gtsam Namespace Reference

Namespaces
	ClusterTree
	DecisionTree
	detail
	dynamics
	example
	examples
	Expression
	gtsfm
	imuBias
	inference
	initialize
	internal
	ISAM2Result
	lago
	linear
	MetisIndex
	noiseModel
	NonlinearClusterTree
	partition
	Pose2
	Pose3
	QPSParser
	Rot2
	Rot3
	Similarity2
	Similarity3
	simulated3D
	SmartRangeFactor
	SO
	so3
	Subgraph
	symbol_shorthand
	TableFactor
	testing
	tiny
	traits
	treeTraversal
	utilities
	utils
	Values

Classes
struct	_ValuesConstKeyValuePair
struct	_ValuesKeyValuePair
class	AcceleratedPowerMethod
class	AcceleratingScenario
class	ActiveSetSolver
class	AdaptAutoDiff
struct	additive_group_tag
class	AHRS
class	AHRSFactor
class	AlgebraicDecisionTree
class	AllDiff
class	AntiFactor
class	Assignment
class	AttitudeFactor
class	BarometricFactor
class	Basis
class	BatchFixedLagSmoother
class	BayesNet
class	BayesTree
class	BayesTreeCliqueBase
struct	BayesTreeCliqueData
struct	BayesTreeCliqueStats
class	BayesTreeOrphanWrapper
class	BayesTreeOrphanWrapper< HybridBayesTreeClique >
struct	Bearing
struct	Bearing< Pose2, T >
struct	Bearing< Pose3, Point3 >
struct	Bearing< Pose3, Pose3 >
struct	BearingFactor
struct	BearingRange
class	BearingRangeFactor
class	BearingS2
class	BetweenConstraint
class	BetweenFactor
class	BetweenFactorEM
class	BiasedGPSFactor
class	BinaryAllDiff
struct	BinaryJacobianFactor
class	BinaryMeasurement
class	BinarySumExpression
class	BlockJacobiPreconditioner
struct	BlockJacobiPreconditionerParameters
struct	BoundingConstraint1
struct	BoundingConstraint2
class	BTree
class	Cal3
class	Cal3_S2
class	Cal3_S2Stereo
class	Cal3Bundler
struct	Cal3Bundler0
class	Cal3DS2
class	Cal3DS2_Base
class	Cal3Fisheye
class	Cal3Unified
class	CalibratedCamera
class	CameraSet
struct	CGState
struct	Chebyshev1Basis
class	Chebyshev2
struct	Chebyshev2Basis
class	CheiralityException
class	CholeskyFailed
class	ClusterTree
class	CombinedImuFactor
class	CombinedScenarioRunner
class	ComponentDerivativeFactor
class	compose_key_visitor
class	ConcurrentBatchFilter
class	ConcurrentBatchSmoother
class	ConcurrentFilter
class	ConcurrentIncrementalFilter
class	ConcurrentIncrementalSmoother
class	ConcurrentMap
class	ConcurrentSmoother
class	Conditional
class	ConjugateGradientParameters
struct	const_selector
struct	const_selector< BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST >
struct	const_selector< const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST >
class	ConstantTwistScenario
class	ConstantVelocityFactor
class	Constraint
struct	ConstructorTraversalData
class	CSP
class	CustomFactor
class	Cyclic
class	DecisionTree
class	DecisionTreeFactor
class	DeltaFactor
class	DeltaFactorBase
struct	DeltaImpl
class	DerivativeFactor
struct	DGroundConstraint
struct	DHeightPrior
class	DirectProduct
class	DirectSum
class	DiscreteBayesNet
class	DiscreteBayesTree
class	DiscreteBayesTreeClique
class	DiscreteConditional
class	DiscreteDistribution
class	DiscreteEliminationTree
class	DiscreteEulerPoincareHelicopter
class	DiscreteFactor
class	DiscreteFactorGraph
class	DiscreteJunctionTree
struct	DiscreteKeys
class	DiscreteLookupDAG
class	DiscreteLookupTable
class	DiscreteMarginals
class	DiscreteValues
class	DoglegOptimizer
struct	DoglegOptimizerImpl
class	DoglegParams
class	Domain
struct	DotWriter
struct	DRollPrior
class	DSF
class	DSFBase
class	DSFMap
class	DSFVector
struct	Dummy
class	DummyFactor
class	DummyPreconditioner
struct	DummyPreconditionerParameters
class	DynamicValuesMismatched
class	EliminatableClusterTree
class	EliminateableFactorGraph
struct	EliminationData
struct	EliminationTraits
struct	EliminationTraits< DiscreteFactorGraph >
struct	EliminationTraits< GaussianFactorGraph >
struct	EliminationTraits< HybridGaussianFactorGraph >
struct	EliminationTraits< SymbolicFactorGraph >
class	EliminationTree
class	EmptyCal
class	EqualityFactorGraph
struct	equals
struct	equals_star
struct	equalsVector
class	EquivInertialNavFactor_GlobalVel
class	EquivInertialNavFactor_GlobalVel_NoBias
class	EssentialMatrix
class	EssentialMatrixConstraint
class	EssentialMatrixFactor
class	EssentialMatrixFactor2
class	EssentialMatrixFactor3
class	EssentialMatrixFactor4
class	EvaluationFactor
class	Event
class	Expression
class	ExpressionFactor
class	ExpressionFactorGraph
class	ExpressionFactorN
class	ExtendedKalmanFilter
class	Factor
class	FactorGraph
class	FastList
class	FastMap
class	FastSet
class	FitBasis
struct	FixedDimension
class	FixedLagSmoother
class	FixedLagSmootherKeyTimestampMap
class	FixedVector
class	FourierBasis
class	FrobeniusBetweenFactor
class	FrobeniusFactor
class	FrobeniusPrior
class	FullIMUFactor
class	FunctorizedFactor
class	FunctorizedFactor2
class	G_x1
class	GaussianBayesNet
class	GaussianBayesTree
class	GaussianBayesTreeClique
class	GaussianConditional
class	GaussianDensity
class	GaussianEliminationTree
class	GaussianFactor
class	GaussianFactorGraph
class	GaussianFactorGraphSystem
class	GaussianISAM
class	GaussianJunctionTree
class	GaussianMixture
class	GaussianMixtureFactor
class	GaussMarkov1stOrderFactor
class	GaussNewtonOptimizer
class	GaussNewtonParams
class	GeneralSFMFactor
class	GeneralSFMFactor2
class	GenericProjectionFactor
class	GenericStereoFactor
class	GenericValue
class	GncOptimizer
class	GncParams
class	GPSFactor
class	GPSFactor2
struct	GraphvizFormatting
struct	group_tag
struct	HasBearing
struct	HasRange
struct	HasTestablePrereqs
class	HessianFactor
struct	HybridAssignmentData
class	HybridBayesNet
class	HybridBayesTree
class	HybridBayesTreeClique
class	HybridConditional
struct	HybridConstructorTraversalData
class	HybridEliminationTree
class	HybridFactor
class	HybridFactorGraph
class	HybridGaussianFactorGraph
class	HybridGaussianISAM
class	HybridJunctionTree
class	HybridNonlinearFactorGraph
class	HybridNonlinearISAM
class	HybridSmoother
class	HybridValues
class	IMUFactor
class	ImuFactor
class	ImuFactor2
class	ImuMeasurement
class	InconsistentEliminationRequested
class	IncrementalFixedLagSmoother
class	IndeterminantLinearSystemException
struct	index_sequence
class	IndexPair
class	InequalityFactorGraph
class	InertialNavFactor_GlobalVelocity
class	InfeasibleInitialValues
class	InfeasibleOrUnboundedProblem
struct	InitializePose3
class	InvalidArgumentThreadsafe
class	InvalidDenseElimination
class	InvalidMatrixBlock
class	InvalidNoiseModel
class	InvDepthCamera3
class	InvDepthFactor3
class	InvDepthFactorVariant1
class	InvDepthFactorVariant2
class	InvDepthFactorVariant3a
class	InvDepthFactorVariant3b
class	ISAM
class	ISAM2
class	ISAM2BayesTree
class	ISAM2Clique
struct	ISAM2DoglegParams
struct	ISAM2GaussNewtonParams
class	ISAM2JunctionTree
struct	ISAM2Params
struct	ISAM2Result
struct	ISAM2UpdateParams
class	IsGroup
class	IsLieGroup
class	IsTestable
class	IsVectorSpace
class	IterativeOptimizationParameters
class	IterativeSolver
class	JacobianFactor
class	JacobianFactorQ
class	JacobianFactorQR
class	JacobianFactorSVD
class	JointMarginal
class	JunctionTree
class	KalmanFilter
class	KarcherMeanFactor
class	key_formatter
class	KeyInfo
struct	KeyInfoEntry
class	LabeledSymbol
class	LevenbergMarquardtOptimizer
class	LevenbergMarquardtParams
struct	lie_group_tag
struct	LieGroup
class	Line3
class	LinearContainerFactor
class	LinearCost
class	LinearEquality
class	LinearInequality
class	LinearizedGaussianFactor
class	LinearizedHessianFactor
class	LinearizedJacobianFactor
class	LocalOrientedPlane3Factor
struct	LP
class	LPInitSolver
struct	LPPolicy
class	MagFactor
class	MagFactor1
class	MagFactor2
class	MagFactor3
class	MagPoseFactor
struct	make_index_sequence
struct	make_index_sequence< 0 >
struct	make_index_sequence< 1 >
struct	MakeJacobian
struct	MakeOptionalJacobian
struct	manifold_tag
class	ManifoldEvaluationFactor
class	ManifoldPreintegration
class	MarginalizeNonleafException
class	Marginals
struct	MatrixProdFunctor
class	Measurement
class	Mechanization_bRn2
class	MetisIndex
class	MFAS
class	MixtureFactor
struct	multiplicative_group_tag
struct	MultiplyWithInverse
struct	MultiplyWithInverseFunction
class	MultiProjectionFactor
class	NavState
struct	needs_eigen_aligned_allocator
struct	needs_eigen_aligned_allocator< T, void_t< typename T::_eigen_aligned_allocator_trait > >
class	NoiseModelFactor
class	NoiseModelFactorN
class	NoMatchFoundForFixed
class	NonlinearClusterTree
class	NonlinearConjugateGradientOptimizer
class	NonlinearEquality
class	NonlinearEquality1
class	NonlinearEquality2
class	NonlinearFactor
class	NonlinearFactorGraph
class	NonlinearISAM
class	NonlinearOptimizer
class	NonlinearOptimizerParams
class	OdometryFactorBase
class	OptionalJacobian
class	OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic >
class	Ordering
class	ordering_key_visitor
class	OrientedPlane3
class	OrientedPlane3DirectionPrior
class	OrientedPlane3Factor
class	OutOfRangeThreadsafe
struct	ParseFactor
struct	ParseMeasurement
