3, 23, 43, 360, 481, 493, 506, 507, 510], "func": [3, 11, 18, 23, 28, 43, 223, 341, 360, 376, 383, 411, 471, 476, 481, 484, 485, 486, 488, 490, 493, 498, 507, 509, 510], "empti": [3, 16, 23, 40, 43, 341, 360, 468, 471, 486, 507], "jacobian_func": [3, 23, 43, 360, 507], "gauss": [3, 5, 7, 8, 11, 23, 25, 28, 43, 100, 101, 102, 103, 104, 105, 106, 107, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 184, 185, 186, 187, 188, 189, 190, 234, 360, 376, 506, 507], "newton": [3, 5, 7, 8, 11, 23, 25, 28, 43, 100, 101, 102, 103, 104, 105, 106, 107, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 184, 185, 186, 187, 188, 189, 190, 234, 360, 376, 506, 507], "h": [3, 6, 11, 41, 43, 233, 234, 235, 360, 365, 368, 379, 389, 466, 475, 506, 507, 509], "j": [3, 5, 7, 8, 11, 23, 25, 28, 43, 132, 134, 234, 360, 365, 368, 371, 374, 377, 466, 475, 506, 507], "maybe_index_entry_cach": [3, 23, 43], "nullptr": [3, 5, 7, 8, 23, 25, 43, 77, 79, 80, 81, 82, 83, 84, 86, 87, 88, 89, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 116, 117, 127, 128, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 150, 151, 166, 184, 185, 186, 187, 188, 189, 190, 221, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 506, 509], "output": [3, 23, 29, 43, 99, 117, 128, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 151, 166, 221, 223, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 287, 337, 339, 360, 361, 365, 366, 368, 371, 372, 374, 376, 377, 378, 384, 385, 388, 389, 400, 419, 420, 423, 457, 459, 465, 467, 471, 475, 476, 489, 493, 498, 499, 503, 506, 507, 509, 510], "just": [3, 11, 14, 23, 28, 35, 43, 105, 234, 287, 360, 372, 376, 409, 422, 440, 468, 476, 478, 506, 507, 509, 510], "numer": [3, 5, 7, 8, 23, 25, 39, 43, 119, 130, 131, 132, 134, 234, 360, 376, 411, 414, 422, 423, 451, 454, 457, 458, 460, 466, 475, 476, 493, 498, 499, 505, 507, 511, 514], "each": [3, 5, 11, 13, 16, 23, 25, 28, 32, 38, 40, 43, 135, 136, 137, 138, 139, 141, 234, 348, 350, 351, 352, 354, 357, 358, 359, 360, 365, 368, 371, 372, 374, 376, 377, 380, 385, 388, 389, 390, 395, 411, 423, 440, 451, 452, 453, 458, 460, 462, 464, 465, 466, 467, 468, 469, 476, 486, 490, 496, 498, 499, 502, 506, 507, 509, 510, 511, 512], "prevent": [3, 23, 43, 85, 183, 234, 358, 422, 476, 506, 511], "hash": [3, 23, 27, 42, 43, 76, 384, 451, 476], "lookup": [3, 16, 23, 40, 43, 360, 387, 507], "createindex": [3, 11, 16, 23, 28, 40, 43], "allkei": [3, 23, 43], "overload": [3, 13, 16, 23, 29, 32, 40, 43, 360, 507], "isspars": [3, 23, 43], "otherwis": [3, 14, 23, 35, 43, 78, 108, 234, 351, 352, 356, 360, 388, 390, 411, 422, 424, 471, 476, 488, 492, 497, 499, 506, 507], "throw": [3, 16, 23, 40, 43, 341, 360, 507], "linearized_factor": [3, 23, 30, 43, 341, 360, 507], "hand": [3, 11, 23, 28, 43, 133, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 337, 339, 360, 371, 456, 459, 462, 499, 506, 507, 509, 510, 511], "side": [3, 11, 23, 28, 43, 79, 116, 234, 290, 354, 360, 456, 459, 462, 476, 481, 507], "doe": [3, 5, 16, 23, 25, 30, 31, 40, 43, 51, 339, 360, 365, 368, 376, 378, 379, 411, 412, 413, 417, 427, 452, 457, 459, 471, 476, 478, 489, 492, 498, 506, 507, 510, 511, 512], "optimizedkei": [3, 23, 43], "get": [3, 11, 13, 16, 23, 28, 32, 40, 43, 119, 234, 287, 360, 378, 411, 415, 417, 466, 471, 476, 494, 498, 505, 506, 507, 510, 512, 515], "requir": [3, 13, 23, 32, 43, 88, 234, 338, 341, 359, 360, 371, 378, 388, 422, 423, 457, 466, 476, 499, 505, 506, 507, 510, 511, 512], "static": [3, 10, 23, 27, 34, 37, 39, 43, 53, 54, 62, 66, 73, 74, 77, 78, 79, 80, 81, 82, 83, 84, 86, 87, 88, 89, 98, 108, 116, 127, 150, 223, 234, 235, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 282, 283, 284, 289, 290, 291, 292, 295, 296, 297, 299, 300, 301, 303, 304, 305, 307, 308, 309, 311, 312, 313, 315, 316, 318, 319, 321, 322, 324, 325, 327, 328, 329, 331, 332, 333, 334, 335, 336, 337, 338, 339, 351, 356, 360, 365, 368, 371, 374, 376, 377, 378, 384, 387, 411, 427, 429, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 452, 454, 457, 458, 460, 462, 463, 464, 465, 476, 486, 488, 489, 498, 507], "version": [3, 13, 23, 29, 32, 39, 43, 287, 360, 422, 452, 458, 466, 470, 496, 505, 506, 507, 510], "handl": [3, 23, 43, 223, 411, 458, 465, 476, 481, 489, 499, 506], "varieti": [3, 23, 43, 411, 476, 510], "take": [3, 11, 13, 14, 23, 28, 32, 35, 43, 360, 365, 376, 411, 412, 413, 452, 457, 458, 468, 476, 484, 486, 493, 498, 501, 503, 506, 507, 510], "individu": [3, 23, 43, 135, 136, 137, 138, 139, 141, 234, 365, 380, 385, 452, 460], "rather": [3, 5, 23, 25, 43, 411, 426, 440, 476, 489, 512, 515], "two": [3, 5, 15, 23, 25, 36, 43, 79, 83, 86, 116, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 290, 334, 336, 354, 384, 397, 400, 409, 411, 412, 413, 415, 419, 420, 422, 424, 427, 450, 452, 456, 476, 489, 498, 499, 506, 508, 509, 511, 512], "befor": [3, 11, 13, 23, 28, 29, 32, 43, 132, 134, 234, 341, 360, 458, 462, 463, 466, 475, 488, 489, 499, 506, 507, 509, 510], "singl": [3, 23, 30, 43, 365, 368, 371, 374, 376, 377, 394, 411, 458, 460, 466, 467, 476, 481, 486, 496, 497, 498, 501, 503, 505, 506, 510], "python": [3, 23, 43, 287, 288, 289, 290, 291, 292, 295, 296, 297, 299, 300, 301, 303, 304, 305, 307, 308, 309, 311, 312, 313, 315, 316, 318, 319, 321, 322, 324, 325, 327, 328, 329, 331, 332, 333, 334, 335, 336, 337, 338, 339, 341, 361, 362, 372, 373, 376, 378, 379, 387, 389, 425, 426, 457, 459, 466, 471, 476, 492, 497, 499, 501, 505, 506, 510, 512, 513], "you": [3, 5, 16, 20, 23, 25, 29, 31, 38, 40, 43, 51, 83, 84, 130, 131, 132, 134, 234, 287, 334, 335, 341, 360, 365, 366, 368, 376, 384, 412, 413, 419, 420, 422, 451, 457, 467, 475, 476, 489, 499, 502, 503, 506, 507, 509, 510, 514, 515], "probabl": [3, 23, 43, 79, 116, 234, 290, 354, 458, 476, 484, 485, 486, 506], "want": [3, 11, 16, 23, 28, 40, 43, 79, 116, 234, 290, 354, 360, 376, 390, 395, 411, 423, 426, 437, 456, 457, 467, 476, 499, 506, 507, 509, 510], "instead": [3, 12, 23, 30, 43, 119, 131, 132, 134, 135, 136, 137, 138, 139, 141, 234, 365, 368, 371, 372, 374, 376, 377, 385, 389, 400, 403, 406, 411, 419, 420, 422, 440, 465, 475, 476, 489, 498, 506, 509, 510, 511], "ll": [3, 23, 43, 365, 496, 499, 505, 506, 509, 510], "result": [3, 9, 13, 23, 29, 31, 32, 39, 43, 48, 51, 85, 135, 136, 137, 138, 139, 141, 183, 234, 346, 348, 356, 358, 360, 376, 385, 403, 406, 411, 422, 423, 424, 451, 455, 458, 465, 466, 471, 476, 498, 499, 506, 507, 508, 509, 510, 511], "faster": [3, 23, 43, 341, 493, 499, 505, 506], "realli": [3, 23, 43], "easili": [3, 23, 43, 389, 423, 493, 510, 511], "codegen": [3, 23, 43, 340, 341, 397, 422, 457, 465, 476, 490, 493, 499, 500, 505, 506], "which": [3, 5, 6, 7, 8, 11, 13, 14, 15, 16, 23, 25, 26, 28, 32, 35, 36, 39, 40, 43, 89, 119, 132, 134, 234, 287, 339, 357, 359, 360, 365, 368, 376, 378, 380, 387, 388, 389, 395, 411, 412, 413, 417, 419, 420, 422, 423, 430, 431, 437, 441, 450, 452, 453, 456, 457, 458, 459, 462, 463, 465, 466, 467, 468, 469, 475, 476, 478, 484, 489, 491, 497, 498, 499, 503, 506, 507, 509, 510, 511, 512, 515], "with_linear": [3, 23, 43, 361, 376, 506], "linearization_mod": [3, 23, 43, 376], "stacked_jacobian": [3, 23, 43, 361, 376], "see": [3, 6, 7, 8, 13, 15, 23, 25, 26, 32, 36, 43, 77, 79, 83, 84, 98, 116, 119, 135, 136, 137, 138, 139, 141, 234, 237, 252, 267, 289, 290, 334, 335, 341, 348, 350, 354, 376, 377, 378, 385, 387, 397, 411, 412, 413, 422, 429, 430, 431, 449, 450, 451, 453, 456, 457, 465, 466, 471, 476, 490, 493, 496, 499, 500, 502, 504, 506, 509, 510, 511, 512, 513], "symforce_factor_test": [3, 23, 43], "cc": [3, 13, 23, 32, 43, 233, 365, 379, 499], "full": [3, 7, 8, 13, 14, 15, 23, 25, 31, 32, 35, 36, 43, 51, 135, 136, 137, 138, 139, 141, 234, 360, 376, 378, 380, 385, 458, 466, 505, 507], "four": [3, 23, 43, 81, 150, 234, 292, 356, 427, 476], "case": [3, 5, 13, 23, 25, 32, 43, 100, 101, 102, 103, 104, 105, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 360, 411, 426, 476, 479, 480, 482, 483, 486, 487, 496, 499, 506, 507, 509, 511, 512, 515], "multipl": [3, 12, 13, 23, 30, 32, 43, 82, 91, 92, 93, 94, 95, 96, 109, 110, 111, 112, 113, 114, 120, 121, 122, 123, 124, 125, 129, 142, 143, 144, 145, 146, 147, 148, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 167, 168, 169, 170, 171, 172, 175, 176, 177, 178, 179, 180, 191, 192, 193, 194, 195, 196, 199, 200, 201, 202, 203, 204, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 222, 225, 226, 227, 228, 229, 230, 234, 333, 336, 337, 357, 360, 373, 376, 388, 409, 411, 414, 415, 416, 429, 453, 460, 476, 501, 506, 507, 510, 511, 512, 515], "slower": [3, 23, 43, 506], "symbol": [3, 14, 23, 35, 43, 83, 84, 133, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 334, 335, 337, 339, 340, 341, 349, 350, 352, 354, 357, 359, 361, 365, 368, 371, 373, 374, 376, 377, 378, 394, 395, 397, 408, 409, 411, 412, 413, 414, 415, 416, 417, 419, 420, 421, 423, 426, 428, 429, 433, 436, 437, 440, 441, 442, 445, 448, 451, 454, 457, 459, 465, 466, 478, 484, 485, 486, 490, 493, 494, 496, 498, 501, 502, 503, 505, 508, 509, 510, 511, 512, 514, 515], "instanc": [3, 14, 23, 34, 35, 43, 53, 351, 358, 365, 368, 371, 374, 376, 377, 378, 389, 411, 440, 451, 471, 476, 492, 498, 501, 509, 510], "structur": [3, 11, 13, 15, 16, 23, 28, 29, 32, 36, 40, 43, 360, 376, 378, 385, 388, 389, 427, 452, 459, 465, 468, 484, 497, 498, 499, 502, 506, 507, 515], "cse": [3, 23, 43, 340, 341, 365, 368, 371, 374, 377, 378, 390, 423, 476], "veri": [3, 23, 43, 287, 506, 510, 511, 512], "effect": [3, 23, 43, 506, 510], "full_linear": [3, 23, 43, 361, 376], "baseoptimizertyp": [4, 24, 43], "subclass": [4, 24, 37, 43, 61, 62, 78, 99, 108, 117, 128, 151, 234, 235, 283, 284, 352, 385, 387, 426, 447, 449, 450, 453, 460, 468, 476, 491, 511], "graduat": [4, 24, 43], "non": [4, 16, 24, 29, 40, 43, 83, 84, 88, 234, 334, 335, 338, 359, 412, 413, 456, 476, 481, 487, 496, 510], "convex": [4, 24, 43, 135, 136, 137, 138, 139, 141, 234, 385, 458], "gnc": [4, 24, 43], "assum": [4, 5, 11, 16, 24, 25, 28, 40, 43, 85, 88, 132, 134, 183, 234, 338, 358, 359, 360, 368, 378, 388, 411, 424, 426, 450, 458, 465, 475, 476, 489, 502, 506, 507, 510, 511], "cost": [4, 11, 24, 28, 43, 456, 458, 460, 462, 463, 464, 515], "control": [4, 24, 43, 287, 458, 484, 499, 506], "hyperparamet": [4, 24, 43, 468], "mu": [4, 24, 43, 135, 136, 137, 138, 139, 141, 234, 385, 458], "when": [4, 5, 7, 8, 14, 16, 24, 25, 29, 35, 40, 43, 48, 130, 131, 132, 134, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 360, 377, 378, 384, 387, 388, 410, 414, 422, 423, 427, 429, 441, 449, 456, 457, 458, 462, 463, 465, 466, 469, 470, 475, 476, 489, 498, 499, 506, 507, 508, 510, 511], "0": [4, 5, 6, 9, 10, 11, 13, 24, 25, 26, 27, 28, 31, 32, 34, 39, 40, 43, 51, 53, 54, 77, 78, 79, 80, 81, 82, 85, 88, 89, 98, 99, 108, 116, 117, 119, 127, 128, 130, 131, 135, 136, 137, 138, 139, 141, 150, 151, 166, 183, 221, 234, 287, 289, 290, 291, 292, 295, 299, 303, 307, 311, 327, 333, 337, 338, 339, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 365, 371, 374, 376, 377, 378, 380, 385, 395, 397, 409, 411, 412, 413, 414, 415, 416, 417, 419, 420, 422, 423, 424, 430, 431, 435, 437, 446, 450, 452, 453, 456, 458, 460, 462, 466, 471, 475, 476, 481, 486, 496, 498, 506, 507, 508, 509, 511, 512, 514, 515], "goe": [4, 24, 43, 458], "smoothli": [4, 24, 43], "transit": [4, 24, 43, 452, 458], "robust": [4, 24, 43, 287, 458, 510], "baseoptim": [4, 24, 43], "optimizerarg": [4, 24, 43], "optimizer_params_t": [4, 11, 13, 24, 28, 32, 43, 360, 466, 507], "optimizer_param": [4, 24, 43], "optimizer_gnc_params_t": [4, 24, 43], "gnc_param": [4, 24, 43], "gnc_mu_kei": [4, 24, 43], "arg": [4, 5, 7, 8, 13, 18, 24, 25, 29, 32, 37, 43, 66, 76, 78, 85, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 117, 128, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 151, 166, 183, 184, 185, 186, 187, 188, 189, 190, 221, 223, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 337, 339, 341, 351, 358, 360, 376, 411, 422, 423, 424, 425, 426, 429, 430, 431, 432, 441, 442, 447, 451, 454, 460, 468, 476, 488, 489, 490, 491, 493, 498, 506, 507, 509], "virtual": [4, 13, 24, 32, 43, 506], "int": [4, 5, 11, 13, 14, 15, 18, 24, 25, 28, 32, 35, 36, 43, 56, 57, 78, 108, 223, 234, 240, 255, 270, 289, 290, 291, 292, 333, 334, 335, 336, 337, 338, 339, 346, 348, 350, 351, 352, 354, 357, 359, 360, 365, 368, 371, 374, 376, 377, 378, 384, 387, 394, 395, 409, 410, 411, 412, 413, 414, 415, 416, 417, 426, 429, 431, 433, 435, 436, 437, 439, 440, 441, 442, 444, 445, 450, 451, 452, 453, 454, 466, 469, 471, 476, 485, 486, 489, 492, 496, 497, 498, 506, 507], "num_iter": [4, 13, 24, 31, 32, 43, 51, 360, 466, 507], "populate_best_linear": [4, 13, 24, 31, 32, 43, 51, 360, 466, 507], "stat": [4, 11, 13, 24, 28, 31, 32, 43, 51, 348, 360, 466, 506, 507], "overrid": [4, 24, 43, 365, 368, 376, 377, 387, 411, 422, 457, 467, 468, 476, 489, 491, 498], "manifold": [5, 6, 7, 8, 11, 16, 25, 26, 28, 40, 43, 83, 84, 89, 234, 334, 335, 339, 360, 412, 413, 415, 416, 417, 450, 452, 474, 476, 498, 507, 511, 512], "imu": [5, 6, 7, 8, 25, 26, 34, 43, 53, 130, 131, 132, 134, 234, 474, 475], "preintegr": [5, 6, 7, 8, 25, 26, 34, 43, 53, 54, 130, 131, 132, 134, 234, 474, 475], "symforc": [5, 6, 7, 8, 13, 25, 26, 32, 38, 43, 77, 79, 80, 81, 82, 83, 84, 86, 87, 88, 89, 98, 116, 119, 127, 130, 131, 132, 134, 135, 136, 137, 138, 139, 141, 150, 234, 237, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 252, 253, 254, 256, 257, 258, 259, 260, 261, 262, 263, 264, 267, 268, 269, 271, 272, 273, 274, 275, 276, 277, 278, 279, 287, 289, 290, 291, 292, 295, 296, 297, 299, 300, 301, 303, 304, 305, 307, 308, 309, 311, 312, 313, 315, 316, 318, 319, 321, 322, 324, 325, 327, 328, 329, 331, 332, 333, 334, 335, 336, 337, 338, 339, 499, 500, 501, 502, 504, 505, 508, 509, 510, 511, 512, 513, 514, 515], "By": [5, 25, 43, 376, 387, 422, 476, 489, 499, 511], "meant": [5, 25, 43, 411, 469, 476, 497], "angular": [5, 25, 43, 508, 509], "veloc": [5, 6, 7, 8, 25, 26, 34, 43, 53, 130, 131, 132, 134, 234, 475, 509], "measur": [5, 6, 7, 8, 25, 26, 34, 43, 53, 130, 131, 132, 134, 184, 185, 186, 187, 188, 189, 190, 234, 397, 458, 475, 499, 504, 505, 506], "compos": [5, 25, 43, 83, 84, 86, 87, 89, 100, 101, 102, 103, 104, 106, 107, 184, 185, 186, 187, 188, 189, 190, 234, 235, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 282, 288, 294, 296, 298, 300, 302, 304, 306, 308, 310, 312, 314, 315, 317, 318, 320, 321, 323, 324, 326, 328, 330, 331, 334, 335, 336, 337, 339, 341, 408, 409, 410, 412, 413, 414, 415, 416, 417, 419, 420, 423, 426, 427, 428, 430, 434, 438, 443, 448, 449, 450, 452, 457, 476, 482, 483, 486, 494, 498, 510, 511, 512, 515], "rotat": [5, 25, 43, 83, 84, 86, 87, 89, 234, 288, 334, 335, 336, 337, 341, 380, 408, 409, 410, 412, 413, 414, 415, 416, 417, 419, 420, 452, 476, 506, 512, 515], "tangent": [5, 9, 25, 39, 43, 83, 84, 89, 100, 101, 102, 103, 104, 106, 107, 132, 134, 184, 185, 186, 187, 188, 189, 190, 234, 334, 335, 339, 352, 357, 359, 376, 409, 410, 411, 412, 413, 414, 415, 416, 417, 419, 420, 423, 450, 451, 452, 454, 464, 475, 476, 498, 506, 510, 511, 512, 515], "space": [5, 9, 16, 25, 39, 40, 43, 83, 84, 86, 87, 89, 100, 101, 102, 103, 104, 106, 107, 132, 134, 184, 185, 186, 187, 188, 189, 190, 234, 238, 239, 241, 242, 243, 244, 245, 246, 247, 248, 249, 334, 335, 336, 337, 339, 352, 357, 359, 360, 376, 409, 410, 411, 412, 413, 414, 415, 416, 417, 419, 420, 423, 427, 429, 449, 450, 451, 452, 454, 464, 475, 476, 486, 498, 506, 507, 511, 512, 515], "bia": [5, 6, 7, 8, 11, 25, 26, 28, 43, 130, 131, 132, 134, 234, 475], "constant": [5, 13, 16, 25, 32, 40, 43, 88, 234, 338, 359, 360, 394, 456, 458, 462, 463, 464, 476, 484, 503, 506, 507, 509, 510], "over": [5, 6, 25, 26, 43, 88, 234, 338, 359, 451, 458, 460, 476, 478, 484, 499, 506], "window": [5, 25, 43, 506], "recomput": [5, 25, 43], "estim": [5, 7, 8, 25, 43, 132, 134, 140, 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84, 85, 88, 98, 108, 116, 127, 132, 134, 150, 183, 234, 289, 290, 291, 292, 295, 299, 303, 307, 311, 327, 333, 334, 335, 338, 350, 351, 352, 354, 355, 356, 357, 358, 359, 385, 400, 412, 413, 419, 420, 475, 476, 506, 508, 509, 511], "align": [5, 25, 43, 510], "z": [5, 15, 25, 36, 43, 84, 87, 88, 234, 335, 336, 337, 338, 341, 356, 359, 408, 411, 413, 414, 415, 416, 420, 422, 464, 476, 509, 511, 512, 515], "direct": [5, 7, 25, 43, 89, 234, 339, 376, 403, 406, 411, 417, 457, 467, 476, 506, 510], "toward": [5, 25, 43], "earth": [5, 25, 43], "unless": [5, 25, 43, 352, 376, 457, 476, 488, 489], "acceler": [5, 6, 7, 8, 25, 26, 43, 132, 134, 234, 475, 506, 509], "while": [5, 11, 25, 28, 43, 88, 234, 338, 359, 423, 452, 459, 465, 476, 484, 499, 506], "stationari": [5, 25, 43], "yield": [5, 25, 43, 476, 506], "ad": [5, 7, 8, 16, 25, 40, 43, 132, 134, 234, 360, 365, 368, 376, 389, 440, 465, 475, 489, 498, 507, 510, 515], "acceleromet": [5, 6, 7, 8, 25, 26, 43, 130, 131, 132, 134, 234, 475], 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"sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()"], [25, 2, 1, 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"sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::epsilon"], [7, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, 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"_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_direction"], [7, 3, 1, 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"sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, 