Provides additional testing facilities for common data structures.
Typedefs for easier changing of types.
A thin wrapper around std::list that uses boost's fast_pool_allocator.
Concept check for values that can be used in unit tests.
Provides convenient mappings of common member functions for testing.
Access to matrices via blocks of pre-defined sizes. Used in GaussianFactor and GaussianConditional.
Concept check class for variable types with Group properties.
A matrix with column blocks of pre-defined sizes. Used in JacobianFactor and GaussianConditional.
Group product of two Lie Groups.
A faster implementation for DSF, which uses vector rather than btree.
Base class and basic functions for Manifold types.
Base class and basic functions for Lie types.
A thin wrapper around std::vector that uses a custom allocator.
typedef and functions to augment Eigen's VectorXd
A thin wrapper around std::map that uses boost's fast_pool_allocator.
The base class for any variable that can be optimized or used in a factor.
Special class for optional Jacobian arguments.
An easy way to control which allocator is used for Fast* collections.
A thin wrapper around std::set that uses boost's fast_pool_allocator.
Efficient incomplete Cholesky on rank-deficient matrices, todo: constrained Cholesky.