std::vector< gtsam::Pose3 > createPoses(const gtsam::Pose3 &init=gtsam::Pose3(gtsam::Rot3::Ypr(M_PI/2, 0,-M_PI/2), gtsam::Point3(30, 0, 0)), const gtsam::Pose3 &delta=gtsam::Pose3(gtsam::Rot3::Ypr(0,-M_PI/4, 0), gtsam::Point3(sin(M_PI/4) *30, 0, 30 *(1-sin(M_PI/4)))), int steps=8)
static Rot3 Ypr(double y, double p, double r, OptionalJacobian< 3, 1 > Hy={}, OptionalJacobian< 3, 1 > Hp={}, OptionalJacobian< 3, 1 > Hr={})