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"sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, "_CPPv4NK3sym29ImuWithGravityDirectionFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK5Unit3I6ScalarE6Scalar6ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL26EEEEPN5Eigen6MatrixI6ScalarXL26EEXL1EEEE", "sym::ImuWithGravityDirectionFactor::operator()::gravity_norm"], [25, 3, 1, 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"_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [25, 2, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()"], [8, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::accel_bias_i"], [25, 3, 1, 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"_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::epsilon"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::epsilon"], [8, 3, 1, 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"_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, 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"_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, "_CPPv4NK3sym20ImuWithGravityFactorclERK5Pose3RK7Vector3RK5Pose3RK7Vector3RK7Vector3RK7Vector3RK7Vector36ScalarPN5Eigen6MatrixI6ScalarXL9EEXL1EEEEPN5Eigen6MatrixI6ScalarXL9EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL27EEEEPN5Eigen6MatrixI6ScalarXL27EEXL1EEEE", "sym::ImuWithGravityFactor::operator()::gravity"], [25, 3, 1, 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"_CPPv4I0EN3sym33InverseRangeLandmarkAtanGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"], [234, "_CPPv4I0EN3sym33InverseRangeLandmarkAtanGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym13ATANCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"]], "sym::inverserangelandmarkdoublespheregncfactor (c++ function)": [[136, 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"_CPPv4I0EN3sym35InverseRangeLandmarkLinearGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"], [234, "_CPPv4I0EN3sym35InverseRangeLandmarkLinearGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"]], "sym::inverserangelandmarkpolynomialgncfactor (c++ function)": [[139, "_CPPv4I0EN3sym39InverseRangeLandmarkPolynomialGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym19PolynomialCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"], [234, "_CPPv4I0EN3sym39InverseRangeLandmarkPolynomialGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym19PolynomialCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"]], "sym::inverserangelandmarkpriorfactor (c++ function)": [[140, "_CPPv4I0EN3sym31InverseRangeLandmarkPriorFactorEvK6ScalarK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEE"], [234, "_CPPv4I0EN3sym31InverseRangeLandmarkPriorFactorEvK6ScalarK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL1EEXL1EEEE"]], "sym::inverserangelandmarksphericalgncfactor (c++ function)": [[141, "_CPPv4I0EN3sym38InverseRangeLandmarkSphericalGncFactorEvRKN3sym5Pose3I6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym18SphericalCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarK6ScalarK6ScalarK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL2EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL13EEEEPCN5Eigen6MatrixI6ScalarXL13EEXL1EEEE"], [234, 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"_CPPv4I0EN3sym23LinearReprojectionDeltaEvRKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPC6Scalar"], [234, "_CPPv4I0EN3sym23LinearReprojectionDeltaEvRKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym15LinearCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL2EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPC6Scalar"]], "sym::polynomialcameracald (c++ type)": [[165, "_CPPv4N3sym20PolynomialCameraCaldE"], [234, "_CPPv4N3sym20PolynomialCameraCaldE"]], "sym::polynomialcameracalf (c++ type)": [[165, "_CPPv4N3sym20PolynomialCameraCalfE"], [234, "_CPPv4N3sym20PolynomialCameraCalfE"]], "sym::polynomialreprojectiondelta (c++ function)": [[166, "_CPPv4I0EN3sym27PolynomialReprojectionDeltaEvRKN3sym5Pose3I6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym19PolynomialCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPC6Scalar"], [234, "_CPPv4I0EN3sym27PolynomialReprojectionDeltaEvRKN3sym5Pose3I6ScalarEERKN3sym5Pose3I6ScalarEERKN3sym19PolynomialCameraCalI6ScalarEEK6ScalarRKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL2EEXL1EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL2EEXL1EEEEPC6Scalar"]], "sym::pose2d (c++ type)": [[174, "_CPPv4N3sym6Pose2dE"], [234, "_CPPv4N3sym6Pose2dE"]], "sym::pose2f (c++ type)": [[174, "_CPPv4N3sym6Pose2fE"], [234, "_CPPv4N3sym6Pose2fE"]], "sym::pose3d (c++ type)": [[182, "_CPPv4N3sym6Pose3dE"], [234, "_CPPv4N3sym6Pose3dE"]], "sym::pose3f (c++ type)": [[182, "_CPPv4N3sym6Pose3fE"], [234, "_CPPv4N3sym6Pose3fE"]], "sym::posedcamera::pose_ (c++ member)": [[183, "_CPPv4N3sym11PosedCamera5pose_E"]], 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"_CPPv4I0EN3sym24PriorFactorPose3PositionEvRKN3sym5Pose3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL3EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL3EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL1EEEE"], [234, "_CPPv4I0EN3sym24PriorFactorPose3PositionEvRKN3sym5Pose3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL1EEEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL3EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL3EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL1EEEE"]], "sym::priorfactorpose3rotation (c++ function)": [[188, "_CPPv4I0EN3sym24PriorFactorPose3RotationEvRKN3sym5Pose3I6ScalarEERKN3sym4Rot3I6ScalarEERKN5Eigen6MatrixI6ScalarXL3EEXL3EEEEK6ScalarPCN5Eigen6MatrixI6ScalarXL3EEXL1EEEEPCN5Eigen6MatrixI6ScalarXL3EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL6EEEEPCN5Eigen6MatrixI6ScalarXL6EEXL1EEEE"], [234, 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(rot3 method)": [[337, "sym.rot3.Rot3.compose_with_point"]], "data (rot3 attribute)": [[337, "sym.rot3.Rot3.data"]], "from_angle_axis() (rot3 static method)": [[337, "sym.rot3.Rot3.from_angle_axis"]], "from_rotation_matrix() (rot3 class method)": [[337, "sym.rot3.Rot3.from_rotation_matrix"], [416, "symforce.geo.rot3.Rot3.from_rotation_matrix"], [476, "symforce.symbolic.Rot3.from_rotation_matrix"]], "from_storage() (rot3 class method)": [[337, "sym.rot3.Rot3.from_storage"], [416, "symforce.geo.rot3.Rot3.from_storage"], [476, "symforce.symbolic.Rot3.from_storage"]], "from_tangent() (rot3 class method)": [[337, "sym.rot3.Rot3.from_tangent"], [416, "symforce.geo.rot3.Rot3.from_tangent"], [476, "symforce.symbolic.Rot3.from_tangent"]], "from_two_unit_vectors() (rot3 static method)": [[337, "sym.rot3.Rot3.from_two_unit_vectors"]], "from_yaw_pitch_roll() (rot3 static method)": [[337, "sym.rot3.Rot3.from_yaw_pitch_roll"]], "identity() (rot3 class method)": [[337, "sym.rot3.Rot3.identity"], 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"sym.spherical_camera_cal.SphericalCameraCal.from_storage"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.from_storage"], [476, "symforce.symbolic.SphericalCameraCal.from_storage"]], "from_tangent() (sphericalcameracal class method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.from_tangent"]], "interpolate() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.interpolate"]], "local_coordinates() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.local_coordinates"]], "pixel_from_camera_point() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point"], [476, "symforce.symbolic.SphericalCameraCal.pixel_from_camera_point"]], "pixel_from_camera_point_with_jacobians() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.pixel_from_camera_point_with_jacobians"]], "principal_point() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.principal_point"]], "retract() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.retract"]], "storage_dim() (sphericalcameracal static method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.storage_dim"]], "sym.spherical_camera_cal": [[338, "module-sym.spherical_camera_cal"]], "tangent_dim() (sphericalcameracal static method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.tangent_dim"]], "to_storage() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.to_storage"], [359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.to_storage"], [476, "symforce.symbolic.SphericalCameraCal.to_storage"]], "to_tangent() (sphericalcameracal method)": [[338, "sym.spherical_camera_cal.SphericalCameraCal.to_tangent"]], "unit3 (class in sym.unit3)": [[339, "sym.unit3.Unit3"]], "between() (unit3 method)": [[339, "sym.unit3.Unit3.between"]], "compose() (unit3 method)": [[339, "sym.unit3.Unit3.compose"], [417, "symforce.geo.unit3.Unit3.compose"], [476, "symforce.symbolic.Unit3.compose"]], "data (unit3 attribute)": [[339, "sym.unit3.Unit3.data"]], "from_storage() (unit3 class method)": [[339, "sym.unit3.Unit3.from_storage"], [417, "symforce.geo.unit3.Unit3.from_storage"], [476, "symforce.symbolic.Unit3.from_storage"]], "from_tangent() (unit3 class method)": [[339, "sym.unit3.Unit3.from_tangent"], [417, "symforce.geo.unit3.Unit3.from_tangent"], [476, "symforce.symbolic.Unit3.from_tangent"]], "from_vector() (unit3 static method)": [[339, "sym.unit3.Unit3.from_vector"]], "identity() (unit3 class method)": [[339, "sym.unit3.Unit3.identity"], [417, "symforce.geo.unit3.Unit3.identity"], [476, "symforce.symbolic.Unit3.identity"]], "interpolate() (unit3 method)": [[339, "sym.unit3.Unit3.interpolate"]], "inverse() (unit3 method)": [[339, "sym.unit3.Unit3.inverse"], [417, "symforce.geo.unit3.Unit3.inverse"], [476, "symforce.symbolic.Unit3.inverse"]], "local_coordinates() (unit3 method)": [[339, "sym.unit3.Unit3.local_coordinates"]], "retract() (unit3 method)": [[339, "sym.unit3.Unit3.retract"]], "storage_dim() (unit3 static method)": [[339, "sym.unit3.Unit3.storage_dim"]], "sym.unit3": [[339, "module-sym.unit3"]], "tangent_dim() (unit3 static method)": [[339, "sym.unit3.Unit3.tangent_dim"]], "to_rotation() (unit3 method)": [[339, "sym.unit3.Unit3.to_rotation"], [417, "symforce.geo.unit3.Unit3.to_rotation"], [476, "symforce.symbolic.Unit3.to_rotation"]], "to_storage() (unit3 method)": [[339, "sym.unit3.Unit3.to_storage"], [417, "symforce.geo.unit3.Unit3.to_storage"], [476, "symforce.symbolic.Unit3.to_storage"]], "to_tangent() (unit3 method)": [[339, "sym.unit3.Unit3.to_tangent"], [417, "symforce.geo.unit3.Unit3.to_tangent"], [476, "symforce.symbolic.Unit3.to_tangent"]], "to_unit_vector() (unit3 method)": [[339, "sym.unit3.Unit3.to_unit_vector"], [417, "symforce.geo.unit3.Unit3.to_unit_vector"], [476, "symforce.symbolic.Unit3.to_unit_vector"]], "alreadyusedepsilon": [[341, "symforce.AlreadyUsedEpsilon"]], "invalidsymbolicapierror": [[341, "symforce.InvalidSymbolicApiError"]], "symbolicepsilon (class in symforce)": [[341, "symforce.SymbolicEpsilon"]], "get_symbolic_api() (in module symforce)": [[341, "symforce.get_symbolic_api"]], "name (symbolicepsilon attribute)": [[341, "symforce.SymbolicEpsilon.name"]], "set_epsilon_to_invalid() (in module symforce)": [[341, "symforce.set_epsilon_to_invalid"]], "set_epsilon_to_number() (in module symforce)": [[341, "symforce.set_epsilon_to_number"]], "set_epsilon_to_symbol() (in module symforce)": [[341, "symforce.set_epsilon_to_symbol"]], "set_epsilon_to_zero() (in module symforce)": [[341, "symforce.set_epsilon_to_zero"]], "set_log_level() (in module symforce)": [[341, "symforce.set_log_level"]], "set_symbolic_api() (in module symforce)": [[341, "symforce.set_symbolic_api"]], "symforce": [[341, "module-symforce"]], "symforce.benchmarks": [[342, "module-symforce.benchmarks"]], "symforce.benchmarks.inverse_compose_jacobian": [[343, "module-symforce.benchmarks.inverse_compose_jacobian"]], "generate() (in module symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian)": [[344, "symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian.generate"]], "symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian": [[344, "module-symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian"]], "symforce.benchmarks.matrix_multiplication": [[345, "module-symforce.benchmarks.matrix_multiplication"]], "generate() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.generate"]], "generate_matrix() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.generate_matrix"]], "get_matrices() (in module symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark)": [[346, "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.get_matrices"]], "symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark": [[346, "module-symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark"]], "symforce.benchmarks.robot_3d_localization": [[347, "module-symforce.benchmarks.robot_3d_localization"]], "m (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.M"]], "matmulbenchmarkconfig (class in symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig"]], "n (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.N"]], "main() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.main"]], "matrix_name (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.matrix_name"]], "nnz (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.nnz"]], "run() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run"]], "run_benchmark() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run_benchmark"]], "run_matmul_benchmark() (in module symforce.benchmarks.run_benchmarks)": [[348, "symforce.benchmarks.run_benchmarks.run_matmul_benchmark"]], "scalar_type (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.scalar_type"]], "size (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.size"]], "symforce.benchmarks.run_benchmarks": [[348, "module-symforce.benchmarks.run_benchmarks"]], "test (matmulbenchmarkconfig attribute)": [[348, "symforce.benchmarks.run_benchmarks.MatmulBenchmarkConfig.test"]], "symforce.cam": [[349, "module-symforce.cam"]], "atancameracal (class in symforce.cam.atan_camera_cal)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal"]], "num_distortion_coeffs (atancameracal attribute)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.ATANCameraCal.NUM_DISTORTION_COEFFS"]], "omega (atancameracal property)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.omega"], [476, "symforce.symbolic.ATANCameraCal.omega"]], "storage_order() (atancameracal class method)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.storage_order"], [476, "symforce.symbolic.ATANCameraCal.storage_order"]], "symbolic() (atancameracal class method)": [[350, "symforce.cam.atan_camera_cal.ATANCameraCal.symbolic"], [476, "symforce.symbolic.ATANCameraCal.symbolic"]], "symforce.cam.atan_camera_cal": [[350, "module-symforce.cam.atan_camera_cal"]], "camera (class in symforce.cam.camera)": [[351, "symforce.cam.camera.Camera"]], "camerat (camera attribute)": [[351, "symforce.cam.camera.Camera.CameraT"], [476, "symforce.symbolic.Camera.CameraT"]], "camera_ray_from_pixel() (camera method)": [[351, "symforce.cam.camera.Camera.camera_ray_from_pixel"], [476, "symforce.symbolic.Camera.camera_ray_from_pixel"]], "distortion_coeffs (camera property)": [[351, "symforce.cam.camera.Camera.distortion_coeffs"], [476, "symforce.symbolic.Camera.distortion_coeffs"]], "focal_length (camera property)": [[351, "symforce.cam.camera.Camera.focal_length"], [476, "symforce.symbolic.Camera.focal_length"]], "has_camera_ray_from_pixel() (camera method)": [[351, "symforce.cam.camera.Camera.has_camera_ray_from_pixel"], [476, "symforce.symbolic.Camera.has_camera_ray_from_pixel"]], "in_view() (camera static method)": [[351, "symforce.cam.camera.Camera.in_view"], [476, "symforce.symbolic.Camera.in_view"]], "maybe_check_in_view() (camera method)": [[351, "symforce.cam.camera.Camera.maybe_check_in_view"], [476, "symforce.symbolic.Camera.maybe_check_in_view"]], "pixel_from_camera_point() (camera method)": [[351, "symforce.cam.camera.Camera.pixel_from_camera_point"], [476, "symforce.symbolic.Camera.pixel_from_camera_point"]], "principal_point (camera property)": [[351, "symforce.cam.camera.Camera.principal_point"], [476, "symforce.symbolic.Camera.principal_point"]], "subs() (camera method)": [[351, "symforce.cam.camera.Camera.subs"], [476, "symforce.symbolic.Camera.subs"]], "symforce.cam.camera": [[351, "module-symforce.cam.camera"]], "cameracal (class in symforce.cam.camera_cal)": [[352, "symforce.cam.camera_cal.CameraCal"]], "cameracalt (cameracal attribute)": [[352, "symforce.cam.camera_cal.CameraCal.CameraCalT"], [476, "symforce.symbolic.CameraCal.CameraCalT"]], "num_distortion_coeffs (cameracal attribute)": [[352, "symforce.cam.camera_cal.CameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.CameraCal.NUM_DISTORTION_COEFFS"]], "camera_ray_from_pixel() (cameracal method)": [[352, "symforce.cam.camera_cal.CameraCal.camera_ray_from_pixel"], [476, "symforce.symbolic.CameraCal.camera_ray_from_pixel"]], "from_distortion_coeffs() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.from_distortion_coeffs"], [476, "symforce.symbolic.CameraCal.from_distortion_coeffs"]], "from_storage() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.from_storage"], [476, "symforce.symbolic.CameraCal.from_storage"]], "has_camera_ray_from_pixel() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.has_camera_ray_from_pixel"], [476, "symforce.symbolic.CameraCal.has_camera_ray_from_pixel"]], "parameters() (cameracal