struct	ParseMeasurement< BearingRange2D >
struct	ParseMeasurement< Pose2 >
struct	ParseMeasurement< Pose3 >
class	PartialPriorFactor
class	ParticleFactor
class	ParticleFilter
class	PCGSolver
struct	PCGSolverParameters
class	PendulumFactor1
class	PendulumFactor2
class	PendulumFactorPk
class	PendulumFactorPk1
class	PinholeBase
class	PinholeBaseK
class	PinholeCamera
class	PinholeFactor
class	PinholePose
class	PinholeSet
class	Pose2
class	Pose3
class	Pose3AttitudeFactor
class	Pose3Upright
class	PoseBetweenFactor
class	PoseConcept
class	PosePriorFactor
class	PoseRotationPrior
class	PoseRTV
class	PoseToPointFactor
class	PoseTranslationPrior
class	PowerMethod
class	Preconditioner
struct	PreconditionerParameters
class	PredecessorMap
class	PreintegratedAhrsMeasurements
class	PreintegratedCombinedMeasurements
class	PreintegratedImuMeasurements
class	PreintegratedRotation
struct	PreintegratedRotationParams
class	PreintegrationBase
struct	PreintegrationCombinedParams
struct	PreintegrationParams
class	PriorFactor
class	ProductLieGroup
class	ProjectionFactorPPP
class	ProjectionFactorPPPC
class	ProjectionFactorRollingShutter
struct	QP
class	QPInitSolver
struct	QPPolicy
class	QPSParser
class	QPSParserException
class	QPSVisitor
struct	Range
struct	Range< CalibratedCamera, T >
struct	Range< PinholeCamera< Calibration >, T >
struct	Range< Point2, Point2 >
struct	Range< Point3, Point3 >
struct	Range< Pose2, T >
struct	Range< Pose3, T >
struct	Range< PoseRTV, PoseRTV >
struct	Range< Vector4, Vector4 >
class	RangeFactor
class	RangeFactorWithTransform
class	Reconstruction
struct	RedirectCout
class	ReferenceFrameFactor
class	RegularHessianFactor
class	RegularImplicitSchurFactor
class	RegularJacobianFactor
class	RelativeElevationFactor
struct	Reshape
struct	Reshape< M, M, InOptions, M, M, InOptions >
struct	Reshape< M, N, InOptions, M, N, InOptions >
struct	Reshape< N, M, InOptions, M, N, InOptions >
class	Rot2
class	Rot3
class	Rot3AttitudeFactor
class	RotateDirectionsFactor
class	RotateFactor
class	RuntimeErrorThreadsafe
class	Sampler
class	ScalarMultiplyExpression
class	Scatter
class	Scenario
class	ScenarioRunner
class	Scheduler
class	SDGraph
struct	SfmData
struct	SfmTrack
struct	SfmTrack2d
class	SGraph
class	ShonanAveraging
class	ShonanAveraging2
class	ShonanAveraging3
struct	ShonanAveragingParameters
class	ShonanFactor
class	ShonanGaugeFactor
class	Signature
struct	SignatureParser
class	Similarity2
class	Similarity3
class	SimPolygon2D
class	SimWall2D
class	SingleValue
struct	SlotEntry
class	SmartFactorBase
class	SmartProjectionFactor
struct	SmartProjectionParams
class	SmartProjectionPoseFactor
class	SmartProjectionPoseFactorRollingShutter
class	SmartProjectionRigFactor
class	SmartRangeFactor
class	SmartStereoProjectionFactor
class	SmartStereoProjectionFactorPP
class	SmartStereoProjectionPoseFactor
class	SO
class	SphericalCamera
class	StereoCamera
class	StereoCheiralityException
class	StereoFactor
class	StereoPoint2
struct	StreamedKey
class	Subgraph
class	SubgraphBuilder
struct	SubgraphBuilderParameters
class	SubgraphPreconditioner
struct	SubgraphPreconditionerParameters
class	SubgraphSolver
struct	SubgraphSolverParameters
struct	Switching
class	Symbol
class	SymbolGenerator
class	SymbolicBayesNet
class	SymbolicBayesTree
class	SymbolicBayesTreeClique
class	SymbolicConditional
class	SymbolicEliminationTree
class	SymbolicFactor
class	SymbolicFactorGraph
class	SymbolicISAM
class	SymbolicJunctionTree
class	Symmetric
class	SymmetricBlockMatrix
class	System
class	TableFactor
class	TangentPreintegration
class	TbbOpenMPMixedScope
struct	Testable
class	TestOptionalStruct
class	ThreadsafeException
class	TimeOfArrival
class	TOAFactor
struct	traits
struct	traits< ADT >
struct	traits< AlgebraicDecisionTree< T > >
struct	traits< BearingFactor< A1, A2, T > >
struct	traits< BearingRange< A1, A2 > >
struct	traits< BearingRangeFactor< A1, A2, B, R > >
struct	traits< BearingS2 >
struct	traits< BetweenConstraint< VALUE > >
struct	traits< BetweenFactor< VALUE > >
struct	traits< BetweenFactorEM< VALUE > >
struct	traits< BinaryJacobianFactor< M, N1, N2 > >
struct	traits< Cal3_S2 >
struct	traits< Cal3_S2Stereo >
struct	traits< Cal3Bundler >
struct	traits< Cal3Bundler0 >
struct	traits< Cal3DS2 >
struct	traits< Cal3Fisheye >
struct	traits< Cal3Unified >
struct	traits< CalibratedCamera >
struct	traits< CallConfig >
struct	traits< CameraSet< CAMERA > >
struct	traits< Class >
struct	traits< CombinedImuFactor >
struct	traits< ConcurrentBatchFilter >
struct	traits< ConcurrentBatchSmoother >
struct	traits< ConcurrentIncrementalFilter >
struct	traits< ConcurrentIncrementalSmoother >
struct	traits< const Cal3_S2 >
struct	traits< const Cal3_S2Stereo >
struct	traits< const Cal3Bundler >
struct	traits< const Cal3DS2 >
struct	traits< const Cal3Fisheye >
struct	traits< const Cal3Unified >
struct	traits< const CalibratedCamera >
struct	traits< const CameraSet< CAMERA > >
struct	traits< const EssentialMatrix >
struct	traits< const Line3 >
struct	traits< const OrientedPlane3 >
struct	traits< const PinholeCamera< Calibration > >
struct	traits< const PinholePose< CALIBRATION > >
struct	traits< const PinholeSet< CAMERA > >
struct	traits< const Pose2 >
struct	traits< const Pose3 >
struct	traits< const Rot2 >
struct	traits< const Rot3 >
struct	traits< const Similarity2 >
struct	traits< const Similarity3 >
struct	traits< const SO3 >
struct	traits< const SO4 >
struct	traits< const SO< N > >
struct	traits< const SphericalCamera >
struct	traits< const StereoCamera >
struct	traits< const StereoPoint2 >
struct	traits< const Unit3 >
struct	traits< CrazyDecisionTree >
struct	traits< Cyclic< N > >
struct	traits< DecisionTree< L, Y > >
struct	traits< DecisionTreeFactor >
struct	traits< Dih6 >
struct	traits< DirectProduct< G, H > >
struct	traits< DirectSum< G, H > >
struct	traits< DiscreteBayesNet >
struct	traits< DiscreteBayesTree >
struct	traits< DiscreteBayesTreeClique >
struct	traits< DiscreteConditional >
struct	traits< DiscreteDistribution >
struct	traits< DiscreteFactor >
struct	traits< DiscreteFactorGraph >
struct	traits< DiscreteKeys >
struct	traits< DiscreteLookupDAG >
struct	traits< DiscreteValues >
struct	traits< double >
struct	traits< DT >
struct	traits< Eigen::Matrix< double, -1, -1, Options, MaxRows, MaxCols > >
struct	traits< Eigen::Matrix< double, -1, 1, Options, MaxRows, MaxCols > >
struct	traits< Eigen::Matrix< double, 1, -1, Options, MaxRows, MaxCols > >
struct	traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > >
struct	traits< EqualityFactorGraph >
struct	traits< Errors >
struct	traits< EssentialMatrix >
struct	traits< Event >
struct	traits< ExpressionFactor< T > >
struct	traits< ExpressionFactorN< T, Args... > >
struct	traits< float >
struct	traits< FunctorizedFactor2< R, T1, T2 > >
struct	traits< FunctorizedFactor< R, T > >
struct	traits< GaussianBayesNet >
struct	traits< GaussianBayesTree >
struct	traits< GaussianConditional >
struct	traits< GaussianFactor >
struct	traits< GaussianFactorGraph >
struct	traits< GaussianISAM >
struct	traits< GaussianMixture >
struct	traits< GaussianMixtureFactor >
struct	traits< GaussMarkov1stOrderFactor< VALUE > >
struct	traits< GeneralSFMFactor2< CALIBRATION > >
struct	traits< GeneralSFMFactor< CAMERA, LANDMARK > >
struct	traits< GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > >
struct	traits< GenericStereoFactor< T1, T2 > >
struct	traits< GenericValue< ValueType > >
struct	traits< HessianFactor >
struct	traits< HybridBayesNet >
struct	traits< HybridBayesTree >
struct	traits< HybridBayesTreeClique >
struct	traits< HybridConditional >
struct	traits< HybridFactor >
struct	traits< HybridGaussianISAM >
struct	traits< HybridNonlinearFactorGraph >
struct	traits< HybridValues >
struct	traits< imuBias::ConstantBias >
struct	traits< ImuFactor >
struct	traits< ImuFactor2 >
struct	traits< InequalityFactorGraph >
struct	traits< InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS > >
struct	traits< ISAM2 >
struct	traits< JacobianFactor >
struct	traits< JacobianFactorQ< D, ZDim > >
struct	traits< K4 >
struct	traits< Key >
struct	traits< LabeledSymbol >
struct	traits< Line3 >
struct	traits< LinearContainerFactor >
struct	traits< LinearCost >
struct	traits< LinearEquality >
struct	traits< LinearInequality >
struct	traits< LinearizedHessianFactor >
struct	traits< LinearizedJacobianFactor >
struct	traits< LP >
struct	traits< MyType >
struct	traits< NavState >
struct	traits< noiseModel::Constrained >
struct	traits< noiseModel::Diagonal >
struct	traits< noiseModel::Gaussian >
struct	traits< noiseModel::Isotropic >
struct	traits< noiseModel::Unit >
struct	traits< NonlinearEquality1< VALUE > >
struct	traits< NonlinearEquality2< VALUE > >
struct	traits< NonlinearEquality< VALUE > >
struct	traits< NonlinearFactor >
struct	traits< NonlinearFactorGraph >
struct	traits< Ordering >