method)": [[352, "symforce.cam.camera_cal.CameraCal.parameters"], [476, "symforce.symbolic.CameraCal.parameters"]], "pixel_from_camera_point() (cameracal method)": [[352, "symforce.cam.camera_cal.CameraCal.pixel_from_camera_point"], [476, "symforce.symbolic.CameraCal.pixel_from_camera_point"]], "storage_dim() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.storage_dim"], [476, "symforce.symbolic.CameraCal.storage_dim"]], "storage_order() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.storage_order"], [476, "symforce.symbolic.CameraCal.storage_order"]], "symbolic() (cameracal class method)": [[352, "symforce.cam.camera_cal.CameraCal.symbolic"], [476, "symforce.symbolic.CameraCal.symbolic"]], "symforce.cam.camera_cal": [[352, "module-symforce.cam.camera_cal"]], "to_storage() (cameracal method)": [[352, "symforce.cam.camera_cal.CameraCal.to_storage"], [476, "symforce.symbolic.CameraCal.to_storage"]], "compute_odd_polynomial_critical_point() (in module symforce.cam.camera_util)": [[353, "symforce.cam.camera_util.compute_odd_polynomial_critical_point"]], "symforce.cam.camera_util": [[353, "module-symforce.cam.camera_util"]], "doublespherecameracal (class in symforce.cam.double_sphere_camera_cal)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal"]], "num_distortion_coeffs (doublespherecameracal attribute)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.DoubleSphereCameraCal.NUM_DISTORTION_COEFFS"]], "alpha (doublespherecameracal property)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.alpha"], [476, "symforce.symbolic.DoubleSphereCameraCal.alpha"]], "storage_order() (doublespherecameracal class method)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.storage_order"], [476, "symforce.symbolic.DoubleSphereCameraCal.storage_order"]], "symbolic() (doublespherecameracal class method)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.symbolic"], [476, "symforce.symbolic.DoubleSphereCameraCal.symbolic"]], "symforce.cam.double_sphere_camera_cal": [[354, "module-symforce.cam.double_sphere_camera_cal"]], "xi (doublespherecameracal property)": [[354, "symforce.cam.double_sphere_camera_cal.DoubleSphereCameraCal.xi"], [476, "symforce.symbolic.DoubleSphereCameraCal.xi"]], "equirectangularcameracal (class in symforce.cam.equirectangular_camera_cal)": [[355, "symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal"]], "num_distortion_coeffs (equirectangularcameracal attribute)": [[355, "symforce.cam.equirectangular_camera_cal.EquirectangularCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.EquirectangularCameraCal.NUM_DISTORTION_COEFFS"]], "symforce.cam.equirectangular_camera_cal": [[355, "module-symforce.cam.equirectangular_camera_cal"]], "linearcameracal (class in symforce.cam.linear_camera_cal)": [[356, "symforce.cam.linear_camera_cal.LinearCameraCal"]], "num_distortion_coeffs (linearcameracal attribute)": [[356, "symforce.cam.linear_camera_cal.LinearCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.LinearCameraCal.NUM_DISTORTION_COEFFS"]], "pixel_from_unit_depth() (linearcameracal method)": [[356, "symforce.cam.linear_camera_cal.LinearCameraCal.pixel_from_unit_depth"], [476, "symforce.symbolic.LinearCameraCal.pixel_from_unit_depth"]], "project() (linearcameracal static method)": [[356, "symforce.cam.linear_camera_cal.LinearCameraCal.project"], [476, "symforce.symbolic.LinearCameraCal.project"]], "symforce.cam.linear_camera_cal": [[356, "module-symforce.cam.linear_camera_cal"]], "unit_depth_from_pixel() (linearcameracal method)": [[356, "symforce.cam.linear_camera_cal.LinearCameraCal.unit_depth_from_pixel"], [476, "symforce.symbolic.LinearCameraCal.unit_depth_from_pixel"]], "default_max_fov (polynomialcameracal attribute)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.DEFAULT_MAX_FOV"], [476, "symforce.symbolic.PolynomialCameraCal.DEFAULT_MAX_FOV"]], "num_distortion_coeffs (polynomialcameracal attribute)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.PolynomialCameraCal.NUM_DISTORTION_COEFFS"]], "polynomialcameracal (class in symforce.cam.polynomial_camera_cal)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal"]], "camera_ray_from_pixel() (polynomialcameracal method)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.camera_ray_from_pixel"], [476, "symforce.symbolic.PolynomialCameraCal.camera_ray_from_pixel"]], "from_distortion_coeffs() (polynomialcameracal class method)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.from_distortion_coeffs"], [476, "symforce.symbolic.PolynomialCameraCal.from_distortion_coeffs"]], "storage_dim() (polynomialcameracal class method)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.storage_dim"], [476, "symforce.symbolic.PolynomialCameraCal.storage_dim"]], "storage_order() (polynomialcameracal class method)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.storage_order"], [476, "symforce.symbolic.PolynomialCameraCal.storage_order"]], "symbolic() (polynomialcameracal class method)": [[357, "symforce.cam.polynomial_camera_cal.PolynomialCameraCal.symbolic"], [476, "symforce.symbolic.PolynomialCameraCal.symbolic"]], "symforce.cam.polynomial_camera_cal": [[357, "module-symforce.cam.polynomial_camera_cal"]], "posedcamera (class in symforce.cam.posed_camera)": [[358, "symforce.cam.posed_camera.PosedCamera"]], "posedcamerat (posedcamera attribute)": [[358, "symforce.cam.posed_camera.PosedCamera.PosedCameraT"], [476, "symforce.symbolic.PosedCamera.PosedCameraT"]], "global_point_from_pixel() (posedcamera method)": [[358, "symforce.cam.posed_camera.PosedCamera.global_point_from_pixel"], [476, "symforce.symbolic.PosedCamera.global_point_from_pixel"]], "image_size (posedcamera attribute)": [[358, "symforce.cam.posed_camera.PosedCamera.image_size"], [476, "symforce.symbolic.PosedCamera.image_size"]], "pixel_from_global_point() (posedcamera method)": [[358, "symforce.cam.posed_camera.PosedCamera.pixel_from_global_point"], [476, "symforce.symbolic.PosedCamera.pixel_from_global_point"]], "subs() (posedcamera method)": [[358, "symforce.cam.posed_camera.PosedCamera.subs"], [476, "symforce.symbolic.PosedCamera.subs"]], "symforce.cam.posed_camera": [[358, "module-symforce.cam.posed_camera"]], "warp_pixel() (posedcamera method)": [[358, "symforce.cam.posed_camera.PosedCamera.warp_pixel"], [476, "symforce.symbolic.PosedCamera.warp_pixel"]], "num_distortion_coeffs (sphericalcameracal attribute)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.NUM_DISTORTION_COEFFS"], [476, "symforce.symbolic.SphericalCameraCal.NUM_DISTORTION_COEFFS"]], "sphericalcameracal (class in symforce.cam.spherical_camera_cal)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal"]], "camera_ray_from_pixel() (sphericalcameracal method)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.camera_ray_from_pixel"], [476, "symforce.symbolic.SphericalCameraCal.camera_ray_from_pixel"]], "from_distortion_coeffs() (sphericalcameracal class method)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.from_distortion_coeffs"], [476, "symforce.symbolic.SphericalCameraCal.from_distortion_coeffs"]], "storage_dim() (sphericalcameracal class method)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.storage_dim"], [476, "symforce.symbolic.SphericalCameraCal.storage_dim"]], "storage_order() (sphericalcameracal class method)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.storage_order"], [476, "symforce.symbolic.SphericalCameraCal.storage_order"]], "symbolic() (sphericalcameracal class method)": [[359, "symforce.cam.spherical_camera_cal.SphericalCameraCal.symbolic"], [476, "symforce.symbolic.SphericalCameraCal.symbolic"]], "symforce.cam.spherical_camera_cal": [[359, "module-symforce.cam.spherical_camera_cal"]], "factor (class in cc_sym)": [[360, "cc_sym.Factor"], [507, "cc_sym.Factor"]], "invalid_letter (key attribute)": [[360, "cc_sym.Key.INVALID_LETTER"], [507, "cc_sym.Key.INVALID_LETTER"]], "invalid_sub (key attribute)": [[360, "cc_sym.Key.INVALID_SUB"], [507, "cc_sym.Key.INVALID_SUB"]], "invalid_super (key attribute)": [[360, "cc_sym.Key.INVALID_SUPER"], [507, "cc_sym.Key.INVALID_SUPER"]], "key (class in cc_sym)": [[360, "cc_sym.Key"], [507, "cc_sym.Key"]], "linearization (class in cc_sym)": [[360, "cc_sym.Linearization"], [507, "cc_sym.Linearization"]], "optimizationstats (class in cc_sym)": [[360, "cc_sym.OptimizationStats"], [507, "cc_sym.OptimizationStats"]], "optimizer (class in cc_sym)": [[360, "cc_sym.Optimizer"], [507, "cc_sym.Optimizer"]], "values (class in cc_sym)": [[360, "cc_sym.Values"], [507, "cc_sym.Values"]], "all_keys() (factor method)": [[360, "cc_sym.Factor.all_keys"], [507, "cc_sym.Factor.all_keys"]], "at() (values method)": [[360, "cc_sym.Values.at"], [507, "cc_sym.Values.at"]], "best_index (optimizationstats property)": [[360, "cc_sym.OptimizationStats.best_index"], [507, "cc_sym.OptimizationStats.best_index"]], "best_linearization (optimizationstats property)": [[360, "cc_sym.OptimizationStats.best_linearization"], [507, "cc_sym.OptimizationStats.best_linearization"]], "cc_sym": [[360, "module-cc_sym"], [507, "module-cc_sym"]], "cholesky_factor_sparsity (optimizationstats property)": [[360, "cc_sym.OptimizationStats.cholesky_factor_sparsity"], [507, "cc_sym.OptimizationStats.cholesky_factor_sparsity"]], "cleanup() (values method)": [[360, "cc_sym.Values.cleanup"], [507, "cc_sym.Values.cleanup"]], "compute_all_covariances() (optimizer method)": [[360, "cc_sym.Optimizer.compute_all_covariances"], [466, "symforce.opt.optimizer.Optimizer.compute_all_covariances"], [507, "cc_sym.Optimizer.compute_all_covariances"]], "compute_covariances() (optimizer method)": [[360, "cc_sym.Optimizer.compute_covariances"], [466, "symforce.opt.optimizer.Optimizer.compute_covariances"], [507, "cc_sym.Optimizer.compute_covariances"]], "compute_full_covariance() (optimizer method)": [[360, "cc_sym.Optimizer.compute_full_covariance"], [466, "symforce.opt.optimizer.Optimizer.compute_full_covariance"], [507, "cc_sym.Optimizer.compute_full_covariance"]], "create_index() (values method)": [[360, "cc_sym.Values.create_index"], [507, "cc_sym.Values.create_index"]], "data() (values method)": [[360, "cc_sym.Values.data"], [507, "cc_sym.Values.data"]], "default_optimizer_params() (in module cc_sym)": [[360, "cc_sym.default_optimizer_params"], [507, "cc_sym.default_optimizer_params"]], "empty() (values method)": [[360, "cc_sym.Values.empty"], [507, "cc_sym.Values.empty"]], "error() (linearization method)": [[360, "cc_sym.Linearization.error"], [507, "cc_sym.Linearization.error"]], "factors() (optimizer method)": [[360, "cc_sym.Optimizer.factors"], [507, "cc_sym.Optimizer.factors"]], "failure_reason (optimizationstats property)": [[360, "cc_sym.OptimizationStats.failure_reason"], [507, "cc_sym.OptimizationStats.failure_reason"]], "get_lcm_type() (key method)": [[360, "cc_sym.Key.get_lcm_type"], [507, "cc_sym.Key.get_lcm_type"]], "get_lcm_type() (optimizationstats method)": [[360, "cc_sym.OptimizationStats.get_lcm_type"], [507, "cc_sym.OptimizationStats.get_lcm_type"]], "get_lcm_type() (values method)": [[360, "cc_sym.Values.get_lcm_type"], [507, "cc_sym.Values.get_lcm_type"]], "has() (values method)": [[360, "cc_sym.Values.has"], [507, "cc_sym.Values.has"]], "hessian_lower (linearization property)": [[360, "cc_sym.Linearization.hessian_lower"], [507, "cc_sym.Linearization.hessian_lower"]], "is_initialized() (linearization method)": [[360, "cc_sym.Linearization.is_initialized"], [507, "cc_sym.Linearization.is_initialized"]], "is_sparse() (factor method)": [[360, "cc_sym.Factor.is_sparse"], [507, "cc_sym.Factor.is_sparse"]], "items() (values method)": [[360, "cc_sym.Values.items"], [498, "symforce.values.values.Values.items"], [507, "cc_sym.Values.items"]], "iterations (optimizationstats property)": [[360, "cc_sym.OptimizationStats.iterations"], [507, "cc_sym.OptimizationStats.iterations"]], "jacobian (linearization property)": [[360, "cc_sym.Linearization.jacobian"], [507, "cc_sym.Linearization.jacobian"]], "jacobian() (factor static method)": [[360, "cc_sym.Factor.jacobian"], [507, "cc_sym.Factor.jacobian"]], "jacobian_sparsity (optimizationstats property)": [[360, "cc_sym.OptimizationStats.jacobian_sparsity"], [507, "cc_sym.OptimizationStats.jacobian_sparsity"]], "keys() (optimizer method)": [[360, "cc_sym.Optimizer.keys"], [507, "cc_sym.Optimizer.keys"]], "keys() (values method)": [[360, "cc_sym.Values.keys"], [498, "symforce.values.values.Values.keys"], [507, 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symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.load_generated_package"]], "name (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.name"]], "nonzero_elements (cscformat attribute)": [[378, "symforce.codegen.codegen_util.CSCFormat.nonzero_elements"]], "perform_cse() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.perform_cse"]], "print_code() (in module symforce.codegen.codegen_util)": [[378, "symforce.codegen.codegen_util.print_code"]], "python_types_dir (lcmbindingsdirs attribute)": [[378, "symforce.codegen.codegen_util.LcmBindingsDirs.python_types_dir"]], "sparse (denseandsparseoutputterms attribute)": [[378, "symforce.codegen.codegen_util.DenseAndSparseOutputTerms.sparse"]], "sparse_terms (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.sparse_terms"]], "symforce.codegen.codegen_util": [[378, "module-symforce.codegen.codegen_util"]], "terms (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.terms"]], "to_matrix() (cscformat method)": [[378, "symforce.codegen.codegen_util.CSCFormat.to_matrix"]], "total_ops (printcoderesult attribute)": [[378, "symforce.codegen.codegen_util.PrintCodeResult.total_ops"]], "type (outputwithterms attribute)": [[378, "symforce.codegen.codegen_util.OutputWithTerms.type"]], "format_cpp() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_cpp"]], "format_py() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_py"]], "format_py_dir() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_py_dir"]], "format_pyi() (in module symforce.codegen.format_util)": [[379, "symforce.codegen.format_util.format_pyi"]], "symforce.codegen.format_util": [[379, "module-symforce.codegen.format_util"]], "between_factor() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.between_factor"]], "generate() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate"]], "generate_between_factors() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate_between_factors"]], "generate_pose3_extra_factors() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.generate_pose3_extra_factors"]], "get_between_factor_docstring() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.get_between_factor_docstring"]], "get_prior_docstring() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.get_prior_docstring"]], "prior_factor() (in module symforce.codegen.geo_factors_codegen)": [[380, "symforce.codegen.geo_factors_codegen.prior_factor"]], "symforce.codegen.geo_factors_codegen": [[380, "module-symforce.codegen.geo_factors_codegen"]], "generate() (in module symforce.codegen.geo_package_codegen)": [[381, "symforce.codegen.geo_package_codegen.generate"]], "geo_class_common_data() (in module symforce.codegen.geo_package_codegen)": [[381, "symforce.codegen.geo_package_codegen.geo_class_common_data"]], "symforce.codegen.geo_package_codegen": [[381, "module-symforce.codegen.geo_package_codegen"]], "lcm_symforce_types_data() (in module symforce.codegen.lcm_types_codegen)": [[382, "symforce.codegen.lcm_types_codegen.lcm_symforce_types_data"]], "symforce.codegen.lcm_types_codegen": [[382, "module-symforce.codegen.lcm_types_codegen"]], "make_group_ops_funcs() (in module symforce.codegen.ops_codegen_util)": [[383, "symforce.codegen.ops_codegen_util.make_group_ops_funcs"]], "make_lie_group_ops_funcs() (in module symforce.codegen.ops_codegen_util)": [[383, "symforce.codegen.ops_codegen_util.make_lie_group_ops_funcs"]], "symforce.codegen.ops_codegen_util": [[383, "module-symforce.codegen.ops_codegen_util"]], "similarityindex (class in symforce.codegen.similarity_index)": [[384, "symforce.codegen.similarity_index.SimilarityIndex"]], "__hash__() (similarityindex method)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.__hash__"]], "config (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.config"]], "from_codegen() (similarityindex static method)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.from_codegen"]], "inputs (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.inputs"]], "outputs (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.outputs"]], "return_key (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.return_key"]], "sorted_sparse_matrices (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.sorted_sparse_matrices"]], "sparse_matrices (similarityindex attribute)": [[384, "symforce.codegen.similarity_index.SimilarityIndex.sparse_matrices"]], "symforce.codegen.similarity_index": [[384, "module-symforce.codegen.similarity_index"]], "generate() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.generate"]], "inverse_range_landmark_gnc_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_gnc_residual"]], "inverse_range_landmark_prior_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_prior_residual"]], "inverse_range_landmark_ray_gnc_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_ray_gnc_residual"]], "inverse_range_landmark_ray_reprojection_error_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_ray_reprojection_error_residual"]], "inverse_range_landmark_reprojection_error_residual() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.inverse_range_landmark_reprojection_error_residual"]], "ray_reprojection_delta() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.ray_reprojection_delta"]], "reprojection_delta() (in module symforce.codegen.slam_factors_codegen)": [[385, "symforce.codegen.slam_factors_codegen.reprojection_delta"]], "symforce.codegen.slam_factors_codegen": [[385, "module-symforce.codegen.slam_factors_codegen"]], "generate() (in module symforce.codegen.sym_util_package_codegen)": [[386, "symforce.codegen.sym_util_package_codegen.generate"]], "symforce.codegen.sym_util_package_codegen": [[386, "module-symforce.codegen.sym_util_package_codegen"]], "cpp (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.CPP"]], "cuda (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.CUDA"]], "filetype (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.FileType"]], "lcm (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.LCM"]], "makefile (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.MAKEFILE"]], "python (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.PYTHON"]], "python_interface (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.PYTHON_INTERFACE"]], "relenvironment (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.RelEnvironment"]], "typescript (filetype attribute)": [[387, "symforce.codegen.template_util.FileType.TYPESCRIPT"]], "templatelist (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.TemplateList"]], "templatelist.templatelistentry (class in symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry"]], "add() (templatelist method)": [[387, "symforce.codegen.template_util.TemplateList.add"]], "add_preamble() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.add_preamble"]], "autoformat() (filetype method)": [[387, "symforce.codegen.template_util.FileType.autoformat"]], "comment_prefix() (filetype method)": [[387, "symforce.codegen.template_util.FileType.comment_prefix"]], "config (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.config"]], "data (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.data"]], "from_extension() (filetype static method)": [[387, "symforce.codegen.template_util.FileType.from_extension"]], "from_template_path() (filetype static method)": [[387, "symforce.codegen.template_util.FileType.from_template_path"]], "jinja_env() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.jinja_env"]], "join_path() (relenvironment method)": [[387, "symforce.codegen.template_util.RelEnvironment.join_path"]], "output_path (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.output_path"]], "render() (templatelist method)": [[387, "symforce.codegen.template_util.TemplateList.render"]], "render_template() (in module symforce.codegen.template_util)": [[387, "symforce.codegen.template_util.render_template"]], "symforce.codegen.template_util": [[387, "module-symforce.codegen.template_util"]], "template_dir (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.template_dir"]], "template_path (templatelist.templatelistentry attribute)": [[387, "symforce.codegen.template_util.TemplateList.TemplateListEntry.template_path"]], "typescodegendata (class in symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData"]], "build_types_dict() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.build_types_dict"]], "generate_types() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.generate_types"]], "get_subvalues_from_list_index() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.get_subvalues_from_list_index"]], "lcm_bindings_dirs (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_bindings_dirs"]], "lcm_bindings_output_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_bindings_output_dir"]], "lcm_files (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_files"]], "lcm_type_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.lcm_type_dir"]], "namespaces_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.namespaces_dict"]], "output_dir (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.output_dir"]], "package_name (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.package_name"]], "scalar_type (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.scalar_type"]], "shared_types (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.shared_types"]], "symforce.codegen.types_package_codegen": [[388, "module-symforce.codegen.types_package_codegen"]], "typename_from_key() (in module symforce.codegen.types_package_codegen)": [[388, "symforce.codegen.types_package_codegen.typename_from_key"]], "typenames_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.typenames_dict"]], "types_dict (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.types_dict"]], "values_indices (typescodegendata attribute)": [[388, "symforce.codegen.types_package_codegen.TypesCodegenData.values_indices"]], "generate_values_keys() (in module symforce.codegen.values_codegen)": [[389, "symforce.codegen.values_codegen.generate_values_keys"]], "symforce.codegen.values_codegen": [[389, "module-symforce.codegen.values_codegen"]], "databuffer (class in symforce.databuffer)": [[390, "symforce.databuffer.DataBuffer"]], "default_assumptions (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.default_assumptions"]], "is_algebraic (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_algebraic"]], "is_commutative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_commutative"]], "is_complex (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_complex"]], "is_composite (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_composite"]], "is_even (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_even"]], "is_extended_negative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_negative"]], "is_extended_nonnegative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonnegative"]], "is_extended_nonpositive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonpositive"]], "is_extended_nonzero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_nonzero"]], "is_extended_positive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_positive"]], "is_extended_real (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_extended_real"]], "is_imaginary (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_imaginary"]], "is_integer (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_integer"]], "is_irrational (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_irrational"]], "is_negative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_negative"]], "is_noninteger (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_noninteger"]], "is_nonnegative (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonnegative"]], "is_nonpositive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonpositive"]], "is_nonzero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_nonzero"]], "is_odd (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_odd"]], "is_positive (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_positive"]], "is_prime (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_prime"]], "is_rational (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_rational"]], "is_real (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_real"]], "is_transcendental (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_transcendental"]], "is_zero (databuffer attribute)": [[390, "symforce.databuffer.DataBuffer.is_zero"]], "symforce.databuffer": [[390, "module-symforce.databuffer"]], "symforce.examples": [[391, "module-symforce.examples"]], "symforce.examples.bundle_adjustment": [[392, "module-symforce.examples.bundle_adjustment"]], "symforce.examples.bundle_adjustment_fixed_size": [[393, "module-symforce.examples.bundle_adjustment_fixed_size"]], "build_values() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.build_values"]], "define_feature_match() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_feature_match"]], "define_objective_costs() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_objective_costs"]], "define_pose_prior() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_pose_prior"]], "define_view() (in module symforce.examples.bundle_adjustment_fixed_size.build_values)": [[394, "symforce.examples.bundle_adjustment_fixed_size.build_values.define_view"]], "symforce.examples.bundle_adjustment_fixed_size.build_values": [[394, "module-symforce.examples.bundle_adjustment_fixed_size.build_values"]], "fixedbundleadjustmentproblem (class in symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem)": [[395, "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem.FixedBundleAdjustmentProblem"]], "generate() (fixedbundleadjustmentproblem method)": [[395, "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem.FixedBundleAdjustmentProblem.generate"]], "symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem": [[395, "module-symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem"]], "symforce.examples.bundle_adjustment_in_the_large": [[396, "module-symforce.examples.bundle_adjustment_in_the_large"]], "generate() (in module symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large)": [[397, "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large.generate"]], "snavely_reprojection_residual() (in module symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large)": [[397, "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large.snavely_reprojection_residual"]], "symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large": [[397, "module-symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large"]], "main() (in module symforce.examples.bundle_adjustment_in_the_large.download_dataset)": [[398, "symforce.examples.bundle_adjustment_in_the_large.download_dataset.main"]], "symforce.examples.bundle_adjustment_in_the_large.download_dataset": [[398, "module-symforce.examples.bundle_adjustment_in_the_large.download_dataset"]], "symforce.examples.custom_factor_generation": [[399, "module-symforce.examples.custom_factor_generation"]], "custom_between_factor_residual() (in module symforce.examples.custom_factor_generation.factor_residuals)": [[400, "symforce.examples.custom_factor_generation.factor_residuals.custom_between_factor_residual"]], "symforce.examples.custom_factor_generation.factor_residuals": [[400, "module-symforce.examples.custom_factor_generation.factor_residuals"]], "generate() (in module symforce.examples.custom_factor_generation.generate_factors)": [[401, "symforce.examples.custom_factor_generation.generate_factors.generate"]], "symforce.examples.custom_factor_generation.generate_factors": [[401, "module-symforce.examples.custom_factor_generation.generate_factors"]], "symforce.examples.robot_2d_localization": [[402, "module-symforce.examples.robot_2d_localization"]], "get_data_to_plot() (in module symforce.examples.robot_2d_localization.plotting)": [[403, "symforce.examples.robot_2d_localization.plotting.get_data_to_plot"]], "plot_solution() (in module symforce.examples.robot_2d_localization.plotting)": [[403, "symforce.examples.robot_2d_localization.plotting.plot_solution"]], "symforce.examples.robot_2d_localization.plotting": [[403, "module-symforce.examples.robot_2d_localization.plotting"]], "symforce.examples.robot_3d_localization": [[405, "module-symforce.examples.robot_3d_localization"]], "get_data_to_plot() (in module symforce.examples.robot_3d_localization.plotting)": [[406, "symforce.examples.robot_3d_localization.plotting.get_data_to_plot"]], "plot_solution() (in module symforce.examples.robot_3d_localization.plotting)": [[406, "symforce.examples.robot_3d_localization.plotting.plot_solution"]], "symforce.examples.robot_3d_localization.plotting": [[406, "module-symforce.examples.robot_3d_localization.plotting"]], "symforce.geo": [[408, "module-symforce.geo"]], "complex (class in symforce.geo.complex)": [[409, "symforce.geo.complex.Complex"]], "__add__() (complex method)": [[409, "symforce.geo.complex.Complex.__add__"], [476, "symforce.symbolic.Complex.__add__"]], "__div__() (complex method)": [[409, "symforce.geo.complex.Complex.__div__"], [476, "symforce.symbolic.Complex.__div__"]], "__mul__() (complex method)": [[409, "symforce.geo.complex.Complex.__mul__"], [476, "symforce.symbolic.Complex.__mul__"]], "__neg__() (complex method)": [[409, "symforce.geo.complex.Complex.__neg__"], [476, "symforce.symbolic.Complex.__neg__"]], "__truediv__() (complex method)": [[409, "symforce.geo.complex.Complex.__truediv__"], [476, "symforce.symbolic.Complex.__truediv__"]], "compose() (complex method)": [[409, "symforce.geo.complex.Complex.compose"], [476, "symforce.symbolic.Complex.compose"]], "conj() (complex method)": [[409, "symforce.geo.complex.Complex.conj"], [476, "symforce.symbolic.Complex.conj"]], "from_storage() (complex class method)": [[409, "symforce.geo.complex.Complex.from_storage"], [476, "symforce.symbolic.Complex.from_storage"]], "identity() (complex class method)": [[409, "symforce.geo.complex.Complex.identity"], [476, "symforce.symbolic.Complex.identity"]], "inverse() (complex method)": [[409, "symforce.geo.complex.Complex.inverse"], [476, "symforce.symbolic.Complex.inverse"]], "random_uniform() (complex class method)": [[409, "symforce.geo.complex.Complex.random_uniform"], [476, "symforce.symbolic.Complex.random_uniform"]], "squared_norm() (complex method)": [[409, "symforce.geo.complex.Complex.squared_norm"], [476, "symforce.symbolic.Complex.squared_norm"]], "storage_dim() (complex class method)": [[409, "symforce.geo.complex.Complex.storage_dim"], [476, "symforce.symbolic.Complex.storage_dim"]], "symbolic() (complex class method)": [[409, "symforce.geo.complex.Complex.symbolic"], [476, "symforce.symbolic.Complex.symbolic"]], "symforce.geo.complex": [[409, "module-symforce.geo.complex"]], "to_storage() (complex method)": [[409, "symforce.geo.complex.Complex.to_storage"], [476, "symforce.symbolic.Complex.to_storage"]], "unit_random() (complex class method)": [[409, "symforce.geo.complex.Complex.unit_random"], [476, "symforce.symbolic.Complex.unit_random"]], "unit_random_from_uniform_sample() (complex class method)": [[409, "symforce.geo.complex.Complex.unit_random_from_uniform_sample"], [476, "symforce.symbolic.Complex.unit_random_from_uniform_sample"]], "zero() (complex class method)": [[409, "symforce.geo.complex.Complex.zero"], [476, "symforce.symbolic.Complex.zero"]], "dualquaternion (class in symforce.geo.dual_quaternion)": [[410, "symforce.geo.dual_quaternion.DualQuaternion"]], "__div__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__div__"], [476, "symforce.symbolic.DualQuaternion.__div__"]], "__mul__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__mul__"], [476, "symforce.symbolic.DualQuaternion.__mul__"]], "__truediv__() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.__truediv__"], [476, "symforce.symbolic.DualQuaternion.__truediv__"]], "compose() (dualquaternion method)": [[410, "symforce.geo.dual_quaternion.DualQuaternion.compose"], [476, "symforce.symbolic.DualQuaternion.compose"]], "conj() (dualquaternion method)": [[410, 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"matrix84 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix84"]], "matrix85 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix85"]], "matrix86 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix86"]], "matrix87 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix87"]], "matrix88 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix88"]], "matrix89 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix89"]], "matrix91 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix91"]], "matrix92 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix92"]], "matrix93 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix93"]], "matrix94 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix94"]], "matrix95 (class in symforce.geo.matrix)": [[411, "symforce.geo.matrix.Matrix95"]], "matrix96 (class in symforce.geo.matrix)": [[411, 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"shape (matrix15 attribute)": [[411, "symforce.geo.matrix.Matrix15.SHAPE"], [476, "symforce.symbolic.Matrix15.SHAPE"]], "shape (matrix16 attribute)": [[411, "symforce.geo.matrix.Matrix16.SHAPE"], [476, "symforce.symbolic.Matrix16.SHAPE"]], "shape (matrix17 attribute)": [[411, "symforce.geo.matrix.Matrix17.SHAPE"], [476, "symforce.symbolic.Matrix17.SHAPE"]], "shape (matrix18 attribute)": [[411, "symforce.geo.matrix.Matrix18.SHAPE"], [476, "symforce.symbolic.Matrix18.SHAPE"]], "shape (matrix19 attribute)": [[411, "symforce.geo.matrix.Matrix19.SHAPE"], [476, "symforce.symbolic.Matrix19.SHAPE"]], "shape (matrix21 attribute)": [[411, "symforce.geo.matrix.Matrix21.SHAPE"], [476, "symforce.symbolic.Matrix21.SHAPE"]], "shape (matrix22 attribute)": [[411, "symforce.geo.matrix.Matrix22.SHAPE"], [476, "symforce.symbolic.Matrix22.SHAPE"]], "shape (matrix23 attribute)": [[411, "symforce.geo.matrix.Matrix23.SHAPE"], [476, "symforce.symbolic.Matrix23.SHAPE"]], "shape (matrix24 attribute)": [[411, 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"symforce.geo.quaternion.Quaternion.conj"], [476, "symforce.symbolic.Quaternion.conj"]], "from_storage() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.from_storage"], [476, "symforce.symbolic.Quaternion.from_storage"]], "identity() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.identity"], [476, "symforce.symbolic.Quaternion.identity"]], "inverse() (quaternion method)": [[414, "symforce.geo.quaternion.Quaternion.inverse"], [476, "symforce.symbolic.Quaternion.inverse"]], "squared_norm() (quaternion method)": [[414, "symforce.geo.quaternion.Quaternion.squared_norm"], [476, "symforce.symbolic.Quaternion.squared_norm"]], "storage_dim() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.storage_dim"], [476, "symforce.symbolic.Quaternion.storage_dim"]], "symbolic() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.symbolic"], [476, "symforce.symbolic.Quaternion.symbolic"]], "symforce.geo.quaternion": [[414, "module-symforce.geo.quaternion"]], "to_storage() (quaternion method)": [[414, "symforce.geo.quaternion.Quaternion.to_storage"], [476, "symforce.symbolic.Quaternion.to_storage"]], "unit_random() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.unit_random"], [476, "symforce.symbolic.Quaternion.unit_random"]], "unit_random_from_uniform_samples() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.unit_random_from_uniform_samples"], [476, "symforce.symbolic.Quaternion.unit_random_from_uniform_samples"]], "x (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.x"], [476, "symforce.symbolic.Quaternion.x"]], "y (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.y"], [476, "symforce.symbolic.Quaternion.y"]], "z (quaternion property)": [[414, "symforce.geo.quaternion.Quaternion.z"], [476, "symforce.symbolic.Quaternion.z"]], "zero() (quaternion class method)": [[414, "symforce.geo.quaternion.Quaternion.zero"], [476, "symforce.symbolic.Quaternion.zero"]], "rot2 (class in symforce.geo.rot2)": [[415, "symforce.geo.rot2.Rot2"]], "__mul__() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.