struct	traits< OrientedPlane3 >
struct	traits< PinholeCamera< Calibration > >
struct	traits< PinholeFactor >
struct	traits< PinholePose< CALIBRATION > >
struct	traits< PinholeSet< CAMERA > >
struct	traits< Pose2 >
struct	traits< Pose3 >
struct	traits< Pose3AttitudeFactor >
struct	traits< Pose3Upright >
struct	traits< PoseRTV >
struct	traits< PreintegratedCombinedMeasurements >
struct	traits< PreintegratedImuMeasurements >
struct	traits< PreintegratedRotation >
struct	traits< PreintegrationCombinedParams >
struct	traits< PriorFactor< VALUE > >
struct	traits< Product >
struct	traits< ProductLieGroup< G, H > >
struct	traits< ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION > >
struct	traits< ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION > >
struct	traits< ProjectionFactorRollingShutter >
struct	traits< QUATERNION_TYPE >
struct	traits< RangeFactor< A1, A2, T > >
struct	traits< RangeFactorWithTransform< A1, A2, T > >
struct	traits< ReferenceFrameFactor< T1, T2 > >
struct	traits< RegularHessianFactor< D > >
struct	traits< RegularImplicitSchurFactor< CAMERA > >
struct	traits< Rot2 >
struct	traits< Rot3 >
struct	traits< Rot3AttitudeFactor >
struct	traits< SfmData >
struct	traits< SfmTrack >
struct	traits< Similarity2 >
struct	traits< Similarity3 >
struct	traits< simulated2D::GenericMeasurement< POSE, LANDMARK > >
struct	traits< simulated2D::Values >
struct	traits< SimWall2D >
struct	traits< SmartProjectionFactor< CAMERA > >
struct	traits< SmartProjectionPoseFactor< CALIBRATION > >
struct	traits< SmartProjectionPoseFactorRollingShutter< CAMERA > >
struct	traits< SmartProjectionRigFactor< CAMERA > >
struct	traits< SmartStereoProjectionFactor >
struct	traits< SmartStereoProjectionFactorPP >
struct	traits< SmartStereoProjectionPoseFactor >
struct	traits< SO3 >
struct	traits< SO4 >
struct	traits< SO< N > >
struct	traits< SphericalCamera >
struct	traits< StereoCamera >
struct	traits< StereoFactor >
struct	traits< StereoPoint2 >
struct	traits< Symbol >
struct	traits< SymbolicBayesNet >
struct	traits< SymbolicBayesTree >
struct	traits< SymbolicBayesTreeClique >
struct	traits< SymbolicConditional >
struct	traits< SymbolicEliminationTree >
struct	traits< SymbolicFactor >
struct	traits< SymbolicFactorGraph >
struct	traits< Symmetric< N > >
struct	traits< TableFactor >
struct	traits< TestOptionalStruct >
struct	traits< TestPartialPriorFactor2 >
struct	traits< TestPartialPriorFactor3 >
struct	traits< TestPoseBetweenFactor >
struct	traits< TestPosePriorFactor >
struct	traits< TestProjectionFactor >
struct	traits< TestValue >
struct	traits< TransformBtwRobotsUnaryFactor< VALUE > >
struct	traits< TransformBtwRobotsUnaryFactorEM< VALUE > >
struct	traits< Unit3 >
struct	traits< Values >
struct	traits< VariableIndex >
struct	traits< VariableSlots >
struct	traits< VectorValues >
struct	traits< vertigo::SwitchVariableLinear >
struct	traits< vertigo::SwitchVariableSigmoid >
class	TransformBtwRobotsUnaryFactor
class	TransformBtwRobotsUnaryFactorEM
class	TransformCovariance
class	TranslationFactor
class	TranslationRecovery
class	TriangulationCheiralityException
class	TriangulationFactor
struct	TriangulationParameters
class	TriangulationResult
class	TriangulationUnderconstrainedException
class	Unit3
struct	UpdateImpl
class	Value
class	ValueCloneAllocator
class	Values
struct	ValuesCastHelper
struct	ValuesCastHelper< const Value, CastedKeyValuePairType, KeyValuePairType >
struct	ValuesCastHelper< Value, CastedKeyValuePairType, KeyValuePairType >
class	ValuesIncorrectType
class	ValuesKeyAlreadyExists
class	ValuesKeyDoesNotExist
struct	ValueWithDefault
class	VariableIndex
class	VariableSlots
struct	vector_space_tag
class	VectorComponentFactor
class	VectorDerivativeFactor
class	VectorEvaluationFactor
class	VectorValues
class	VelocityConstraint
class	VelocityConstraint3
struct	VelocityPrior
class	VerticalBlockMatrix
struct	Visit
struct	VisitLeaf
struct	VisitWith
class	WeightedSampler
class	WhiteNoiseFactor

Typedefs
typedef qi::grammar< boost::spirit::basic_istream_iterator< char > >	base_grammar
typedef BearingRange< Pose2, Point2 >	BearingRange2D
typedef std::vector< BetweenFactor< Pose2 >::shared_ptr >	BetweenFactorPose2s
typedef std::vector< BetweenFactor< Pose3 >::shared_ptr >	BetweenFactorPose3s
typedef std::vector< BinaryMeasurement< Point3 > >	BinaryMeasurementsPoint3
typedef std::vector< BinaryMeasurement< Rot3 > >	BinaryMeasurementsRot3
typedef std::vector< BinaryMeasurement< Unit3 > >	BinaryMeasurementsUnit3
typedef Expression< Cal3_S2 >	Cal3_S2_
typedef Expression< Cal3Bundler >	Cal3Bundler_
typedef PinholeCamera< Cal3Bundler0 >	Camera
typedef CameraSet< PinholeCamera< Cal3_S2 > >	CameraSetCal3_S2
typedef CameraSet< PinholeCamera< Cal3Bundler > >	CameraSetCal3Bundler
typedef CameraSet< PinholeCamera< Cal3DS2 > >	CameraSetCal3DS2
typedef CameraSet< PinholeCamera< Cal3Fisheye > >	CameraSetCal3Fisheye
typedef CameraSet< PinholeCamera< Cal3Unified > >	CameraSetCal3Unified
typedef CameraSet< SphericalCamera >	CameraSetSpherical
typedef ConcurrentBatchFilter::Result	ConcurrentBatchFilterResult
typedef ConcurrentBatchSmoother::Result	ConcurrentBatchSmootherResult
typedef ConcurrentIncrementalFilter::Result	ConcurrentIncrementalFilterResult
typedef ConcurrentIncrementalSmoother::Result	ConcurrentIncrementalSmootherResult
typedef Eigen::Block< const Matrix >	ConstSubMatrix
typedef Eigen::VectorBlock< const Vector >	ConstSubVector
typedef std::function< Vector(const CustomFactor &, const Values &, const JacobianVector *)>	CustomErrorFunction
typedef ptrdiff_t	DenseIndex
typedef DirectProduct< S2, S3 >	Dih6
typedef std::vector< Key >	Dims
typedef DiscreteJunctionTree::Cluster	DiscreteCluster
typedef std::pair< Key, size_t >	DiscreteKey
typedef std::map< Key, Domain >	Domains
typedef Expression< double >	Double_
typedef DSF< int >	DSFInt
typedef DSFMap< IndexPair >	DSFMapIndexPair
typedef OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic >	DynamicJacobian
typedef typename std::enable_if< B, T >::type	enable_if_t
typedef FastList< Vector >	Errors
typedef std::uint64_t	FactorIndex
typedef FastSet< FactorIndex >	FactorIndexSet
typedef FastVector< FactorIndex >	FactorIndices
typedef std::vector< T, typename internal::FastDefaultVectorAllocator< T >::type >	FastVector
typedef FixedLagSmoother::KeyTimestampMap	FixedLagSmootherKeyTimestampMap
typedef FixedLagSmootherKeyTimestampMap::value_type	FixedLagSmootherKeyTimestampMapValue
typedef FixedLagSmoother::Result	FixedLagSmootherResult
typedef DecisionTree< Key, GaussianFactorGraph >	GaussianFactorGraphTree
typedef std::pair< NonlinearFactorGraph::shared_ptr, Values::shared_ptr >	GraphAndValues
typedef make_index_sequence< sizeof...(T)>	index_sequence_for
typedef std::pair< std::pair< size_t, size_t >, Pose2 >	IndexedEdge
typedef std::pair< size_t, Point2 >	IndexedLandmark
typedef std::pair< size_t, Pose2 >	IndexedPose
typedef std::set< IndexPair >	IndexPairSet
typedef std::map< IndexPair, IndexPairSet >	IndexPairSetMap
typedef std::vector< IndexPair >	IndexPairVector
typedef FastMap< char, Vector >	ISAM2ThresholdMap
typedef ISAM2ThresholdMap::value_type	ISAM2ThresholdMapValue
typedef std::vector< Matrix >	JacobianVector
typedef std::uint64_t	Key
typedef std::map< Key, uint32_t >	KeyDimMap
typedef std::function< std::string(Key)>	KeyFormatter
typedef FastMap< Key, int >	KeyGroupMap
typedef FastList< Key >	KeyList
typedef std::map< std::pair< Key, Key >, double >	KeyPairDoubleMap
typedef std::map< Key, Rot3 >	KeyRotMap
typedef FastSet< Key >	KeySet
typedef FastVector< Key >	KeyVector
typedef std::map< Key, std::vector< size_t > >	KeyVectorMap
typedef Expression< Line3 >	Line3_
typedef ActiveSetSolver< LP, LPPolicy, LPInitSolver >	LPSolver
typedef Eigen::MatrixXd	Matrix
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MatrixRowMajor
typedef BetweenFactor< double >	MotionModel
typedef Expression< NavState >	NavState_
typedef Matrix *	OptionalMatrixType
typedef std::vector< Matrix > *	OptionalMatrixVecType
typedef Expression< OrientedPlane3 >	OrientedPlane3_
typedef BayesTreeOrphanWrapper< HybridBayesTree::Clique >	OrphanWrapper
typedef std::vector< std::pair< Key, Matrix > >	Pairs
typedef std::function< std::optional< T >(std::istream &is, const std::string &tag)>	Parser
typedef gtsam::PinholeCamera< gtsam::Cal3_S2 >	PinholeCameraCal3_S2
typedef gtsam::PinholeCamera< gtsam::Cal3Bundler >	PinholeCameraCal3Bundler
typedef gtsam::PinholeCamera< gtsam::Cal3DS2 >	PinholeCameraCal3DS2
typedef gtsam::PinholeCamera< gtsam::Cal3Fisheye >	PinholeCameraCal3Fisheye
typedef gtsam::PinholeCamera< gtsam::Cal3Unified >	PinholeCameraCal3Unified
typedef Vector2	Point2
typedef Expression< Point2 >	Point2_
typedef std::pair< Point2, Point2 >	Point2Pair
typedef std::vector< Point2Pair >	Point2Pairs