__mul__"], [476, "symforce.symbolic.Rot2.__mul__"]], "from_angle() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.from_angle"], [476, "symforce.symbolic.Rot2.from_angle"]], "hat() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.hat"], [476, "symforce.symbolic.Rot2.hat"]], "random() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.random"], [476, "symforce.symbolic.Rot2.random"]], "random_from_uniform_sample() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.random_from_uniform_sample"], [476, "symforce.symbolic.Rot2.random_from_uniform_sample"]], "storage_d_tangent() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.storage_D_tangent"], [476, "symforce.symbolic.Rot2.storage_D_tangent"]], "storage_dim() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.storage_dim"], [476, "symforce.symbolic.Rot2.storage_dim"]], "symbolic() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.symbolic"], [476, "symforce.symbolic.Rot2.symbolic"]], "symforce.geo.rot2": [[415, "module-symforce.geo.rot2"]], "tangent_d_storage() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.tangent_D_storage"], [476, "symforce.symbolic.Rot2.tangent_D_storage"]], "tangent_dim() (rot2 class method)": [[415, "symforce.geo.rot2.Rot2.tangent_dim"], [476, "symforce.symbolic.Rot2.tangent_dim"]], "to_angle() (rot2 method)": [[415, "symforce.geo.rot2.Rot2.to_angle"], [476, "symforce.symbolic.Rot2.to_angle"]], "rot3 (class in symforce.geo.rot3)": [[416, "symforce.geo.rot3.Rot3"]], "__mul__() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.__mul__"], [476, "symforce.symbolic.Rot3.__mul__"]], "angle_between() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.angle_between"], [476, "symforce.symbolic.Rot3.angle_between"]], "from_angle_axis() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_angle_axis"], [476, "symforce.symbolic.Rot3.from_angle_axis"]], "from_two_unit_vectors() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_two_unit_vectors"], [476, "symforce.symbolic.Rot3.from_two_unit_vectors"]], "from_yaw_pitch_roll() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.from_yaw_pitch_roll"], [476, "symforce.symbolic.Rot3.from_yaw_pitch_roll"]], "hat() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.hat"], [476, "symforce.symbolic.Rot3.hat"]], "random_from_uniform_samples() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.random_from_uniform_samples"], [476, "symforce.symbolic.Rot3.random_from_uniform_samples"]], "storage_d_tangent() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.storage_D_tangent"], [476, "symforce.symbolic.Rot3.storage_D_tangent"]], "storage_dim() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.storage_dim"], [476, "symforce.symbolic.Rot3.storage_dim"]], "symbolic() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.symbolic"], [476, "symforce.symbolic.Rot3.symbolic"]], "symforce.geo.rot3": [[416, "module-symforce.geo.rot3"]], "tangent_d_storage() (rot3 method)": [[416, "symforce.geo.rot3.Rot3.tangent_D_storage"], [476, "symforce.symbolic.Rot3.tangent_D_storage"]], "tangent_dim() (rot3 class method)": [[416, "symforce.geo.rot3.Rot3.tangent_dim"], [476, "symforce.symbolic.Rot3.tangent_dim"]], "e_z (unit3 attribute)": [[417, "symforce.geo.unit3.Unit3.E_Z"], [476, "symforce.symbolic.Unit3.E_Z"]], "unit3 (class in symforce.geo.unit3)": [[417, "symforce.geo.unit3.Unit3"]], "from_vector() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.from_vector"], [476, "symforce.symbolic.Unit3.from_vector"]], "random() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.random"], [476, "symforce.symbolic.Unit3.random"]], "storage_d_tangent() (unit3 method)": [[417, "symforce.geo.unit3.Unit3.storage_D_tangent"], [476, "symforce.symbolic.Unit3.storage_D_tangent"]], "storage_dim() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.storage_dim"], [476, "symforce.symbolic.Unit3.storage_dim"]], "symbolic() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.symbolic"], [476, "symforce.symbolic.Unit3.symbolic"]], "symforce.geo.unit3": [[417, "module-symforce.geo.unit3"]], "tangent_d_storage() (unit3 method)": [[417, "symforce.geo.unit3.Unit3.tangent_D_storage"], [476, "symforce.symbolic.Unit3.tangent_D_storage"]], "tangent_dim() (unit3 class method)": [[417, "symforce.geo.unit3.Unit3.tangent_dim"], [476, "symforce.symbolic.Unit3.tangent_dim"]], "symforce.geo.unsupported": [[418, "module-symforce.geo.unsupported"]], "pose2_se2 (class in symforce.geo.unsupported.pose2_se2)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2"]], "from_tangent() (pose2_se2 class method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.from_tangent"]], "hat() (pose2_se2 class method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.hat"]], "local_coordinates() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.local_coordinates"]], "retract() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.retract"]], "storage_d_tangent() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.storage_D_tangent"]], "symforce.geo.unsupported.pose2_se2": [[419, "module-symforce.geo.unsupported.pose2_se2"]], "tangent_d_storage() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.tangent_D_storage"]], "to_tangent() (pose2_se2 method)": [[419, "symforce.geo.unsupported.pose2_se2.Pose2_SE2.to_tangent"]], "pose3_se3 (class in symforce.geo.unsupported.pose3_se3)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3"]], "from_tangent() (pose3_se3 class method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.from_tangent"]], "hat() (pose3_se3 class method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.hat"]], "local_coordinates() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.local_coordinates"]], "retract() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.retract"]], "storage_d_tangent() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.storage_D_tangent"]], "symforce.geo.unsupported.pose3_se3": [[420, "module-symforce.geo.unsupported.pose3_se3"]], "tangent_d_storage() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.tangent_D_storage"]], "to_tangent() (pose3_se3 method)": [[420, "symforce.geo.unsupported.pose3_se3.Pose3_SE3.to_tangent"]], "symforce.internal": [[421, "module-symforce.internal"]], "symbol (class in symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.Symbol"]], "acos_safe() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.acos_safe"]], "angle_diff() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.angle_diff"]], "argmax() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.argmax"]], "argmax_onehot() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.argmax_onehot"]], "asin_safe() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.asin_safe"]], "atan2() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.atan2"]], "clamp() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.clamp"]], "copysign_no_zero() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.copysign_no_zero"]], "create_named_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.create_named_scope"]], "epsilon() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.epsilon"]], "get_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.get_scope"]], "limit() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.limit"]], "scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.scope"]], "set_eval_on_sympify() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.set_eval_on_sympify"]], "set_scope() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.set_scope"]], "sign_no_zero() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.sign_no_zero"]], "simplify() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.simplify"]], "solve() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.solve"]], "symforce.internal.symbolic": [[422, "module-symforce.internal.symbolic"]], "wrap_angle() (in module symforce.internal.symbolic)": [[422, "symforce.internal.symbolic.wrap_angle"]], "symforce.jacobian_helpers": [[423, "module-symforce.jacobian_helpers"]], "tangent_jacobians() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians"]], "tangent_jacobians_chain_rule() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians_chain_rule"]], "tangent_jacobians_first_order() (in module symforce.jacobian_helpers)": [[423, "symforce.jacobian_helpers.tangent_jacobians_first_order"]], "greater() (in module symforce.logic)": [[424, "symforce.logic.greater"]], "greater_equal() (in module symforce.logic)": [[424, "symforce.logic.greater_equal"]], "is_negative() (in module symforce.logic)": [[424, "symforce.logic.is_negative"]], "is_nonnegative() (in module symforce.logic)": [[424, "symforce.logic.is_nonnegative"]], "is_nonpositive() (in module symforce.logic)": [[424, "symforce.logic.is_nonpositive"]], "is_positive() (in module symforce.logic)": [[424, "symforce.logic.is_positive"]], "less() (in module symforce.logic)": [[424, "symforce.logic.less"]], "less_equal() (in module symforce.logic)": [[424, "symforce.logic.less_equal"]], "logical_and() (in module symforce.logic)": [[424, "symforce.logic.logical_and"]], "logical_not() (in module symforce.logic)": [[424, "symforce.logic.logical_not"]], "logical_or() (in module symforce.logic)": [[424, "symforce.logic.logical_or"]], "symforce.logic": [[424, "module-symforce.logic"]], "display() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display"]], "display_code() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display_code"]], "display_code_file() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.display_code_file"]], "print_expression_tree() (in module symforce.notebook_util)": [[425, "symforce.notebook_util.print_expression_tree"]], "symforce.notebook_util": [[425, "module-symforce.notebook_util"]], "scalarexpr (class in symforce.ops)": [[426, "symforce.ops.ScalarExpr"]], "symforce.ops": [[426, "module-symforce.ops"]], "groupops (class in symforce.ops.group_ops)": [[427, "symforce.ops.group_ops.GroupOps"]], "symforce.ops.group_ops": [[427, "module-symforce.ops.group_ops"]], "symforce.ops.impl": [[428, "module-symforce.ops.impl"]], "abstractstorageops (class in symforce.ops.impl.abstract_storage_ops)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps"]], "from_storage() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.from_storage"]], "storage_dim() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.storage_dim"]], "symbolic() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.symbolic"]], "symforce.ops.impl.abstract_storage_ops": [[429, "module-symforce.ops.impl.abstract_storage_ops"]], "to_storage() (abstractstorageops static method)": [[429, "symforce.ops.impl.abstract_storage_ops.AbstractStorageOps.to_storage"]], "abstractvectorgroupops (class in symforce.ops.impl.abstract_vector_group_ops)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps"]], "compose() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.compose"]], "identity() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.identity"]], "inverse() (abstractvectorgroupops class method)": [[430, "symforce.ops.impl.abstract_vector_group_ops.AbstractVectorGroupOps.inverse"]], "symforce.ops.impl.abstract_vector_group_ops": [[430, "module-symforce.ops.impl.abstract_vector_group_ops"]], "abstractvectorliegroupops (class in symforce.ops.impl.abstract_vector_lie_group_ops)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps"]], "from_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.from_tangent"]], "local_coordinates() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.local_coordinates"]], "retract() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.retract"]], "storage_d_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.abstract_vector_lie_group_ops": [[431, "module-symforce.ops.impl.abstract_vector_lie_group_ops"]], "tangent_d_storage() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.tangent_D_storage"]], "tangent_dim() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.tangent_dim"]], "to_tangent() (abstractvectorliegroupops class method)": [[431, "symforce.ops.impl.abstract_vector_lie_group_ops.AbstractVectorLieGroupOps.to_tangent"]], "arrayliegroupops (class in symforce.ops.impl.array_lie_group_ops)": [[432, "symforce.ops.impl.array_lie_group_ops.ArrayLieGroupOps"]], "symforce.ops.impl.array_lie_group_ops": [[432, "module-symforce.ops.impl.array_lie_group_ops"]], "arraystorageops (class in symforce.ops.impl.array_storage_ops)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps"]], "from_storage() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.from_storage"]], "storage_dim() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.storage_dim"]], "symbolic() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.symbolic"]], "symforce.ops.impl.array_storage_ops": [[433, "module-symforce.ops.impl.array_storage_ops"]], "to_storage() (arraystorageops static method)": [[433, "symforce.ops.impl.array_storage_ops.ArrayStorageOps.to_storage"]], "classgroupops (class in symforce.ops.impl.class_group_ops)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps"]], "compose() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.compose"]], "identity() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.identity"]], "inverse() (classgroupops static method)": [[434, "symforce.ops.impl.class_group_ops.ClassGroupOps.inverse"]], "symforce.ops.impl.class_group_ops": [[434, "module-symforce.ops.impl.class_group_ops"]], "classliegroupops (class in symforce.ops.impl.class_lie_group_ops)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps"]], "from_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.from_tangent"]], "local_coordinates() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.local_coordinates"]], "retract() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.retract"]], "storage_d_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.storage_D_tangent"]], "symforce.ops.impl.class_lie_group_ops": [[435, "module-symforce.ops.impl.class_lie_group_ops"]], "tangent_d_storage() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.tangent_D_storage"]], "tangent_dim() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.tangent_dim"]], "to_tangent() (classliegroupops static method)": [[435, "symforce.ops.impl.class_lie_group_ops.ClassLieGroupOps.to_tangent"]], "classstorageops (class in symforce.ops.impl.class_storage_ops)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps"]], "from_storage() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.from_storage"]], "storage_dim() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.storage_dim"]], "symbolic() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.symbolic"]], "symforce.ops.impl.class_storage_ops": [[436, "module-symforce.ops.impl.class_storage_ops"]], "to_storage() (classstorageops static method)": [[436, "symforce.ops.impl.class_storage_ops.ClassStorageOps.to_storage"]], "databufferstorageops (class in symforce.ops.impl.databuffer_storage_ops)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps"]], "from_storage() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.from_storage"]], "storage_dim() (databufferstorageops static method)": [[437, "symforce.ops.impl.databuffer_storage_ops.DataBufferStorageOps.storage_dim"]], "symbolic() 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"symforce.ops.impl.dataclass_storage_ops.DataclassStorageOps.to_storage"]], "nonetypeliegroupops (class in symforce.ops.impl.nonetype_lie_group_ops)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps"]], "from_storage() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.from_storage"]], "storage_dim() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.storage_dim"]], "symbolic() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.symbolic"]], "symforce.ops.impl.nonetype_lie_group_ops": [[441, "module-symforce.ops.impl.nonetype_lie_group_ops"]], "to_storage() (nonetypeliegroupops static method)": [[441, "symforce.ops.impl.nonetype_lie_group_ops.NoneTypeLieGroupOps.to_storage"]], "scalarliegroupops (class in symforce.ops.impl.scalar_lie_group_ops)": [[442, 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"storage_d_tangent() (liegroupops static method)": [[452, "symforce.ops.lie_group_ops.LieGroupOps.storage_D_tangent"]], "symforce.ops.lie_group_ops": [[452, "module-symforce.ops.lie_group_ops"]], "tangent_d_storage() (liegroupops static method)": [[452, "symforce.ops.lie_group_ops.LieGroupOps.tangent_D_storage"]], "tangent_dim() (liegroupops static method)": [[452, "symforce.ops.lie_group_ops.LieGroupOps.tangent_dim"]], "implementations (ops attribute)": [[453, "symforce.ops.ops.Ops.IMPLEMENTATIONS"]], "ops (class in symforce.ops.ops)": [[453, "symforce.ops.ops.Ops"]], "implementation() (ops class method)": [[453, "symforce.ops.ops.Ops.implementation"]], "register() (ops class method)": [[453, "symforce.ops.ops.Ops.register"]], "symforce.ops.ops": [[453, "module-symforce.ops.ops"]], "storageops (class in symforce.ops.storage_ops)": [[454, "symforce.ops.storage_ops.StorageOps"]], "evalf() (storageops static method)": [[454, "symforce.ops.storage_ops.StorageOps.evalf"]], "from_storage() 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symforce.opt.objectives.min_max_barrier_objective)": [[462, "symforce.opt.objectives.min_max_barrier_objective.MinMaxBarrierObjective.Params"]], "dist_zero_to_nominal (minmaxbarrierobjective.params attribute)": [[462, "id3"], [462, "symforce.opt.objectives.min_max_barrier_objective.MinMaxBarrierObjective.Params.dist_zero_to_nominal"]], "error_nominal (minmaxbarrierobjective.params attribute)": [[462, "id2"], [462, "symforce.opt.objectives.min_max_barrier_objective.MinMaxBarrierObjective.Params.error_nominal"]], "residual_at_timestep() (minmaxbarrierobjective static method)": [[462, "symforce.opt.objectives.min_max_barrier_objective.MinMaxBarrierObjective.residual_at_timestep"]], "symforce.opt.objectives.min_max_barrier_objective": [[462, "module-symforce.opt.objectives.min_max_barrier_objective"]], "unwhitened_residual (minmaxbarrierobjective.extravalues attribute)": [[462, "id4"], [462, 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attribute)": [[466, "symforce.opt.optimizer.Optimizer.Params.verbose"]], "residualblock (class in symforce.opt.residual_block)": [[467, "symforce.opt.residual_block.ResidualBlock"]], "residualblockwithcustomjacobian (class in symforce.opt.residual_block)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian"]], "compute_jacobians() (residualblock method)": [[467, "symforce.opt.residual_block.ResidualBlock.compute_jacobians"]], "compute_jacobians() (residualblockwithcustomjacobian method)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian.compute_jacobians"]], "custom_jacobians (residualblockwithcustomjacobian attribute)": [[467, "symforce.opt.residual_block.ResidualBlockWithCustomJacobian.custom_jacobians"]], "extra_values (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.extra_values"]], "metadata (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.metadata"]], "residual (residualblock attribute)": [[467, "symforce.opt.residual_block.ResidualBlock.residual"]], "set_metadata() (residualblock method)": [[467, "symforce.opt.residual_block.ResidualBlock.set_metadata"]], "symforce.opt.residual_block": [[467, "module-symforce.opt.residual_block"]], "inputs (subproblem attribute)": [[468, "symforce.opt.sub_problem.SubProblem.Inputs"], [468, "symforce.opt.sub_problem.SubProblem.inputs"]], "subproblem (class in symforce.opt.sub_problem)": [[468, "symforce.opt.sub_problem.SubProblem"]], "build_inputs() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.build_inputs"]], "build_residuals() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.build_residuals"]], "name (subproblem attribute)": [[468, "symforce.opt.sub_problem.SubProblem.name"]], "optimized_values() (subproblem method)": [[468, "symforce.opt.sub_problem.SubProblem.optimized_values"]], "symforce.opt.sub_problem": [[468, "module-symforce.opt.sub_problem"]], "timestepsubproblem (class in symforce.opt.timestep_sub_problem)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem"]], "build_inputs() (timestepsubproblem method)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem.build_inputs"]], "symforce.opt.timestep_sub_problem": [[469, "module-symforce.opt.timestep_sub_problem"]], "timesteps (timestepsubproblem attribute)": [[469, "symforce.opt.timestep_sub_problem.TimestepSubProblem.timesteps"]], "missingmanifestexception": [[470, "symforce.path_util.MissingManifestException"]], "binary_output_dir() (in module symforce.path_util)": [[470, "symforce.path_util.binary_output_dir"]], "cc_sym_install_dir() (in module symforce.path_util)": [[470, "symforce.path_util.cc_sym_install_dir"]], "symenginepy_install_dir() (in module symforce.path_util)": [[470, "symforce.path_util.symenginepy_install_dir"]], "symforce.path_util": [[470, "module-symforce.path_util"]], "symforce_data_root() (in module symforce.path_util)": [[470, 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module symforce.python_util)": [[471, "symforce.python_util.execute_subprocess"]], "files_in_dir() (in module symforce.python_util)": [[471, "symforce.python_util.files_in_dir"]], "get_class_for_method() (in module symforce.python_util)": [[471, "symforce.python_util.get_class_for_method"]], "get_func_from_maybe_bound_function() (in module symforce.python_util)": [[471, "symforce.python_util.get_func_from_maybe_bound_function"]], "getattr_recursive() (in module symforce.python_util)": [[471, "symforce.python_util.getattr_recursive"]], "id_generator() (in module symforce.python_util)": [[471, "symforce.python_util.id_generator"]], "plural() (in module symforce.python_util)": [[471, "symforce.python_util.plural"]], "remove_if_exists() (in module symforce.python_util)": [[471, "symforce.python_util.remove_if_exists"]], "snakecase_to_camelcase() (in module symforce.python_util)": [[471, "symforce.python_util.snakecase_to_camelcase"]], "str_removeprefix() (in module symforce.python_util)": 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symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.handwritten_new_state_D_state_gyro_accel"]], "imu_manifold_preintegration_update() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.imu_manifold_preintegration_update"]], "integrate_state() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.integrate_state"]], "internal_imu_residual() (in module symforce.slam.imu_preintegration.manifold_symbolic)": [[475, "symforce.slam.imu_preintegration.manifold_symbolic.internal_imu_residual"]], "symforce.slam.imu_preintegration.manifold_symbolic": [[475, "module-symforce.slam.imu_preintegration.manifold_symbolic"]], "atancameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.ATANCameraCal"]], "abs (class in symforce.symbolic)": [[476, "symforce.symbolic.Abs"]], "add (class in symforce.symbolic)": [[476, "symforce.symbolic.Add"]], "basic (class in symforce.symbolic)": [[476, "symforce.symbolic.Basic"]], "camera (class in symforce.symbolic)": [[476, "symforce.symbolic.Camera"]], "cameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.CameraCal"]], "complex (class in symforce.symbolic)": [[476, "symforce.symbolic.Complex"]], "contains (class in symforce.symbolic)": [[476, "symforce.symbolic.Contains"]], "databuffer (class in symforce.symbolic)": [[476, "symforce.symbolic.DataBuffer"]], "derivative (class in symforce.symbolic)": [[476, "symforce.symbolic.Derivative"]], "doublespherecameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.DoubleSphereCameraCal"]], "dualquaternion (class in symforce.symbolic)": [[476, "symforce.symbolic.DualQuaternion"]], "dummy (class in symforce.symbolic)": [[476, "symforce.symbolic.Dummy"]], "equirectangularcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.EquirectangularCameraCal"]], "expr (class in symforce.symbolic)": [[476, "symforce.symbolic.Expr"]], "finiteset (class in symforce.symbolic)": [[476, "symforce.symbolic.FiniteSet"]], "float (class in symforce.symbolic)": [[476, "symforce.symbolic.Float"]], "function (class in symforce.symbolic)": [[476, "symforce.symbolic.Function"]], "i1() (in module symforce.symbolic)": [[476, "symforce.symbolic.I1"]], "i11() (in module symforce.symbolic)": [[476, "symforce.symbolic.I11"]], "i2() (in module symforce.symbolic)": [[476, "symforce.symbolic.I2"]], "i22() (in module symforce.symbolic)": [[476, "symforce.symbolic.I22"]], "i3() (in module symforce.symbolic)": [[476, "symforce.symbolic.I3"]], "i33() (in module symforce.symbolic)": [[476, "symforce.symbolic.I33"]], "i4() (in module symforce.symbolic)": [[476, "symforce.symbolic.I4"]], "i44() (in module symforce.symbolic)": [[476, "symforce.symbolic.I44"]], "i5() (in module symforce.symbolic)": [[476, "symforce.symbolic.I5"]], "i55() (in module symforce.symbolic)": [[476, 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"symforce.symbolic.LeviCivita"]], "linearcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.LinearCameraCal"]], "m (in module symforce.symbolic)": [[476, "symforce.symbolic.M"], [476, "symforce.symbolic.m"]], "m11 (in module symforce.symbolic)": [[476, "symforce.symbolic.M11"]], "m12 (in module symforce.symbolic)": [[476, "symforce.symbolic.M12"]], "m13 (in module symforce.symbolic)": [[476, "symforce.symbolic.M13"]], "m14 (in module symforce.symbolic)": [[476, "symforce.symbolic.M14"]], "m15 (in module symforce.symbolic)": [[476, "symforce.symbolic.M15"]], "m16 (in module symforce.symbolic)": [[476, "symforce.symbolic.M16"]], "m17 (in module symforce.symbolic)": [[476, "symforce.symbolic.M17"]], "m18 (in module symforce.symbolic)": [[476, "symforce.symbolic.M18"]], "m19 (in module symforce.symbolic)": [[476, "symforce.symbolic.M19"]], "m21 (in module symforce.symbolic)": [[476, "symforce.symbolic.M21"]], "m22 (in module symforce.symbolic)": [[476, 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"symforce.symbolic.M37"]], "m38 (in module symforce.symbolic)": [[476, "symforce.symbolic.M38"]], "m39 (in module symforce.symbolic)": [[476, "symforce.symbolic.M39"]], "m41 (in module symforce.symbolic)": [[476, "symforce.symbolic.M41"]], "m42 (in module symforce.symbolic)": [[476, "symforce.symbolic.M42"]], "m43 (in module symforce.symbolic)": [[476, "symforce.symbolic.M43"]], "m44 (in module symforce.symbolic)": [[476, "symforce.symbolic.M44"]], "m45 (in module symforce.symbolic)": [[476, "symforce.symbolic.M45"]], "m46 (in module symforce.symbolic)": [[476, "symforce.symbolic.M46"]], "m47 (in module symforce.symbolic)": [[476, "symforce.symbolic.M47"]], "m48 (in module symforce.symbolic)": [[476, "symforce.symbolic.M48"]], "m49 (in module symforce.symbolic)": [[476, "symforce.symbolic.M49"]], "m51 (in module symforce.symbolic)": [[476, "symforce.symbolic.M51"]], "m52 (in module symforce.symbolic)": [[476, "symforce.symbolic.M52"]], "m53 (in module symforce.symbolic)": [[476, "symforce.symbolic.M53"]], "m54 (in module symforce.symbolic)": [[476, "symforce.symbolic.M54"]], "m55 (in module symforce.symbolic)": [[476, "symforce.symbolic.M55"]], "m56 (in module symforce.symbolic)": [[476, "symforce.symbolic.M56"]], "m57 (in module symforce.symbolic)": [[476, "symforce.symbolic.M57"]], "m58 (in module symforce.symbolic)": [[476, "symforce.symbolic.M58"]], "m59 (in module symforce.symbolic)": [[476, "symforce.symbolic.M59"]], "m61 (in module symforce.symbolic)": [[476, "symforce.symbolic.M61"]], "m62 (in module symforce.symbolic)": [[476, "symforce.symbolic.M62"]], "m63 (in module symforce.symbolic)": [[476, "symforce.symbolic.M63"]], "m64 (in module symforce.symbolic)": [[476, "symforce.symbolic.M64"]], "m65 (in module symforce.symbolic)": [[476, "symforce.symbolic.M65"]], "m66 (in module symforce.symbolic)": [[476, "symforce.symbolic.M66"]], "m67 (in module symforce.symbolic)": [[476, "symforce.symbolic.M67"]], "m68 (in module symforce.symbolic)": [[476, "symforce.symbolic.M68"]], "m69 (in module symforce.symbolic)": [[476, "symforce.symbolic.M69"]], "m71 (in module symforce.symbolic)": [[476, "symforce.symbolic.M71"]], "m72 (in module symforce.symbolic)": [[476, "symforce.symbolic.M72"]], "m73 (in module symforce.symbolic)": [[476, "symforce.symbolic.M73"]], "m74 (in module symforce.symbolic)": [[476, "symforce.symbolic.M74"]], "m75 (in module symforce.symbolic)": [[476, "symforce.symbolic.M75"]], "m76 (in module symforce.symbolic)": [[476, "symforce.symbolic.M76"]], "m77 (in module symforce.symbolic)": [[476, "symforce.symbolic.M77"]], "m78 (in module symforce.symbolic)": [[476, "symforce.symbolic.M78"]], "m79 (in module symforce.symbolic)": [[476, "symforce.symbolic.M79"]], "m81 (in module symforce.symbolic)": [[476, "symforce.symbolic.M81"]], "m82 (in module symforce.symbolic)": [[476, "symforce.symbolic.M82"]], "m83 (in module symforce.symbolic)": [[476, "symforce.symbolic.M83"]], "m84 (in module symforce.symbolic)": [[476, "symforce.symbolic.M84"]], "m85 (in module symforce.symbolic)": [[476, "symforce.symbolic.M85"]], "m86 (in module symforce.symbolic)": [[476, "symforce.symbolic.M86"]], "m87 (in module symforce.symbolic)": [[476, "symforce.symbolic.M87"]], "m88 (in module symforce.symbolic)": [[476, "symforce.symbolic.M88"]], "m89 (in module symforce.symbolic)": [[476, "symforce.symbolic.M89"]], "m91 (in module symforce.symbolic)": [[476, "symforce.symbolic.M91"]], "m92 (in module symforce.symbolic)": [[476, "symforce.symbolic.M92"]], "m93 (in module symforce.symbolic)": [[476, "symforce.symbolic.M93"]], "m94 (in module symforce.symbolic)": [[476, "symforce.symbolic.M94"]], "m95 (in module symforce.symbolic)": [[476, "symforce.symbolic.M95"]], "m96 (in module symforce.symbolic)": [[476, "symforce.symbolic.M96"]], "m97 (in module symforce.symbolic)": [[476, "symforce.symbolic.M97"]], "m98 (in module symforce.symbolic)": [[476, "symforce.symbolic.M98"]], "m99 (in module symforce.symbolic)": [[476, "symforce.symbolic.M99"]], "matrix (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix"]], "matrix11 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix11"]], "matrix12 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix12"]], "matrix13 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix13"]], "matrix14 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix14"]], "matrix15 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix15"]], "matrix16 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix16"]], "matrix17 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix17"]], "matrix18 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix18"]], "matrix19 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix19"]], "matrix21 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix21"]], "matrix22 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix22"]], "matrix23 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix23"]], "matrix24 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix24"]], "matrix25 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix25"]], "matrix26 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix26"]], "matrix27 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix27"]], "matrix28 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix28"]], "matrix29 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix29"]], "matrix31 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix31"]], "matrix32 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix32"]], "matrix33 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix33"]], "matrix34 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix34"]], "matrix35 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix35"]], "matrix36 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix36"]], "matrix37 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix37"]], "matrix38 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix38"]], "matrix39 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix39"]], "matrix41 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix41"]], "matrix42 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix42"]], "matrix43 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix43"]], "matrix44 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix44"]], "matrix45 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix45"]], "matrix46 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix46"]], "matrix47 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix47"]], "matrix48 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix48"]], "matrix49 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix49"]], "matrix51 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix51"]], "matrix52 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix52"]], "matrix53 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix53"]], "matrix54 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix54"]], "matrix55 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix55"]], "matrix56 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix56"]], "matrix57 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix57"]], "matrix58 