typedef std::vector< Point2, Eigen::aligned_allocator< Point2 > >	Point2Vector
typedef Vector3	Point3
typedef Expression< Point3 >	Point3_
typedef std::pair< Point3, Point3 >	Point3Pair
typedef std::vector< Point3Pair >	Point3Pairs
typedef std::vector< Point3, Eigen::aligned_allocator< Point3 > >	Point3Vector
typedef Expression< Pose2 >	Pose2_
typedef std::pair< Pose2, Pose2 >	Pose2Pair
typedef std::vector< Pose2Pair >	Pose2Pairs
typedef Expression< Pose3 >	Pose3_
typedef std::pair< Pose3, Pose3 >	Pose3Pair
typedef std::vector< std::pair< Pose3, Pose3 > >	Pose3Pairs
typedef std::vector< Pose3 >	Pose3Vector
typedef ManifoldPreintegration	PreintegrationType
typedef ActiveSetSolver< QP, QPPolicy, QPInitSolver >	QPSolver
typedef Eigen::Quaternion< double, Eigen::DontAlign >	Quaternion
typedef std::pair< std::shared_ptr< GaussianConditional >, GaussianMixtureFactor::sharedFactor >	Result
typedef Expression< Rot2 >	Rot2_
typedef Expression< Rot3 >	Rot3_
typedef std::vector< Rot3, Eigen::aligned_allocator< Rot3 > >	Rot3Vector
typedef std::vector< double >	Row
typedef Eigen::RowVectorXd	RowVector
typedef std::pair< double, double >	Sample
typedef std::map< double, double >	Sequence
typedef PinholeCamera< Cal3Bundler >	SfmCamera
typedef std::pair< size_t, Point2 >	SfmMeasurement
typedef std::vector< SfmTrack2d >	SfmTrack2dVector
typedef noiseModel::Constrained::shared_ptr	SharedConstrained
typedef noiseModel::Diagonal::shared_ptr	SharedDiagonal
typedef std::shared_ptr< Factor >	SharedFactor
typedef noiseModel::Gaussian::shared_ptr	SharedGaussian
typedef noiseModel::Isotropic::shared_ptr	SharedIsotropic
typedef noiseModel::Base::shared_ptr	SharedNoiseModel
typedef ShonanAveragingParameters< 2 >	ShonanAveragingParameters2
typedef ShonanAveragingParameters< 3 >	ShonanAveragingParameters3
typedef ShonanFactor< 2 >	ShonanFactor2
typedef ShonanFactor< 3 >	ShonanFactor3
typedef std::pair< size_t, size_t >	SiftIndex
typedef std::vector< SimPolygon2D >	SimPolygon2DVector
typedef std::vector< SimWall2D >	SimWall2DVector
typedef SmartProjectionParams	SmartStereoProjectionParams
typedef SO< 3 >	SO3
typedef SO< 4 >	SO4
typedef SO< Eigen::Dynamic >	SOn
typedef Eigen::SparseMatrix< double >	Sparse
typedef Eigen::SparseMatrix< double, Eigen::ColMajor, int >	SparseEigen
typedef std::vector< std::tuple< int, int, double > >	SparseTriplets
typedef internal::DoglegState	State
typedef std::vector< StereoPoint2 >	StereoPoint2Vector
typedef Eigen::Block< Matrix >	SubMatrix
typedef Eigen::VectorBlock< Vector >	SubVector
typedef NonlinearOptimizerParams	SuccessiveLinearizationParams
typedef SymbolicJunctionTree::Cluster	SymbolicCluster
typedef std::vector< Row >	Table
typedef Expression< Unit3 >	Unit3_
typedef Eigen::VectorXd	Vector
typedef Eigen::Matrix< double, 1, 1 >	Vector1
typedef Expression< Vector1 >	Vector1_
typedef Eigen::Vector2d	Vector2
typedef Expression< Vector2 >	Vector2_
typedef Eigen::Vector3d	Vector3
typedef Expression< Vector3 >	Vector3_
typedef Expression< Vector4 >	Vector4_
typedef Expression< Vector5 >	Vector5_
typedef Expression< Vector6 >	Vector6_
typedef Expression< Vector7 >	Vector7_
typedef Expression< Vector8 >	Vector8_
typedef Expression< Vector9 >	Vector9_
typedef Vector3	Velocity3
typedef Expression< Velocity3 >	Velocity3_
typedef void	void_t
typedef Eigen::Matrix< double, 1, -1 >	Weights

Enumerations
enum	DegeneracyMode
enum	GncLossType
enum	KernelFunctionType
enum	LinearizationMode
enum	NoiseFormat

Functions
string	_defaultKeyFormatter (Key key)
def	_init ()
string	_multirobotKeyFormatter (Key key)
static bool	_truePredicate (const T &)
static GaussianFactorGraphTree	addGaussian (const GaussianFactorGraphTree &gfgTree, const GaussianFactor::shared_ptr &factor)
std::unique_ptr< internal::ExecutionTraceStorage[]>	allocAligned (size_t size)
DecisionTree< L, Y >	apply (const DecisionTree< L, Y > &f, const DecisionTree< L, Y > &g, const typename DecisionTree< L, Y >::Binary &op)
DecisionTree< L, Y >	apply (const DecisionTree< L, Y > &f, const typename DecisionTree< L, Y >::Unary &op)
DecisionTree< L, Y >	apply (const DecisionTree< L, Y > &f, const typename DecisionTree< L, Y >::UnaryAssignment &op)
bool	assert_container_equal (const std::map< size_t, V2 > &expected, const std::map< size_t, V2 > &actual, double tol=1e-9)
bool	assert_container_equal (const std::map< V1, V2 > &expected, const std::map< V1, V2 > &actual, double tol=1e-9)
bool	assert_container_equal (const std::vector< std::pair< V1, V2 > > &expected, const std::vector< std::pair< V1, V2 > > &actual, double tol=1e-9)
bool	assert_container_equal (const V &expected, const V &actual, double tol=1e-9)
bool	assert_container_equality (const std::map< size_t, V2 > &expected, const std::map< size_t, V2 > &actual)
bool	assert_container_equality (const V &expected, const V &actual)
bool	assert_equal (const ConstSubVector &expected, const ConstSubVector &actual, double tol)
bool	assert_equal (const Key &expected, const Key &actual, double tol=0.0)
bool	assert_equal (const Matrix &expected, const Matrix &actual, double tol)
bool	assert_equal (const std::list< Matrix > &As, const std::list< Matrix > &Bs, double tol)
bool	assert_equal (const std::optional< V > &expected, const std::optional< V > &actual, double tol=1e-9)
bool	assert_equal (const std::string &expected, const std::string &actual)
bool	assert_equal (const SubVector &expected, const SubVector &actual, double tol)
bool	assert_equal (const V &expected, const std::optional< std::reference_wrapper< const V >> &actual, double tol=1e-9)
bool	assert_equal (const V &expected, const std::optional< V > &actual, double tol=1e-9)
bool	assert_equal (const V &expected, const V &actual, double tol=1e-9)
bool	assert_equal (const Vector &expected, const Vector &actual, double tol)
bool	assert_inequal (const Matrix &A, const Matrix &B, double tol)
bool	assert_inequal (const V &expected, const V &actual, double tol=1e-9)
bool	assert_inequal (const Vector &expected, const Vector &actual, double tol)
bool	assert_print_equal (const std::string &expected, const V &actual, const std::string &s="")
bool	assert_stdout_equal (const std::string &expected, const V &actual)
Rot3_	attitude (const NavState_ &X)
void	axpy (double alpha, const Errors &x, Errors &y)
Vector	backSubstituteLower (const Matrix &L, const Vector &b, bool unit)
Vector	backSubstituteUpper (const Matrix &U, const Vector &b, bool unit)
Vector	backSubstituteUpper (const Vector &b, const Matrix &U, bool unit)
T	BCH (const T &X, const T &Y)
Expression< T >	between (const Expression< T > &t1, const Expression< T > &t2)
Class	between_default (const Class &l1, const Class &l2)
double	bound (double a, double min, double max)
GaussianFactorGraph	buildFactorSubgraph (const GaussianFactorGraph &gfg, const Subgraph &subgraph, const bool clone)
VectorValues	buildVectorValues (const Vector &v, const KeyInfo &keyInfo)
VectorValues	buildVectorValues (const Vector &v, const Ordering &ordering, const map< Key, size_t > &dimensions)
VectorValues	buildVectorValues (const Vector &v, const Ordering &ordering, const std::map< Key, size_t > &dimensions)
static Point3	CalculateBestAxis (const Point3 &n)
void	calibrateJacobians (const Cal &calibration, const Point2 &pn, OptionalJacobian< 2, Dim > Dcal={}, OptionalJacobian< 2, 2 > Dp={})
Point3Vector	calibrateMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements)
Point3Vector	calibrateMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements)
Point3Vector	calibrateMeasurementsShared (const CALIBRATION &cal, const Point2Vector &measurements)
std::vector< DiscreteValues >	cartesianProduct (const DiscreteKeys &keys)
static void	check (const SharedNoiseModel &noiseModel, size_t m)
bool	check_sharedCliques (const std::pair< Key, typename BayesTree< CLIQUE >::sharedClique > &v1, const std::pair< Key, typename BayesTree< CLIQUE >::sharedClique > &v2)
GTSAM_EXPORT bool	checkConvergence (const NonlinearOptimizerParams &params, double currentError, double newError)
bool	checkConvergence (double relativeErrorTreshold, double absoluteErrorTreshold, double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity)
static double	Chi2inv (const double alpha, const size_t dofs)
Matrix	cholesky_inverse (const Matrix &A)
pair< size_t, bool >	choleskyCareful (Matrix &ATA, int order)
bool	choleskyPartial (Matrix &ABC, size_t nFrontal, size_t topleft)
static int	choleskyStep (Matrix &ATA, size_t k, size_t order)
std::optional< Point2 >	circleCircleIntersection (double R_d, double r_d, double tol)
list< Point2 >	circleCircleIntersection (Point2 c1, double r1, Point2 c2, double r2, double tol=1e-9)
list< Point2 >	circleCircleIntersection (Point2 c1, Point2 c2, std::optional< Point2 > fh)
Matrix	collect (const std::vector< const Matrix * > &matrices, size_t m, size_t n)
Matrix	collect (size_t nrMatrices,...)