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix58"]], "matrix59 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix59"]], "matrix61 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix61"]], "matrix62 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix62"]], "matrix63 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix63"]], "matrix64 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix64"]], "matrix65 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix65"]], "matrix66 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix66"]], "matrix67 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix67"]], "matrix68 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix68"]], "matrix69 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix69"]], "matrix71 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix71"]], "matrix72 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix72"]], "matrix73 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix73"]], "matrix74 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix74"]], "matrix75 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix75"]], "matrix76 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix76"]], "matrix77 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix77"]], "matrix78 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix78"]], "matrix79 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix79"]], "matrix81 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix81"]], "matrix82 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix82"]], "matrix83 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix83"]], "matrix84 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix84"]], "matrix85 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix85"]], "matrix86 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix86"]], "matrix87 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix87"]], "matrix88 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix88"]], "matrix89 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix89"]], "matrix91 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix91"]], "matrix92 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix92"]], "matrix93 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix93"]], "matrix94 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix94"]], "matrix95 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix95"]], "matrix96 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix96"]], "matrix97 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix97"]], "matrix98 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix98"]], "matrix99 (class in symforce.symbolic)": [[476, "symforce.symbolic.Matrix99"]], "max (class in symforce.symbolic)": [[476, "symforce.symbolic.Max"]], "min (class in symforce.symbolic)": [[476, "symforce.symbolic.Min"]], "mod() (in module symforce.symbolic)": [[476, "symforce.symbolic.Mod"]], "mul (class in symforce.symbolic)": [[476, "symforce.symbolic.Mul"]], "number (class in symforce.symbolic)": [[476, "symforce.symbolic.Number"]], "piecewise (class in symforce.symbolic)": [[476, "symforce.symbolic.Piecewise"]], "polynomialcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.PolynomialCameraCal"]], "pose2 (class in symforce.symbolic)": [[476, "symforce.symbolic.Pose2"]], "pose3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Pose3"]], "posedcamera (class in symforce.symbolic)": [[476, "symforce.symbolic.PosedCamera"]], "pow (class in symforce.symbolic)": [[476, "symforce.symbolic.Pow"]], "quaternion (class in symforce.symbolic)": [[476, "symforce.symbolic.Quaternion"]], "rational (class in symforce.symbolic)": [[476, "symforce.symbolic.Rational"]], "realnumber (in module symforce.symbolic)": [[476, "symforce.symbolic.RealNumber"]], "rot2 (class in symforce.symbolic)": [[476, "symforce.symbolic.Rot2"]], "rot3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Rot3"]], "scalar (in module symforce.symbolic)": [[476, "symforce.symbolic.Scalar"]], "sphericalcameracal (class in symforce.symbolic)": [[476, "symforce.symbolic.SphericalCameraCal"]], "storage (class in symforce.symbolic)": [[476, "symforce.symbolic.Storage"]], "subs (class in symforce.symbolic)": [[476, "symforce.symbolic.Subs"]], "symbol (class in symforce.symbolic)": [[476, "symforce.symbolic.Symbol"]], "sympifyerror": [[476, "symforce.symbolic.SympifyError"]], "unevaluatedexpr (class in symforce.symbolic)": [[476, "symforce.symbolic.UnevaluatedExpr"]], "unit3 (class in symforce.symbolic)": [[476, "symforce.symbolic.Unit3"]], "v1 (in module symforce.symbolic)": [[476, "symforce.symbolic.V1"]], "v2 (in module symforce.symbolic)": [[476, "symforce.symbolic.V2"]], "v3 (in module symforce.symbolic)": [[476, "symforce.symbolic.V3"]], "v4 (in module symforce.symbolic)": [[476, "symforce.symbolic.V4"]], "v5 (in module symforce.symbolic)": [[476, "symforce.symbolic.V5"]], "v6 (in module symforce.symbolic)": [[476, "symforce.symbolic.V6"]], "v7 (in module symforce.symbolic)": [[476, "symforce.symbolic.V7"]], "v8 (in module symforce.symbolic)": [[476, "symforce.symbolic.V8"]], "v9 (in module symforce.symbolic)": [[476, "symforce.symbolic.V9"]], "vector1 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector1"]], "vector2 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector2"]], "vector3 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector3"]], "vector4 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector4"]], "vector5 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector5"]], "vector6 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector6"]], "vector7 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector7"]], "vector8 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector8"]], "vector9 (in module symforce.symbolic)": [[476, "symforce.symbolic.Vector9"]], "vectorclassliegroupops (class in symforce.symbolic)": [[476, "symforce.symbolic.VectorClassLieGroupOps"]], "acos (class in symforce.symbolic)": [[476, "symforce.symbolic.acos"]], "acos_safe() (in module symforce.symbolic)": [[476, "symforce.symbolic.acos_safe"]], "acosh (class in symforce.symbolic)": [[476, "symforce.symbolic.acosh"]], "acot (class in symforce.symbolic)": [[476, "symforce.symbolic.acot"]], "acoth (class in symforce.symbolic)": [[476, "symforce.symbolic.acoth"]], "acsc (class in symforce.symbolic)": [[476, "symforce.symbolic.acsc"]], "acsch (class in symforce.symbolic)": [[476, "symforce.symbolic.acsch"]], "angle_diff() (in module symforce.symbolic)": [[476, "symforce.symbolic.angle_diff"]], "argmax() (in module symforce.symbolic)": [[476, "symforce.symbolic.argmax"]], "argmax_onehot() (in module symforce.symbolic)": [[476, "symforce.symbolic.argmax_onehot"]], "args (basic attribute)": [[476, "symforce.symbolic.Basic.args"]], "args_as_sage() (basic method)": [[476, "symforce.symbolic.Basic.args_as_sage"]], "args_as_sympy() (basic method)": [[476, "symforce.symbolic.Basic.args_as_sympy"]], "as_base_exp() (pow method)": [[476, "symforce.symbolic.Pow.as_base_exp"]], "as_coefficients_dict() (add method)": [[476, "symforce.symbolic.Add.as_coefficients_dict"]], "as_coefficients_dict() (basic method)": [[476, "symforce.symbolic.Basic.as_coefficients_dict"]], "as_coefficients_dict() (mul method)": [[476, "symforce.symbolic.Mul.as_coefficients_dict"]], "as_numer_denom() (basic method)": [[476, "symforce.symbolic.Basic.as_numer_denom"]], "as_real_imag() (basic method)": [[476, "symforce.symbolic.Basic.as_real_imag"]], "asec (class in symforce.symbolic)": [[476, "symforce.symbolic.asec"]], "asech (class in symforce.symbolic)": [[476, "symforce.symbolic.asech"]], "asin (class in symforce.symbolic)": [[476, "symforce.symbolic.asin"]], "asin_safe() (in module symforce.symbolic)": [[476, "symforce.symbolic.asin_safe"]], "asinh (class in symforce.symbolic)": [[476, "symforce.symbolic.asinh"]], "atan (class in symforce.symbolic)": [[476, "symforce.symbolic.atan"]], "atan2() (in module symforce.symbolic)": [[476, "symforce.symbolic.atan2"]], "atanh (class in symforce.symbolic)": [[476, "symforce.symbolic.atanh"]], "atoms() (basic method)": [[476, "symforce.symbolic.Basic.atoms"]], "base (pow property)": [[476, "symforce.symbolic.Pow.base"]], "beta (class in symforce.symbolic)": [[476, "symforce.symbolic.beta"]], "ceiling (class in symforce.symbolic)": [[476, "symforce.symbolic.ceiling"]], "clamp() (in module symforce.symbolic)": [[476, "symforce.symbolic.clamp"]], "coeff() (basic method)": [[476, "symforce.symbolic.Basic.coeff"]], "conjugate (class in symforce.symbolic)": [[476, "symforce.symbolic.conjugate"]], "copy() (basic method)": [[476, "symforce.symbolic.Basic.copy"]], "copysign_no_zero() (in module symforce.symbolic)": [[476, "symforce.symbolic.copysign_no_zero"]], "cos (class in symforce.symbolic)": [[476, "symforce.symbolic.cos"]], "cosh (class in symforce.symbolic)": [[476, "symforce.symbolic.cosh"]], "cot (class in symforce.symbolic)": [[476, "symforce.symbolic.cot"]], "coth (class in symforce.symbolic)": [[476, "symforce.symbolic.coth"]], "count_ops() (in module symforce.symbolic)": [[476, "symforce.symbolic.count_ops"]], "create_named_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.create_named_scope"]], "csc (class in symforce.symbolic)": [[476, "symforce.symbolic.csc"]], "csch (class in symforce.symbolic)": [[476, "symforce.symbolic.csch"]], "cse() (in module symforce.symbolic)": [[476, "symforce.symbolic.cse"]], "diff() (basic method)": [[476, "symforce.symbolic.Basic.diff"]], "diff() (in module symforce.symbolic)": [[476, "symforce.symbolic.diff"]], "digamma() (in module symforce.symbolic)": [[476, "symforce.symbolic.digamma"]], "dirichlet_eta (class in symforce.symbolic)": [[476, "symforce.symbolic.dirichlet_eta"]], "doit() (integer method)": [[476, "symforce.symbolic.Integer.doit"]], "epsilon() (in module symforce.symbolic)": [[476, "symforce.symbolic.epsilon"]], "erf (class in symforce.symbolic)": [[476, "symforce.symbolic.erf"]], "erfc (class in symforce.symbolic)": [[476, "symforce.symbolic.erfc"]], "evalf() (basic method)": [[476, "symforce.symbolic.Basic.evalf"]], "exp (pow property)": [[476, "symforce.symbolic.Pow.exp"]], "exp() (in module symforce.symbolic)": [[476, "symforce.symbolic.exp"]], "expand() (basic method)": [[476, "symforce.symbolic.Basic.expand"]], "expand() (in module symforce.symbolic)": [[476, "symforce.symbolic.expand"]], "expr (derivative property)": [[476, "symforce.symbolic.Derivative.expr"]], "expr (subs property)": [[476, "symforce.symbolic.Subs.expr"]], "floor (class in symforce.symbolic)": [[476, "symforce.symbolic.floor"]], "free_symbols (basic attribute)": [[476, "symforce.symbolic.Basic.free_symbols"]], "func (abs property)": [[476, "symforce.symbolic.Abs.func"]], "func (add property)": [[476, "symforce.symbolic.Add.func"]], "func (derivative property)": [[476, "symforce.symbolic.Derivative.func"]], "func (dummy attribute)": [[476, "symforce.symbolic.Dummy.func"]], "func (integer property)": [[476, "symforce.symbolic.Integer.func"]], "func (max property)": [[476, "symforce.symbolic.Max.func"]], "func (min property)": [[476, "symforce.symbolic.Min.func"]], "func (mul property)": [[476, "symforce.symbolic.Mul.func"]], "func (pow property)": [[476, "symforce.symbolic.Pow.func"]], "func (rational property)": [[476, "symforce.symbolic.Rational.func"]], "func (subs property)": [[476, "symforce.symbolic.Subs.func"]], "func() (function method)": [[476, "symforce.symbolic.Function.func"]], "gamma() (in module symforce.symbolic)": [[476, "symforce.symbolic.gamma"]], "get_num_den() (integer method)": [[476, "symforce.symbolic.Integer.get_num_den"]], "get_num_den() (rational method)": [[476, "symforce.symbolic.Rational.get_num_den"]], "get_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.get_scope"]], "greater() (in module symforce.symbolic)": [[476, "symforce.symbolic.greater"]], "greater_equal() (in module symforce.symbolic)": [[476, "symforce.symbolic.greater_equal"]], "has() (basic method)": [[476, "symforce.symbolic.Basic.has"]], "identity (add attribute)": [[476, "symforce.symbolic.Add.identity"]], "identity (mul attribute)": [[476, "symforce.symbolic.Mul.identity"]], "imag (number attribute)": [[476, "symforce.symbolic.Number.imag"]], "init_printing() (in module symforce.symbolic)": [[476, "symforce.symbolic.init_printing"]], "integer_nthroot() (in module symforce.symbolic)": [[476, "symforce.symbolic.integer_nthroot"]], "is_add (add property)": [[476, "symforce.symbolic.Add.is_Add"]], "is_add (basic attribute)": [[476, "symforce.symbolic.Basic.is_Add"]], "is_algebraicnumber (basic attribute)": [[476, "symforce.symbolic.Basic.is_AlgebraicNumber"]], "is_atom (basic attribute)": [[476, "symforce.symbolic.Basic.is_Atom"]], "is_atom (number attribute)": [[476, "symforce.symbolic.Number.is_Atom"]], "is_boolean (basic attribute)": [[476, "symforce.symbolic.Basic.is_Boolean"]], "is_databufferelement (basic attribute)": [[476, "symforce.symbolic.Basic.is_DataBufferElement"]], "is_derivative (basic attribute)": [[476, "symforce.symbolic.Basic.is_Derivative"]], "is_derivative (derivative property)": [[476, "symforce.symbolic.Derivative.is_Derivative"]], "is_dummy (basic attribute)": [[476, "symforce.symbolic.Basic.is_Dummy"]], "is_dummy (dummy attribute)": [[476, "symforce.symbolic.Dummy.is_Dummy"]], "is_equality (basic attribute)": [[476, "symforce.symbolic.Basic.is_Equality"]], "is_float (basic attribute)": [[476, "symforce.symbolic.Basic.is_Float"]], "is_float (float property)": [[476, "symforce.symbolic.Float.is_Float"]], "is_function (basic attribute)": [[476, "symforce.symbolic.Basic.is_Function"]], "is_function (function property)": [[476, "symforce.symbolic.Function.is_Function"]], "is_integer (basic attribute)": [[476, "symforce.symbolic.Basic.is_Integer"], [476, "symforce.symbolic.Basic.is_integer"]], "is_integer (integer property)": [[476, "symforce.symbolic.Integer.is_Integer"], [476, "symforce.symbolic.Integer.is_integer"]], "is_matrix (basic attribute)": [[476, "symforce.symbolic.Basic.is_Matrix"]], "is_mul (basic attribute)": [[476, "symforce.symbolic.Basic.is_Mul"]], "is_mul (mul property)": [[476, "symforce.symbolic.Mul.is_Mul"]], "is_not (basic attribute)": [[476, "symforce.symbolic.Basic.is_Not"]], "is_number (basic attribute)": [[476, "symforce.symbolic.Basic.is_Number"], [476, "symforce.symbolic.Basic.is_number"]], "is_number (number attribute)": [[476, "symforce.symbolic.Number.is_Number"], [476, "symforce.symbolic.Number.is_number"]], "is_pow (basic attribute)": [[476, "symforce.symbolic.Basic.is_Pow"]], "is_pow (pow property)": [[476, "symforce.symbolic.Pow.is_Pow"]], "is_rational (basic attribute)": [[476, "symforce.symbolic.Basic.is_Rational"]], "is_rational (rational property)": [[476, "symforce.symbolic.Rational.is_Rational"], [476, "symforce.symbolic.Rational.is_rational"]], "is_relational (basic attribute)": [[476, "symforce.symbolic.Basic.is_Relational"]], "is_symbol (basic attribute)": [[476, "symforce.symbolic.Basic.is_Symbol"], [476, "symforce.symbolic.Basic.is_symbol"]], "is_commutative (number attribute)": [[476, "symforce.symbolic.Number.is_commutative"]], "is_commutative (pow property)": [[476, "symforce.symbolic.Pow.is_commutative"]], "is_complex (number attribute)": [[476, "symforce.symbolic.Number.is_complex"]], "is_complex (sign property)": [[476, "symforce.symbolic.sign.is_complex"]], "is_finite (basic attribute)": [[476, "symforce.symbolic.Basic.is_finite"]], "is_finite (rational property)": [[476, "symforce.symbolic.Rational.is_finite"]], "is_finite (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_finite"]], "is_finite (sign property)": [[476, "symforce.symbolic.sign.is_finite"]], "is_integer (rational property)": [[476, "symforce.symbolic.Rational.is_integer"]], "is_integer (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_integer"]], "is_irrational (float property)": [[476, "symforce.symbolic.Float.is_irrational"]], "is_negative (abs property)": [[476, "symforce.symbolic.Abs.is_negative"]], "is_negative (basic attribute)": [[476, "symforce.symbolic.Basic.is_negative"]], "is_negative (number attribute)": [[476, "symforce.symbolic.Number.is_negative"]], "is_negative() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_negative"]], "is_nonnegative (basic attribute)": [[476, "symforce.symbolic.Basic.is_nonnegative"]], "is_nonnegative (number attribute)": [[476, "symforce.symbolic.Number.is_nonnegative"]], "is_nonnegative() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_nonnegative"]], "is_nonpositive (basic attribute)": [[476, "symforce.symbolic.Basic.is_nonpositive"]], "is_nonpositive (number attribute)": [[476, "symforce.symbolic.Number.is_nonpositive"]], "is_nonpositive() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_nonpositive"]], "is_nonzero (number attribute)": [[476, "symforce.symbolic.Number.is_nonzero"]], "is_number (unevaluatedexpr property)": [[476, "symforce.symbolic.UnevaluatedExpr.is_number"]], "is_positive (basic attribute)": [[476, "symforce.symbolic.Basic.is_positive"]], "is_positive (number attribute)": [[476, "symforce.symbolic.Number.is_positive"]], "is_positive() (in module symforce.symbolic)": [[476, "symforce.symbolic.is_positive"]], "is_rational (float property)": [[476, "symforce.symbolic.Float.is_rational"]], "is_real (abs property)": [[476, "symforce.symbolic.Abs.is_real"]], "is_real (basic