DiscreteKeys	CollectDiscreteKeys (const DiscreteKeys &key1, const DiscreteKeys &key2)
KeyDimMap	collectKeyDim (const LinearGraph &linearGraph)
KeyVector	CollectKeys (const KeyVector &continuousKeys, const DiscreteKeys &discreteKeys)
KeyVector	CollectKeys (const KeyVector &keys1, const KeyVector &keys2)
const MATRIX::ConstColXpr	column (const MATRIX &A, size_t j)
Vector	columnNormSquare (const Matrix &A)
Expression< T >	compose (const Expression< T > &t1, const Expression< T > &t2)
std::shared_ptr< Values >	composePoses (const G &graph, const PredecessorMap< KEY > &tree, const POSE &rootPose)
std::vector< double >	ComputeLeafOrdering (const DiscreteKeys &dkeys, const DecisionTreeFactor &dt)
Vector	concatVectors (const std::list< Vector > &vs)
Vector	concatVectors (size_t nrVectors,...)
VectorValues	conjugateGradientDescent (const GaussianFactorGraph &fg, const VectorValues &x, const ConjugateGradientParameters &parameters)
Vector	conjugateGradientDescent (const Matrix &A, const Vector &b, const Vector &x, const ConjugateGradientParameters &parameters)
Vector	conjugateGradientDescent (const System &Ab, const Vector &x, const ConjugateGradientParameters &parameters)
V	conjugateGradients (const S &Ab, V x, const ConjugateGradientParameters &parameters, bool steepest)
static void	ConnectVariableFactor (Key key, const KeyFormatter &keyFormatter, size_t i, ostream *os)
static void	ConnectVariables (Key key1, Key key2, const KeyFormatter &keyFormatter, ostream *os)
static std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	continuousElimination (const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
static BinaryMeasurement< Rot3 >	convert (const BetweenFactor< Pose3 >::shared_ptr &f)
static BinaryMeasurement< Rot2 >	convert (const BinaryMeasurement< Pose2 > &p)
static BinaryMeasurement< Rot3 >	convert (const BinaryMeasurement< Pose3 > &p)
SharedNoiseModel	ConvertNoiseModel (const SharedNoiseModel &model, size_t d, bool defaultToUnit)
static BinaryMeasurement< Rot2 >	convertPose2ToBinaryMeasurementRot2 (const BetweenFactor< Pose2 >::shared_ptr &f)
static GaussianFactorGraph	convertToJacobianFactors (const GaussianFactorGraph &gfg)
static std::shared_ptr< Factor >	createDiscreteFactor (const DecisionTree< Key, Result > &eliminationResults, const DiscreteKeys &discreteSeparator)
Errors	createErrors (const VectorValues &V)
static std::shared_ptr< Factor >	createGaussianMixtureFactor (const DecisionTree< Key, Result > &eliminationResults, const KeyVector &continuousSeparator, const DiscreteKeys &discreteSeparator)
static SharedNoiseModel	createNoiseModel (const Vector6 &v, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
Cal3_S2	createPinholeCalibration (const CALIBRATION &cal)
std::shared_ptr< Preconditioner >	createPreconditioner (const std::shared_ptr< PreconditionerParameters > params)
GTSAM_EXPORT std::string	createRewrittenFileName (const std::string &name)
std::shared_ptr< Sampler >	createSampler (const SharedNoiseModel &model)
std::vector< Expression< T > >	createUnknowns (size_t n, char c, size_t start)
Point3	cross (const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H_p={}, OptionalJacobian< 3, 3 > H_q={})
Point3_	cross (const Point3_ &a, const Point3_ &b)
static Matrix29	D2dcalibration (double x, double y, double xx, double yy, double xy, double rr, double r4, double pnx, double pny, const Matrix2 &DK)
static Matrix2	D2dintrinsic (double x, double y, double rr, double g, double k1, double k2, double p1, double p2, const Matrix2 &DK)
std::string	demangle (const char *name)
NonlinearFactorGraph::shared_ptr	deserializeGraph (const std::string &serialized_graph)
NonlinearFactorGraph::shared_ptr	deserializeGraphFromFile (const std::string &fname)
NonlinearFactorGraph::shared_ptr	deserializeGraphFromXMLFile (const std::string &fname, const std::string &name="graph")
NonlinearFactorGraph::shared_ptr	deserializeGraphXML (const std::string &serialized_graph, const std::string &name="graph")
Values::shared_ptr	deserializeValues (const std::string &serialized_values)
Values::shared_ptr	deserializeValuesFromFile (const std::string &fname)
Values::shared_ptr	deserializeValuesFromXMLFile (const std::string &fname, const std::string &name="values")
Values::shared_ptr	deserializeValuesXML (const std::string &serialized_values, const std::string &name="values")
Matrix	diag (const std::vector< Matrix > &Hs)
static noiseModel::Diagonal::shared_ptr	Diagonal (const Matrix &covariance)
static std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	discreteElimination (const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys)
std::set< DiscreteKey >	DiscreteKeysAsSet (const DiscreteKeys &discreteKeys)
Double_	distance (const OrientedPlane3_ &p)
double	distance2 (const Point2 &p1, const Point2 &q, OptionalJacobian< 1, 2 > H1={}, OptionalJacobian< 1, 2 > H2={})
double	distance3 (const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 3 > H2={})
std::tuple< int, double, Vector >	DLT (const Matrix &A, double rank_tol)
double	dot (const Errors &a, const Errors &b)
double	dot (const Point3 &p, const Point3 &q, OptionalJacobian< 1, 3 > H_p={}, OptionalJacobian< 1, 3 > H_q={})
Double_	dot (const Point3_ &a, const Point3_ &b)
double	dot (const V1 &a, const V2 &b)
Vector	ediv_ (const Vector &a, const Vector &b)
std::pair< std::shared_ptr< GaussianConditional >, std::shared_ptr< HessianFactor > >	EliminateCholesky (const GaussianFactorGraph &factors, const Ordering &keys)
std::pair< DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr >	EliminateDiscrete (const DiscreteFactorGraph &factors, const Ordering &frontalKeys)
std::pair< DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr >	EliminateForMPE (const DiscreteFactorGraph &factors, const Ordering &frontalKeys)
std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	EliminateHybrid (const HybridGaussianFactorGraph &factors, const Ordering &keys)
std::pair< std::shared_ptr< GaussianConditional >, std::shared_ptr< GaussianFactor > >	EliminatePreferCholesky (const GaussianFactorGraph &factors, const Ordering &keys)
std::pair< GaussianConditional::shared_ptr, JacobianFactor::shared_ptr >	EliminateQR (const GaussianFactorGraph &factors, const Ordering &keys)
std::pair< std::shared_ptr< SymbolicConditional >, std::shared_ptr< SymbolicFactor > >	EliminateSymbolic (const SymbolicFactorGraph &factors, const Ordering &keys)
bool	equal (const T &obj1, const T &obj2)
bool	equal (const T &obj1, const T &obj2, double tol)
bool	equal (const Vector &vec1, const Vector &vec2)
bool	equal (const Vector &vec1, const Vector &vec2, double tol)
bool	equal_with_abs_tol (const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
bool	equal_with_abs_tol (const SubVector &vec1, const SubVector &vec2, double tol)
bool	equal_with_abs_tol (const Vector &vec1, const Vector &vec2, double tol)
bool	equality (const Errors &actual, const Errors &expected, double tol)
Matrix	expm (const Matrix &A, size_t K)
T	expm (const Vector &x, int K=7)
Class	expmap_default (const Class &t, const Vector &d)
std::vector< double >	expNormalize (const std::vector< double > &logProbs)
static ShonanAveraging2::Measurements	extractRot2Measurements (const BetweenFactorPose2s &factors)
static ShonanAveraging3::Measurements	extractRot3Measurements (const BetweenFactorPose3s &factors)
GTSAM_EXPORT std::string	findExampleDataFile (const std::string &name)
T	FindKarcherMean (const std::vector< T > &rotations)
T	FindKarcherMean (const std::vector< T, Eigen::aligned_allocator< T >> &rotations)
T	FindKarcherMean (std::initializer_list< T > &&rotations)
T	FindKarcherMeanImpl (const vector< T, ALLOC > &rotations)
PredecessorMap< KEY >	findMinimumSpanningTree (const G &fg)
std::string	formatMatrixIndented (const std::string &label, const Matrix &matrix, bool makeVectorHorizontal)
bool	fpEqual (double a, double b, double tol, bool check_relative_also)
static std::vector< Matrix3 >	G3 ({SO3::Hat(Vector3::Unit(0)), SO3::Hat(Vector3::Unit(1)), SO3::Hat(Vector3::Unit(2))})
static std::vector< Matrix4, Eigen::aligned_allocator< Matrix4 > >	G4 ({SO4::Hat(Vector6::Unit(0)), SO4::Hat(Vector6::Unit(1)), SO4::Hat(Vector6::Unit(2)), SO4::Hat(Vector6::Unit(3)), SO4::Hat(Vector6::Unit(4)), SO4::Hat(Vector6::Unit(5))})
GenericValue< T >	genericValue (const T &v)
Pose3_	getPose (const Expression< PinholeCamera< CALIBRATION > > &cam)
static Vector	getSubvector (const Vector &src, const KeyInfo &keyInfo, const KeyVector &keys)
static VectorValues	gradientInPlace (const NonlinearFactorGraph &nfg, const Values &values)
bool	greaterThanOrEqual (const Vector &vec1, const Vector &vec2)
Pose3	gtsam2openGL (const Pose3 &PoseGTSAM)
Pose3	gtsam2openGL (const Rot3 &R, double tx, double ty, double tz)
	GTSAM_CONCEPT_REQUIRES (IsGroup< G >, bool) check_group_invariants(const G &a
	GTSAM_CONCEPT_REQUIRES (IsTestable< T >, bool) check_manifold_invariants(const T &a
bool	guardedIsDebug (const std::string &s)
void	guardedSetDebug (const std::string &s, const bool v)
bool	hasConstraints (const GaussianFactorGraph &factors)
pair< double, Vector >	house (const Vector &x)
void	householder (Matrix &A, size_t k)
void	householder_ (Matrix &A, size_t k, bool copy_vectors)
double	houseInPlace (Vector &v)
string	html (const DiscreteValues &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteValues::Names &names={})
static std::pair< HybridConditional::shared_ptr, std::shared_ptr< Factor > >	hybridElimination (const HybridGaussianFactorGraph &factors, const Ordering &frontalKeys, const KeyVector &continuousSeparator, const std::set< DiscreteKey > &discreteSeparatorSet)
const Ordering	HybridOrdering (const HybridGaussianFactorGraph &graph)
IndexPairVector	IndexPairSetAsArray (IndexPairSet &set)
Values	initialCamerasAndPointsEstimate (const SfmData &db)
Values	initialCamerasEstimate (const SfmData &db)
double	inner_prod (const V1 &a, const V2 &b)
void	inplace_QR (Matrix &A)
void	insertSub (Eigen::MatrixBase< Derived1 > &fullMatrix, const Eigen::MatrixBase< Derived2 > &subMatrix, size_t i, size_t j)
T	interpolate (const T &X, const T &Y, double t, typename MakeOptionalJacobian< T, T >::type Hx={}, typename MakeOptionalJacobian< T, T >::type Hy={})
Matrix	inverse_square_root (const Matrix &A)
static bool	is_linear_dependent (const Matrix &A, const Matrix &B, double tol)
bool	isDebugVersion ()
static double	Kappa (const BinaryMeasurement< T > &measurement, const ShonanAveragingParameters< d > &parameters)
static std::mt19937	kRandomNumberGenerator (42)
Matrix	kroneckerProductIdentity (size_t M, const Weights &w)
bool	linear_dependent (const Matrix &A, const Matrix &B, double tol)
bool	linear_dependent (const Vector &vec1, const Vector &vec2, double tol)
bool	linear_independent (const Matrix &A, const Matrix &B, double tol)
Expression< T >	linearExpression (const std::function< T(A)> &f, const Expression< A > &expression, const Eigen::Matrix< double, traits< T >::dimension, traits< A >::dimension > &dTdA)
JacobianFactor	linearizeNumerically (const NoiseModelFactor &factor, const Values &values, double delta=1e-5)
double	lineSearch (const S &system, const V currentValues, const W &gradient)
Matrix	LLt (const Matrix &A)
GraphAndValues	load2D (const std::string &filename, SharedNoiseModel model, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
GraphAndValues	load2D (std::pair< std::string, SharedNoiseModel > dataset, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
GraphAndValues	load2D_robust (const std::string &filename, const noiseModel::Base::shared_ptr &model, size_t maxIndex)
GraphAndValues	load3D (const std::string &filename)
gtsam::Expression< typename gtsam::traits< T >::TangentVector >	logmap (const gtsam::Expression< T > &x1, const gtsam::Expression< T > &x2)
Vector	logmap_default (const Class &l0, const Class &lp)
static Symbol	make (gtsam::Key key)
gtsam::enable_if_t< needs_eigen_aligned_allocator< T >::value, std::shared_ptr< T > >	make_shared (Args &&... args)
std::pair< KeyVector, std::vector< int > >	makeBinaryOrdering (std::vector< Key > &input)
FunctorizedFactor< R, T >	MakeFunctorizedFactor (Key key, const R &z, const SharedNoiseModel &model, const FUNC func)
FunctorizedFactor2< R, T1, T2 >	MakeFunctorizedFactor2 (Key key1, Key key2, const R &z, const SharedNoiseModel &model, const FUNC func)
HybridGaussianFactorGraph::shared_ptr	makeSwitchingChain (size_t n, std::function< Key(int)> keyFunc=X, std::function< Key(int)> dKeyFunc=M)
string	markdown (const DiscreteValues &values, const KeyFormatter &keyFormatter=DefaultKeyFormatter, const DiscreteValues::Names &names={})
const Eigen::IOFormat &	matlabFormat ()
Key	maxKey (const PROBLEM &problem)
Point3	mean (const CONTAINER &points)
Point2Pair	means (const std::vector< Point2Pair > &abPointPairs)
Point3Pair	means (const std::vector< Point3Pair > &abPointPairs)
std::pair< Pose2, bool >	moveWithBounce (const Pose2 &cur_pose, double step_size, const std::vector< SimWall2D > walls, Sampler &angle_drift, Sampler &reflect_noise, const Rot2 &bias)
Key	mrsymbol (unsigned char c, unsigned char label, size_t j)
unsigned char	mrsymbolChr (Key key)
size_t	mrsymbolIndex (Key key)
unsigned char	mrsymbolLabel (Key key)
std::tuple< V, int >	nonlinearConjugateGradient (const S &system, const V &initial, const NonlinearOptimizerParams &params, const bool singleIteration, const bool gradientDescent=false)
double	norm2 (const Point2 &p, OptionalJacobian< 1, 2 > H={})
double	norm3 (const Point3 &p, OptionalJacobian< 1, 3 > H={})
Unit3_	normal (const OrientedPlane3_ &p)
Point3	normalize (const Point3 &p, OptionalJacobian< 3, 3 > H={})
Point3_	normalize (const Point3_ &a)
static void	normalize (Signature::Row &row)
static size_t	NrUnknowns (const typename ShonanAveraging< d >::Measurements &measurements)
internal::FixedSizeMatrix< Y, X >::type	numericalDerivative11 (std::function< Y(const X &)> h, const X &x, double delta=1e-5)
internal::FixedSizeMatrix< Y, X >::type	numericalDerivative11 (Y(*h)(const X &), const X &x, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative21 (const std::function< Y(const X1 &, const X2 &)> &h, const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative21 (Y(*h)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative22 (std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative22 (Y(*h)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative31 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative31 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative32 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative32 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative33 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative33 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative41 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative41 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative42 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative42 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative43 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative43 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative44 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative44 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative51 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative51 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative52 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative52 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative53 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative53 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative54 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative54 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X5 >::type	numericalDerivative55 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X5 >::type	numericalDerivative55 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative61 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X1 >::type	numericalDerivative61 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative62 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X2 >::type	numericalDerivative62 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative63 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X3 >::type	numericalDerivative63 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative64 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X4 >::type	numericalDerivative64 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X5 >::type	numericalDerivative65 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X5 >::type	numericalDerivative65 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X6 >::type	numericalDerivative66 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
internal::FixedSizeMatrix< Y, X6 >::type	numericalDerivative66 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5)
Eigen::Matrix< double, N, 1 >	numericalGradient (std::function< double(const X &)> h, const X &x, double delta=1e-5)
internal::FixedSizeMatrix< X, X >::type	numericalHessian (double(*f)(const X &), const X &x, double delta=1e-5)
internal::FixedSizeMatrix< X, X >::type	numericalHessian (std::function< double(const X &)> f, const X &x, double delta=1e-5)
internal::FixedSizeMatrix< X1, X1 >::type	numericalHessian211 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X1, X1 >::type	numericalHessian211 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X1, X2 >::type	numericalHessian212 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X1, X2 >::type	numericalHessian212 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X2, X2 >::type	numericalHessian222 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X2, X2 >::type	numericalHessian222 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5)
internal::FixedSizeMatrix< X1, X1 >::type	numericalHessian311 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X1, X1 >::type	numericalHessian311 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X1, X2 >::type	numericalHessian312 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X1, X2 >::type	numericalHessian312 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X1, X3 >::type	numericalHessian313 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X1, X3 >::type	numericalHessian313 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X2, X2 >::type	numericalHessian322 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X2, X2 >::type	numericalHessian322 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X2, X3 >::type	numericalHessian323 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X2, X3 >::type	numericalHessian323 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X3, X3 >::type	numericalHessian333 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
internal::FixedSizeMatrix< X3, X3 >::type	numericalHessian333 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5)
Pose3	openGL2gtsam (const Rot3 &R, double tx, double ty, double tz)
Rot3	openGLFixedRotation ()
bool	operator!= (const Matrix &A, const Matrix &B)
Signature	operator% (const DiscreteKey &key, const Signature::Table &parent)
GTSAM_EXPORT Signature	operator% (const DiscreteKey &key, const std::string &parent)
DiscreteKeys	operator& (const DiscreteKey &key1, const DiscreteKey &key2)
VectorValues	operator* (const double a, const VectorValues &c)
Expression< T >	operator* (const Expression< T > &expression1, const Expression< T > &expression2)
ScalarMultiplyExpression< T >	operator* (double s, const Expression< T > &e)
Point2	operator* (double s, const Point2 &p)
Errors	operator+ (const Errors &a, const Errors &b)
BinarySumExpression< T >	operator+ (const Expression< T > &e1, const Expression< T > &e2)
Errors	operator- (const Errors &a)
Errors	operator- (const Errors &a, const Errors &b)
BinarySumExpression< T >	operator- (const Expression< T > &e1, const Expression< T > &e2)
ostream &	operator<< (ostream &os, const EssentialMatrix &E)
ostream &	operator<< (ostream &os, const gtsam::Point2Pair &p)
ostream &	operator<< (ostream &os, const gtsam::Point3Pair &p)
ostream &	operator<< (ostream &os, const IterativeOptimizationParameters &p)
ostream &	operator<< (ostream &os, const key_formatter &m)
ostream &	operator<< (ostream &os, const PreconditionerParameters &p)
ostream &	operator<< (ostream &os, const PreintegrationBase &pim)
ostream &	operator<< (ostream &os, const Rot3 &R)
ostream &	operator<< (ostream &os, const Signature &s)
ostream &	operator<< (ostream &os, const Signature::Row &row)
ostream &	operator<< (ostream &os, const Signature::Table &table)
ostream &	operator<< (ostream &os, const StereoPoint2 &p)
ostream &	operator<< (ostream &os, const StreamedKey &streamedKey)
ostream &	operator<< (ostream &os, const Subgraph &subgraph)
ostream &	operator<< (ostream &os, const Subgraph::Edge &edge)
ostream &	operator<< (ostream &os, const SubgraphBuilderParameters &p)