attribute)": [[476, "symforce.symbolic.Basic.is_real"]], "is_real (float property)": [[476, "symforce.symbolic.Float.is_real"]], "is_real (rational property)": [[476, "symforce.symbolic.Rational.is_real"]], "is_zero (basic attribute)": [[476, "symforce.symbolic.Basic.is_zero"]], "isprime() (in module symforce.symbolic)": [[476, "symforce.symbolic.isprime"]], "lambdify() (in module symforce.symbolic)": [[476, "symforce.symbolic.lambdify"]], "latex() (in module symforce.symbolic)": [[476, "symforce.symbolic.latex"]], "less() (in module symforce.symbolic)": [[476, "symforce.symbolic.less"]], "less_equal() (in module symforce.symbolic)": [[476, "symforce.symbolic.less_equal"]], "limit() (in module symforce.symbolic)": [[476, "symforce.symbolic.limit"]], "linsolve() (in module symforce.symbolic)": [[476, "symforce.symbolic.linsolve"]], "log (class in symforce.symbolic)": [[476, "symforce.symbolic.log"]], "loggamma (class in symforce.symbolic)": [[476, "symforce.symbolic.loggamma"]], "logical_and() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_and"]], "logical_not() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_not"]], "logical_or() (in module symforce.symbolic)": [[476, "symforce.symbolic.logical_or"]], "lowergamma (class in symforce.symbolic)": [[476, "symforce.symbolic.lowergamma"]], "matrix_type_from_shape() (in module symforce.symbolic)": [[476, "symforce.symbolic.matrix_type_from_shape"]], "msubs() (basic method)": [[476, "symforce.symbolic.Basic.msubs"]], "n() (basic method)": [[476, "symforce.symbolic.Basic.n"]], "original_get_dict() (in module symforce.symbolic)": [[476, "symforce.symbolic.original_get_dict"]], "p (integer property)": [[476, "symforce.symbolic.Integer.p"]], "p (rational property)": [[476, "symforce.symbolic.Rational.p"]], "perfect_power() (in module symforce.symbolic)": [[476, "symforce.symbolic.perfect_power"]], "point (subs property)": [[476, "symforce.symbolic.Subs.point"]], "polygamma (class in symforce.symbolic)": [[476, "symforce.symbolic.polygamma"]], "q (integer property)": [[476, "symforce.symbolic.Integer.q"]], "q (rational property)": [[476, "symforce.symbolic.Rational.q"]], "real (number attribute)": [[476, "symforce.symbolic.Number.real"]], "replace() (basic method)": [[476, "symforce.symbolic.Basic.replace"]], "scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.scope"]], "sec (class in symforce.symbolic)": [[476, "symforce.symbolic.sec"]], "sech (class in symforce.symbolic)": [[476, "symforce.symbolic.sech"]], "series() (in module symforce.symbolic)": [[476, "symforce.symbolic.series"]], "set_eval_on_sympify() (in module symforce.symbolic)": [[476, "symforce.symbolic.set_eval_on_sympify"]], "set_scope() (in module symforce.symbolic)": [[476, "symforce.symbolic.set_scope"]], "sign (class in symforce.symbolic)": [[476, "symforce.symbolic.sign"]], "sign_no_zero() (in module symforce.symbolic)": [[476, "symforce.symbolic.sign_no_zero"]], "simplify() (basic method)": [[476, "symforce.symbolic.Basic.simplify"]], "simplify() (in module symforce.symbolic)": [[476, "symforce.symbolic.simplify"]], "sin (class in symforce.symbolic)": [[476, "symforce.symbolic.sin"]], "sinh (class in symforce.symbolic)": [[476, "symforce.symbolic.sinh"]], "solve() (in module symforce.symbolic)": [[476, 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"symforce.symbolic.var"]], "variables (derivative property)": [[476, "symforce.symbolic.Derivative.variables"]], "variables (subs property)": [[476, "symforce.symbolic.Subs.variables"]], "wrap_angle() (in module symforce.symbolic)": [[476, "symforce.symbolic.wrap_angle"]], "xreplace() (basic method)": [[476, "symforce.symbolic.Basic.xreplace"]], "zeta (class in symforce.symbolic)": [[476, "symforce.symbolic.zeta"]], "symforce.test_util": [[477, "module-symforce.test_util"]], "backend_test_function() (in module symforce.test_util.backend_coverage_expressions)": [[478, "symforce.test_util.backend_coverage_expressions.backend_test_function"]], "symforce.test_util.backend_coverage_expressions": [[478, "module-symforce.test_util.backend_coverage_expressions"]], "camcaltestmixin (class in symforce.test_util.cam_cal_test_mixin)": [[479, "symforce.test_util.cam_cal_test_mixin.CamCalTestMixin"]], "symforce.test_util.cam_cal_test_mixin": [[479, "module-symforce.test_util.cam_cal_test_mixin"]], "test_storage_order() (camcaltestmixin method)": [[479, "symforce.test_util.cam_cal_test_mixin.CamCalTestMixin.test_storage_order"]], "camtestmixin (class in symforce.test_util.cam_test_mixin)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin"]], "epsilon (camtestmixin attribute)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.EPSILON"]], "element() (camtestmixin class method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.element"]], "symforce.test_util.cam_test_mixin": [[480, "module-symforce.test_util.cam_test_mixin"]], "test_camera_ray_from_pixel() (camtestmixin method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.test_camera_ray_from_pixel"]], "test_pixel_from_camera_point() (camtestmixin method)": [[480, "symforce.test_util.cam_test_mixin.CamTestMixin.test_pixel_from_camera_point"]], "is_derivative_with_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_derivative_with_epsilon_correct"]], "is_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_epsilon_correct"]], "is_value_with_epsilon_correct() (in module symforce.test_util.epsilon_handling)": [[481, "symforce.test_util.epsilon_handling.is_value_with_epsilon_correct"]], "symforce.test_util.epsilon_handling": [[481, "module-symforce.test_util.epsilon_handling"]], "groupopstestmixin (class in symforce.test_util.group_ops_test_mixin)": [[482, "symforce.test_util.group_ops_test_mixin.GroupOpsTestMixin"]], "symforce.test_util.group_ops_test_mixin": [[482, "module-symforce.test_util.group_ops_test_mixin"]], "test_group_ops() (groupopstestmixin method)": [[482, "symforce.test_util.group_ops_test_mixin.GroupOpsTestMixin.test_group_ops"]], "epsilon (liegroupopstestmixin attribute)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.EPSILON"]], "liegroupopstestmixin (class in symforce.test_util.lie_group_ops_test_mixin)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin"]], "manifold_is_defined_in_terms_of_group_ops (liegroupopstestmixin attribute)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.MANIFOLD_IS_DEFINED_IN_TERMS_OF_GROUP_OPS"]], "symforce.test_util.lie_group_ops_test_mixin": [[483, "module-symforce.test_util.lie_group_ops_test_mixin"]], "test_lie_group_ops() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_lie_group_ops"]], "test_manifold_ops_match_group_ops_definitions() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_manifold_ops_match_group_ops_definitions"]], "test_storage_d_tangent() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_storage_D_tangent"]], "test_tangent_d_storage() (liegroupopstestmixin method)": [[483, "symforce.test_util.lie_group_ops_test_mixin.LieGroupOpsTestMixin.test_tangent_D_storage"]], "symforce.test_util.random_expressions": [[484, "module-symforce.test_util.random_expressions"]], "opprobability (class in symforce.test_util.random_expressions.op_probabilities)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability"]], "arity (opprobability property)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.arity"]], "func (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.func"]], "name (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.name"]], "prob (opprobability attribute)": [[485, "symforce.test_util.random_expressions.op_probabilities.OpProbability.prob"]], "symforce.test_util.random_expressions.op_probabilities": [[485, "module-symforce.test_util.random_expressions.op_probabilities"]], 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"symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.generate_D"]], "sample_next_pos() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.sample_next_pos"]], "seq_to_expr() (unarybinaryexpressiongen method)": [[486, "symforce.test_util.random_expressions.unary_binary_expression_gen.UnaryBinaryExpressionGen.seq_to_expr"]], "symforce.test_util.random_expressions.unary_binary_expression_gen": [[486, "module-symforce.test_util.random_expressions.unary_binary_expression_gen"]], "storageopstestmixin (class in symforce.test_util.storage_ops_test_mixin)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin"]], "element() (storageopstestmixin class method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.element"]], "element_type() (storageopstestmixin class method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.element_type"]], "symforce.test_util.storage_ops_test_mixin": [[487, "module-symforce.test_util.storage_ops_test_mixin"]], "test_storage_ops() (storageopstestmixin method)": [[487, "symforce.test_util.storage_ops_test_mixin.StorageOpsTestMixin.test_storage_ops"]], "testcase (class in symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.TestCase"]], "expected_failure_on_sympy() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.expected_failure_on_sympy"]], "main() (testcase static method)": [[488, "symforce.test_util.test_case.TestCase.main"]], "setup() (testcase method)": [[488, "symforce.test_util.test_case.TestCase.setUp"]], "should_run_slow_tests() (testcase static method)": [[488, "symforce.test_util.test_case.TestCase.should_run_slow_tests"]], "slow_on_sympy() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.slow_on_sympy"]], "symengine_only() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.symengine_only"]], "symforce.test_util.test_case": [[488, "module-symforce.test_util.test_case"]], "sympy_only() (in module symforce.test_util.test_case)": [[488, "symforce.test_util.test_case.sympy_only"]], "keep_paths (symforcetestcasemixin attribute)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.KEEP_PATHS"]], "liegroupopstype (symforcetestcasemixin attribute)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.LieGroupOpsType"]], "symforcetestcasemixin (class in symforce.test_util.test_case_mixin)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin"]], "assertarrayequal() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertArrayEqual"]], "assertliegroupnear() (symforcetestcasemixin static method)": [[489, "symforce.test_util.test_case_mixin.SymforceTestCaseMixin.assertLieGroupNear"]], 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"symforce.values.values.Values.subkeys_recursive"]], "subs() (values method)": [[498, "symforce.values.values.Values.subs"]], "symbolic() (values method)": [[498, "symforce.values.values.Values.symbolic"]], "symforce.values.values": [[498, "module-symforce.values.values"]], "tangent_d_storage() (values method)": [[498, "symforce.values.values.Values.tangent_D_storage"]], "tangent_dim() (values method)": [[498, "symforce.values.values.Values.tangent_dim"]], "to_dict() (values method)": [[498, "symforce.values.values.Values.to_dict"]], "to_numerical() (values method)": [[498, "symforce.values.values.Values.to_numerical"]], "to_storage() (values method)": [[498, "symforce.values.values.Values.to_storage"]], "to_tangent() (values method)": [[498, "symforce.values.values.Values.to_tangent"]], "values() (values method)": [[498, "symforce.values.values.Values.values"]], "values_recursive() (values method)": [[498, "symforce.values.values.Values.values_recursive"]]}}) \ No newline at end of file diff --git a/tutorials/cameras_tutorial.ipynb b/tutorials/cameras_tutorial.ipynb index 922bf978..ca639c76 100644 --- a/tutorials/cameras_tutorial.ipynb +++ b/tutorials/cameras_tutorial.ipynb @@ -19,10 +19,10 @@ "execution_count": 1, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:56.413566Z", - "iopub.status.busy": "2023-11-15T23:33:56.413348Z", - "iopub.status.idle": "2023-11-15T23:33:57.094973Z", - "shell.execute_reply": "2023-11-15T23:33:57.094334Z" + "iopub.execute_input": "2023-12-19T19:00:45.789532Z", + "iopub.status.busy": "2023-12-19T19:00:45.789322Z", + "iopub.status.idle": "2023-12-19T19:00:46.437398Z", + "shell.execute_reply": "2023-12-19T19:00:46.436701Z" } }, "outputs": [], @@ -49,10 +49,10 @@ "execution_count": 2, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.098991Z", - "iopub.status.busy": "2023-11-15T23:33:57.097967Z", - "iopub.status.idle": "2023-11-15T23:33:57.122787Z", - "shell.execute_reply": "2023-11-15T23:33:57.122111Z" + "iopub.execute_input": "2023-12-19T19:00:46.441775Z", + "iopub.status.busy": "2023-12-19T19:00:46.440808Z", + "iopub.status.idle": "2023-12-19T19:00:46.466696Z", + "shell.execute_reply": "2023-12-19T19:00:46.466060Z" } }, "outputs": [ @@ -86,10 +86,10 @@ "execution_count": 3, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.143415Z", - "iopub.status.busy": "2023-11-15T23:33:57.143163Z", - "iopub.status.idle": "2023-11-15T23:33:57.930503Z", - "shell.execute_reply": "2023-11-15T23:33:57.929775Z" + "iopub.execute_input": "2023-12-19T19:00:46.483649Z", + "iopub.status.busy": "2023-12-19T19:00:46.483380Z", + "iopub.status.idle": "2023-12-19T19:00:47.265859Z", + "shell.execute_reply": "2023-12-19T19:00:47.265247Z" } }, "outputs": [ @@ -125,10 +125,10 @@ "execution_count": 4, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.935195Z", - "iopub.status.busy": "2023-11-15T23:33:57.933981Z", - "iopub.status.idle": "2023-11-15T23:33:57.951940Z", - "shell.execute_reply": "2023-11-15T23:33:57.951331Z" + "iopub.execute_input": "2023-12-19T19:00:47.270001Z", + "iopub.status.busy": "2023-12-19T19:00:47.268921Z", + "iopub.status.idle": "2023-12-19T19:00:47.285498Z", + "shell.execute_reply": "2023-12-19T19:00:47.284909Z" } }, "outputs": [ @@ -166,10 +166,10 @@ "execution_count": 5, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.956148Z", - "iopub.status.busy": "2023-11-15T23:33:57.955099Z", - "iopub.status.idle": "2023-11-15T23:33:57.963021Z", - "shell.execute_reply": "2023-11-15T23:33:57.962426Z" + "iopub.execute_input": "2023-12-19T19:00:47.289558Z", + "iopub.status.busy": "2023-12-19T19:00:47.288561Z", + "iopub.status.idle": "2023-12-19T19:00:47.296021Z", + "shell.execute_reply": "2023-12-19T19:00:47.295472Z" } }, "outputs": [ @@ -211,10 +211,10 @@ "execution_count": 6, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.967196Z", - "iopub.status.busy": "2023-11-15T23:33:57.966113Z", - "iopub.status.idle": "2023-11-15T23:33:57.976944Z", - "shell.execute_reply": "2023-11-15T23:33:57.976343Z" + "iopub.execute_input": "2023-12-19T19:00:47.299951Z", + "iopub.status.busy": "2023-12-19T19:00:47.298977Z", + "iopub.status.idle": "2023-12-19T19:00:47.309193Z", + "shell.execute_reply": "2023-12-19T19:00:47.308606Z" } }, "outputs": [ @@ -253,10 +253,10 @@ "execution_count": 7, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.981171Z", - "iopub.status.busy": "2023-11-15T23:33:57.980074Z", - "iopub.status.idle": "2023-11-15T23:33:57.993233Z", - "shell.execute_reply": "2023-11-15T23:33:57.992550Z" + "iopub.execute_input": "2023-12-19T19:00:47.313183Z", + "iopub.status.busy": "2023-12-19T19:00:47.312161Z", + "iopub.status.idle": "2023-12-19T19:00:47.324093Z", + "shell.execute_reply": "2023-12-19T19:00:47.323442Z" } }, "outputs": [ @@ -302,10 +302,10 @@ "execution_count": 8, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:57.997997Z", - "iopub.status.busy": "2023-11-15T23:33:57.996842Z", - "iopub.status.idle": "2023-11-15T23:33:58.007653Z", - "shell.execute_reply": "2023-11-15T23:33:58.007019Z" + "iopub.execute_input": "2023-12-19T19:00:47.328211Z", + "iopub.status.busy": "2023-12-19T19:00:47.327241Z", + "iopub.status.idle": "2023-12-19T19:00:47.337057Z", + "shell.execute_reply": "2023-12-19T19:00:47.336455Z" } }, "outputs": [ @@ -347,10 +347,10 @@ "execution_count": 9, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:58.012036Z", - "iopub.status.busy": "2023-11-15T23:33:58.010956Z", - "iopub.status.idle": "2023-11-15T23:33:58.025410Z", - "shell.execute_reply": "2023-11-15T23:33:58.024747Z" + "iopub.execute_input": "2023-12-19T19:00:47.341187Z", + "iopub.status.busy": "2023-12-19T19:00:47.340154Z", + "iopub.status.idle": "2023-12-19T19:00:47.353100Z", + "shell.execute_reply": "2023-12-19T19:00:47.352495Z" } }, "outputs": [ @@ -391,10 +391,10 @@ "execution_count": 10, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:58.029989Z", - "iopub.status.busy": "2023-11-15T23:33:58.028858Z", - "iopub.status.idle": "2023-11-15T23:33:58.050461Z", - "shell.execute_reply": "2023-11-15T23:33:58.049763Z" + "iopub.execute_input": "2023-12-19T19:00:47.357215Z", + "iopub.status.busy": "2023-12-19T19:00:47.356231Z", + "iopub.status.idle": "2023-12-19T19:00:47.375049Z", + "shell.execute_reply": "2023-12-19T19:00:47.374466Z" } }, "outputs": [ @@ -441,10 +441,10 @@ "execution_count": 11, "metadata": { "execution": { - "iopub.execute_input": "2023-11-15T23:33:58.055007Z", - "iopub.status.busy": "2023-11-15T23:33:58.053883Z", - "iopub.status.idle": "2023-11-15T23:33:58.082504Z", - "shell.execute_reply": "2023-11-15T23:33:58.081804Z" + "iopub.execute_input": "2023-12-19T19:00:47.379103Z", + "iopub.status.busy": "2023-12-19T19:00:47.378102Z", + "iopub.status.idle": "2023-12-19T19:00:47.403558Z", + "shell.execute_reply": "2023-12-19T19:00:47.402990Z" } }, "outputs": [ diff --git a/tutorials/codegen_tutorial.html b/tutorials/codegen_tutorial.html index 0b1010e4..1f0ef281 100644 --- a/tutorials/codegen_tutorial.html +++ b/tutorials/codegen_tutorial.html @@ -836,7 +836,7 @@