std::ostream &	operator<< (std::ostream &os, const Cal3 &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3_S2 &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3_S2Stereo &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3Bundler &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3DS2 &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3DS2_Base &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3Fisheye &cal)
std::ostream &	operator<< (std::ostream &os, const Cal3Unified &cal)
std::ostream &	operator<< (std::ostream &os, const CombinedImuFactor &f)
std::ostream &	operator<< (std::ostream &os, const Dih6 &m)
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const gtsam::Point2Pair &p)
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const gtsam::Point3Pair &p)
std::ostream &	operator<< (std::ostream &os, const ImuFactor &f)
std::ostream &	operator<< (std::ostream &os, const ImuFactor2 &f)
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const LabeledSymbol &symbol)
std::ostream &	operator<< (std::ostream &os, const NavState &state)
std::ostream &	operator<< (std::ostream &os, const Pose2 &pose)
std::ostream &	operator<< (std::ostream &os, const Pose3 &pose)
std::ostream &	operator<< (std::ostream &os, const Similarity2 &p)
std::ostream &	operator<< (std::ostream &os, const Similarity3 &p)
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const Symbol &symbol)
std::ostream &	operator<< (std::ostream &os, const Unit3 &pair)
GTSAM_EXPORT std::ostream &	operator<< (std::ostream &os, const VectorValues &v)
std::ostream &	operator<< (std::ostream &stream, const ImuMeasurement &meas)
bool	operator== (const Matrix &A, const Matrix &B)
bool	operator== (const Vector &vec1, const Vector &vec2)
istream &	operator>> (istream &inputStream, Matrix &destinationMatrix)
istream &	operator>> (istream &is, EssentialMatrix &E)
GTSAM_EXPORT std::istream &	operator>> (std::istream &inputStream, Matrix &destinationMatrix)
std::istream &	operator>> (std::istream &is, Matrix6 &m)
std::istream &	operator>> (std::istream &is, Quaternion &q)
std::istream &	operator>> (std::istream &is, Rot3 &R)
Vector	operator^ (const Matrix &A, const Vector &v)
Signature	operator| (const DiscreteKey &key, const DiscreteKey &parent)
Point3	optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
size_t	optimizeWildfire (const ISAM2Clique::shared_ptr &root, double threshold, const KeySet &keys, VectorValues *delta)
size_t	optimizeWildfireNonRecursive (const ISAM2Clique::shared_ptr &root, double threshold, const KeySet &keys, VectorValues *delta)
FastVector< VariableSlots::const_iterator >	orderedSlotsHelper (const Ordering &ordering, const VariableSlots &variableSlots)
BetweenFactorPose2s	parse2DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
BetweenFactorPose3s	parse3DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
static Table	ParseAnd ()
static std::optional< Row >	ParseConditional (const std::string &token)
static std::optional< Table >	ParseConditionalTable (const std::vector< std::string > &tokens)
std::optional< IndexedEdge >	parseEdge (std::istream &is, const std::string &tag)
GTSAM_EXPORT std::vector< typename BetweenFactor< T >::shared_ptr >	parseFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0)
GTSAM_EXPORT std::vector< BetweenFactor< Pose2 >::shared_ptr >	parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
GTSAM_EXPORT std::vector< BetweenFactor< Pose3 >::shared_ptr >	parseFactors< Pose3 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
static Row	ParseFalseRow ()
static void	parseLines (const std::string &filename, Parser< T > parse)
GTSAM_EXPORT std::vector< BinaryMeasurement< Pose2 > >	parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
static Table	ParseOr ()
std::map< size_t, T >	parseToMap (const std::string &filename, Parser< std::pair< size_t, T >> parse, size_t maxIndex)
static std::vector< T >	parseToVector (const std::string &filename, Parser< T > parse)
static Row	ParseTrueRow ()
GTSAM_EXPORT std::map< size_t, T >	parseVariables (const std::string &filename, size_t maxIndex=0)
GTSAM_EXPORT std::map< size_t, Point2 >	parseVariables< Point2 > (const std::string &filename, size_t maxIndex)
GTSAM_EXPORT std::map< size_t, Point3 >	parseVariables< Point3 > (const std::string &filename, size_t maxIndex)
GTSAM_EXPORT std::map< size_t, Pose2 >	parseVariables< Pose2 > (const std::string &filename, size_t maxIndex)
GTSAM_EXPORT std::map< size_t, Pose3 >	parseVariables< Pose3 > (const std::string &filename, size_t maxIndex)
std::optional< IndexedLandmark >	parseVertexLandmark (std::istream &is, const std::string &tag)
std::optional< std::pair< size_t, Point3 > >	parseVertexPoint3 (std::istream &is, const std::string &tag)
std::optional< IndexedPose >	parseVertexPose (std::istream &is, const std::string &tag)
std::optional< std::pair< size_t, Pose3 > >	parseVertexPose3 (std::istream &is, const std::string &tag)
static Vector	perturb (const Vector &initialVector)
Point3_	point3 (const Unit3_ &v)
Point3_	position (const NavState_ &X)
static bool	PowerMinimumEigenValue (const Sparse &A, const Matrix &S, double &minEigenValue, Vector *minEigenVector=0, size_t *numIterations=0, size_t maxIterations=1000, double minEigenvalueNonnegativityTolerance=10e-4)
V	preconditionedConjugateGradient (const S &system, const V &initial, const ConjugateGradientParameters &parameters)
std::tuple< G, V, std::map< KEY, V > >	predecessorMap2Graph (const PredecessorMap< KEY > &p_map)
std::list< KEY >	predecessorMap2Keys (const PredecessorMap< KEY > &p_map)
void	Print (const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter)
GTSAM_EXPORT void	print (const Errors &e, const std::string &s="Errors")
GTSAM_EXPORT void	print (const Matrix &A, const std::string &s, std::ostream &stream)
GTSAM_EXPORT void	print (const Matrix &A, const std::string &s="")
void	print (const Matrix &A, const string &s, ostream &stream)
GTSAM_EXPORT void	print (const Vector &v, const std::string &s, std::ostream &stream)
GTSAM_EXPORT void	print (const Vector &v, const std::string &s="")
void	print (const Vector &v, const string &s, ostream &stream)
void	print (double v, const std::string &s="")
void	print (float v, const std::string &s="")
GTSAM_EXPORT void	PrintKey (Key key, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter)
GTSAM_EXPORT void	PrintKeyList (const KeyList &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter)
GTSAM_EXPORT void	PrintKeySet (const KeySet &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter)
GTSAM_EXPORT void	PrintKeyVector (const KeyVector &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter)
MATRIX	prod (const MATRIX &A, const MATRIX &B)
Point2_	project (const Point3_ &p_cam)
Point2_	project (const Unit3_ &p_cam)
Point2_	project2 (const Expression< CAMERA > &camera_, const Expression< POINT > &p_)
Point2_	project3 (const Pose3_ &x, const Expression< POINT > &p, const Expression< CALIBRATION > &K)
std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > >	projectionMatricesFromCameras (const CameraSet< CAMERA > &cameras)
std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > >	projectionMatricesFromPoses (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal)
std::function< double(const Assignment< Key > &, double)>	prunerFunc (const DecisionTreeFactor &prunedDiscreteProbs, const HybridConditional &conditional)
pair< Matrix, Matrix >	qr (const Matrix &A)
Double_	range (const Point2_ &p, const Point2_ &q)
SfmData	readBal (const std::string &filename)
GraphAndValues	readG2o (const std::string &g2oFile, const bool is3D=false, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE)
void	recursiveMarkAffectedKeys (const Key &key, const ISAM2Clique::shared_ptr &clique, std::set< Key > &additionalKeys)
GaussianFactorGraphTree	removeEmpty (const GaussianFactorGraphTree &sum)
Reshape< OutM, OutN, OutOptions, InM, InN, InOptions >::ReshapedType	reshape (const Eigen::Matrix< double, InM, InN, InOptions > &m)
Point3_	rotate (const Rot3_ &x, const Point3_ &p)
Unit3_	rotate (const Rot3_ &x, const Unit3_ &p)
Rot3_	rotation (const Pose3_ &pose)
static Matrix	RoundSolutionS (const Matrix &S)
const MATRIX::ConstRowXpr	row (const MATRIX &A, size_t j)
pair< Matrix3, Vector3 >	RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H)
Matrix	RtR (const Matrix &A)
GTSAM_EXPORT void	save (const Matrix &A, const std::string &s, const std::string &filename)
GTSAM_EXPORT void	save (const Vector &A, const std::string &s, const std::string &filename)
void	save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const std::string &filename)
static double	scale (double x, double a, double b, double t1, double t2)
static Scatter	scatterFromValues (const Values &values)
static Scatter	scatterFromValues (const Values &values, const Ordering &ordering)
std::string	serializeGraph (const NonlinearFactorGraph &graph)
bool	serializeGraphToFile (const NonlinearFactorGraph &graph, const std::string &fname)
bool	serializeGraphToXMLFile (const NonlinearFactorGraph &graph, const std::string &fname, const std::string &name="graph")
std::string	serializeGraphXML (const NonlinearFactorGraph &graph, const std::string &name="graph")
std::string	serializeValues (const Values &values)
bool	serializeValuesToFile (const Values &values, const std::string &fname)
bool	serializeValuesToXMLFile (const Values &values, const std::string &fname, const std::string &name="values")
std::string	serializeValuesXML (const Values &values, const std::string &name="values")
static void	setSubvector (const Vector &src, const KeyInfo &keyInfo, const KeyVector &keys, Vector &dst)
Matrix3	skewSymmetric (const Eigen::MatrixBase< Derived > &w)
Matrix3	skewSymmetric (double wx, double wy, double wz)
SparseEigen	sparseJacobianEigen (const GaussianFactorGraph &gfg)
SparseEigen	sparseJacobianEigen (const GaussianFactorGraph &gfg, const Ordering &ordering)
static bool	SparseMinimumEigenValue (const Sparse &A, const Matrix &S, double *minEigenValue, Vector *minEigenVector=0, size_t *numIterations=0, size_t maxIterations=1000, double minEigenvalueNonnegativityTolerance=10e-4, Eigen::Index numLanczosVectors=20)
void	split (const G &g, const PredecessorMap< KEY > &tree, G &Ab1, G &Ab2)
std::pair< GaussianFactorGraph, GaussianFactorGraph >	splitFactorGraph (const GaussianFactorGraph &factorGraph, const Subgraph &subgraph)
Matrix	stack (const std::vector< Matrix > &blocks)
Matrix	stack (size_t nrMatrices,...)
VectorValues	steepestDescent (const GaussianFactorGraph &fg, const VectorValues &x, const ConjugateGradientParameters &parameters)
Vector	steepestDescent (const Matrix &A, const Vector &b, const Vector &x, const ConjugateGradientParameters &parameters)
Vector	steepestDescent (const System &Ab, const Vector &x, const ConjugateGradientParameters &parameters)
GTSAM_EXPORT Vector	steepestDescent (const System &Ab, const Vector &x, const IterativeOptimizationParameters &parameters)
GTSAM_EXPORT Matrix43	stiefel (const SO4 &Q, OptionalJacobian< 12, 6 > H)
static void	streamSignature (const DiscreteConditional &conditional, const KeyFormatter &keyFormatter, stringstream *ss)
Eigen::Block< const MATRIX >	sub (const MATRIX &A, size_t i1, size_t i2, size_t j1, size_t j2)
void	svd (const Matrix &A, Matrix &U, Vector &S, Matrix &V)
Key	symbol (unsigned char c, std::uint64_t j)
unsigned char	symbolChr (Key key)
std::uint64_t	symbolIndex (Key key)
void	synchronize (ConcurrentFilter &filter, ConcurrentSmoother &smoother)
	TEST (LPInitSolver, InfiniteLoopMultiVar)
	TEST (LPInitSolver, InfiniteLoopSingleVar)
	TEST (LPInitSolver, Initialization)
	TEST (SmartFactorBase, Pinhole)
	TEST (SmartFactorBase, PinholeWithSensor)
	TEST (SmartFactorBase, Stereo)
void	testChartDerivatives (TestResult &result_, const std::string &name_, const G &t1, const G &t2)
void	testDefaultChart (TestResult &result_, const std::string &name_, const T &value)
void	testLieGroupDerivatives (TestResult &result_, const std::string &name_, const G &t1, const G &t2)
static void	throwRuntimeError (const std::string &s, const std::shared_ptr< Factor > &f)
void	tictoc_finishedIteration_ ()
void	tictoc_print2_ ()
void	tictoc_print_ ()
void	tictoc_reset_ ()
SDGraph< KEY >	toBoostGraph (const G &graph)
static std::vector< std::string >	Tokenize (const std::string &str)
GTSAM_EXPORT Matrix3	topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H)
Matrix	trans (const Matrix &A)
P	transform_point (const T &trans, const P &global, OptionalMatrixType Dtrans, OptionalMatrixType Dglobal)
Point3_	transformFrom (const Pose3_ &x, const Point3_ &p)
Pose3_	transformPoseTo (const Pose3_ &p, const Pose3_ &q)
Point2_	transformTo (const Pose2_ &x, const Point2_ &p)
Line3	transformTo (const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Line3_	transformTo (const Pose3_ &wTc, const Line3_ &wL)
Point3_	transformTo (const Pose3_ &x, const Point3_ &p)
Point3_	translation (const Pose3_ &pose)
Point3	triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol)
Point3	triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol)
Vector4	triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol)
Vector4	triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const std::vector< Unit3 > &measurements, double rank_tol)
Point3	triangulateLOST (const std::vector< Pose3 > &poses, const Point3Vector &calibratedMeasurements, const SharedIsotropic &measurementNoise, double rank_tol=1e-9)
Point3	triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
Point3	triangulateNonlinear (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
Point3	triangulatePoint3 (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
Point3	triangulatePoint3 (const CameraSet< PinholeCamera< CALIBRATION >> &cameras, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
Point3	triangulatePoint3 (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false, const SharedNoiseModel &model=nullptr, const bool useLOST=false)
TriangulationResult	triangulateSafe (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters &params)
std::pair< NonlinearFactorGraph, Values >	triangulationGraph (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, Key landmarkKey, const Point3 &initialEstimate, const SharedNoiseModel &model=nullptr)
std::pair< NonlinearFactorGraph, Values >	triangulationGraph (const std::vector< Pose3 > &poses, std::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate, const SharedNoiseModel &model=noiseModel::Unit::Create(2))
Point2_	uncalibrate (const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
MEASUREMENT	undistortMeasurementInternal (const CALIBRATION &cal, const MEASUREMENT &measurement, std::optional< Cal3_S2 > pinholeCal={})
Point2Vector	undistortMeasurements (const Cal3_S2 &cal, const Point2Vector &measurements)
Point2Vector	undistortMeasurements (const CALIBRATION &cal, const Point2Vector &measurements)
CAMERA::MeasurementVector	undistortMeasurements (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements)
PinholeCamera< Cal3_S2 >::MeasurementVector	undistortMeasurements (const CameraSet< PinholeCamera< Cal3_S2 >> &cameras, const PinholeCamera< Cal3_S2 >::MeasurementVector &measurements)
SphericalCamera::MeasurementVector	undistortMeasurements (const CameraSet< SphericalCamera > &cameras, const SphericalCamera::MeasurementVector &measurements)
Point3_	unrotate (const Rot3_ &x, const Point3_ &p)
Unit3_	unrotate (const Rot3_ &x, const Unit3_ &p)
std::pair< DecisionTree< L, T1 >, DecisionTree< L, T2 > >	unzip (const DecisionTree< L, std::pair< T1, T2 > > &input)
static std::string	valueFormatter (const double &v)
static Vector9	vec3 (const Matrix3 &R)
static SO4::VectorN2	vec4 (const Matrix4 &Q)
Matrix	vector_scale (const Matrix &A, const Vector &v, bool inf_mask)
Matrix	vector_scale (const Vector &v, const Matrix &A, bool inf_mask)
void	vector_scale_inplace (const Vector &v, Matrix &A, bool inf_mask)
Velocity3_	velocity (const NavState_ &X)
Matrix	wedge (const Vector &x)
Matrix	wedge< Pose2 > (const Vector &xi)
Matrix	wedge< Pose3 > (const Vector &xi)
Matrix	wedge< Similarity3 > (const Vector &xi)
list< std::tuple< Vector, double, double > >	weighted_eliminate (Matrix &A, Vector &b, const Vector &sigmas)
pair< Vector, double >	weightedPseudoinverse (const Vector &a, const Vector &weights)
double	weightedPseudoinverse (const Vector &a, const Vector &weights, Vector &pseudo)
bool	writeBAL (const std::string &filename, const SfmData &data)
bool	writeBALfromValues (const std::string &filename, const SfmData &data, const Values &values)
void	writeG2o (const NonlinearFactorGraph &graph, const Values &estimate, const std::string &filename)
void	zeroBelowDiagonal (MATRIX &A, size_t cols=0)

Variables
const G &	b
static const size_t	chrBits
static const Key	chrMask
template class GTSAM_EXPORT	Conditional< DecisionTreeFactor, DiscreteConditional >
GTSAM_EXPORT FastMap< std::string, ValueWithDefault< bool, false > >	debugFlags
KeyFormatter	DefaultKeyFormatter
static size_t	gDummyCount
	GM
	HANDLE_INFINITY
	HESSIAN
	IGNORE_DEGENERACY
	IMPLICIT_SCHUR
static const size_t	indexBits
static const Key	indexMask
static double	intNoiseVar
	JACOBIAN_Q
	JACOBIAN_SVD
	KernelFunctionTypeHUBER
	KernelFunctionTypeNONE
	KernelFunctionTypeTUKEY
static const size_t	keyBits
	KeypointsVector
static const Vector	kGravity
static const size_t	kHeightIndex
static const Matrix3	kIntegrationErrorCovariance
static const size_t	kPitchIndex
static const size_t	kRollIndex
static const std::vector< size_t >	kVelocityIndices
static const size_t	kVelocityZIndex
const double	logSqrt2PI
	MatchIndicesMap
const size_t	max_it
static const gtsam::KeyFormatter	MultiRobotKeyFormatter
static const double	negativePivotThreshold
	NoiseFormatAUTO
	NoiseFormatCOV
	NoiseFormatG2O
	NoiseFormatGRAPH
	NoiseFormatTORO
static const Matrix93	P3
static const Eigen::Matrix< double, 16, 6 >	P4
static const Rot2	R_PI_2 (Rot2::fromCosSin(0., 1.))
	SfmCameras
	SfmMeasurementVector
	SfmTracks
	TLS
const G double	tol
static const int	underconstrainedExponentDifference
static const double	underconstrainedPrior
static const Eigen::MatrixBase< Vector2 >::ConstantReturnType	Z_2x1
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType	Z_3x1
	ZERO_ON_DEGENERACY
static const double	zeroPivotThreshold