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      <type>bool</type>
      <name>_hessianRowMajor</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aeb5c1f09a4433a6bd76ce4ab67bd9a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockTransposedType</type>
      <name>_hessianTransposed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa61657904b00fcfa19df382094386f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
      <name>_jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa21b9d84924ec93192374761ee0adfa7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXjOplusType</type>
      <name>_jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad448518247044496cb99c9d70bd1a363</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>BaseBinaryEdge&lt; 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap &gt;</name>
    <filename>classg2o_1_1BaseBinaryEdge.html</filename>
    <base>BaseEdge&lt; D, Vector2d &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::ErrorVector</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ae1cccf6068b2446ece316b6a69a46acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Dj, Di &gt;, Matrix&lt; double, Dj, Di &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockTransposedType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa72228036ad73cfb3df25cce48a582b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Di, Dj &gt;, Matrix&lt; double, Di, Dj &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a01f39bd21904c65780aed1b9ba567c67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::InformationType</type>
      <name>InformationType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a4530ef6462aadaf2ab826d440d3b3318</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix&lt; double, D, Di &gt;::AlignedMapType</type>
      <name>JacobianXiOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab1cde84224b129603bcd95db027e0167</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, Dj &gt;::AlignedMapType</type>
      <name>JacobianXjOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a83e5dec2135b33e86255c87be3b5d062</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::Measurement</type>
      <name>Measurement</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac1e9249e9906747a6669a9c90013944b</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSBAPointXYZ</type>
      <name>VertexXiType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa8e2b04b2c0c90adc48384d6d41063cc</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSE3Expmap</type>
      <name>VertexXjType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa489ae37680c37d7b2c3c1a197f90de9</anchor>
      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>allVerticesFixed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a1895c3b7141e93fd05bf271daeda7568</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>BaseBinaryEdge</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aacfc6e1d439f2f0fb09c6b069f478cf4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>constructQuadraticForm</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06a18745d95017c6d3c841f838a65364</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createFrom</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a32bfc93b6dede619c7d99db2fb60f80d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createTo</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac7cce17e3229445e5a33c3cb8a569320</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
      <name>jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad036a59a5bc1d04d1799d61b9be15864</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXjOplusType &amp;</type>
      <name>jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a8a8ed568c4a00f74943fc1efe5bbc72c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>afc3b6470e7679f027c2614484b394925</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af0fb8a693c8c7996fa65566e7263fbc4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ada358930854d386a4e8c32f64078e052</anchor>
      <arglist>(double *d, int i, int j, bool rowMajor)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06e64067fa5fff4a5e2d058249b55478</anchor>
      <arglist>(size_t size)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Di</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>abfe232196405a7204bc299a747c1cc8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af3c134948e48c446762fa4e427d1cca5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab718b94950a34d589371fe6f5583b259</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a5036f75e3b20c79cb014fcc929d8eef9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_hessianRowMajor</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aeb5c1f09a4433a6bd76ce4ab67bd9a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockTransposedType</type>
      <name>_hessianTransposed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa61657904b00fcfa19df382094386f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
      <name>_jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa21b9d84924ec93192374761ee0adfa7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXjOplusType</type>
      <name>_jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad448518247044496cb99c9d70bd1a363</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>BaseBinaryEdge&lt; 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap &gt;</name>
    <filename>classg2o_1_1BaseBinaryEdge.html</filename>
    <base>BaseEdge&lt; D, Vector2d &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::ErrorVector</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ae1cccf6068b2446ece316b6a69a46acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Dj, Di &gt;, Matrix&lt; double, Dj, Di &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockTransposedType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa72228036ad73cfb3df25cce48a582b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Di, Dj &gt;, Matrix&lt; double, Di, Dj &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a01f39bd21904c65780aed1b9ba567c67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::InformationType</type>
      <name>InformationType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a4530ef6462aadaf2ab826d440d3b3318</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix&lt; double, D, Di &gt;::AlignedMapType</type>
      <name>JacobianXiOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab1cde84224b129603bcd95db027e0167</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix&lt; double, D, Dj &gt;::AlignedMapType</type>
      <name>JacobianXjOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a83e5dec2135b33e86255c87be3b5d062</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::Measurement</type>
      <name>Measurement</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac1e9249e9906747a6669a9c90013944b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VertexSBAPointXYZ</type>
      <name>VertexXiType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa8e2b04b2c0c90adc48384d6d41063cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VertexSim3Expmap</type>
      <name>VertexXjType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa489ae37680c37d7b2c3c1a197f90de9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>allVerticesFixed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a1895c3b7141e93fd05bf271daeda7568</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BaseBinaryEdge</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aacfc6e1d439f2f0fb09c6b069f478cf4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>constructQuadraticForm</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06a18745d95017c6d3c841f838a65364</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createFrom</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a32bfc93b6dede619c7d99db2fb60f80d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createTo</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac7cce17e3229445e5a33c3cb8a569320</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
      <name>jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad036a59a5bc1d04d1799d61b9be15864</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXjOplusType &amp;</type>
      <name>jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a8a8ed568c4a00f74943fc1efe5bbc72c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>afc3b6470e7679f027c2614484b394925</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af0fb8a693c8c7996fa65566e7263fbc4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ada358930854d386a4e8c32f64078e052</anchor>
      <arglist>(double *d, int i, int j, bool rowMajor)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06e64067fa5fff4a5e2d058249b55478</anchor>
      <arglist>(size_t size)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Di</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>abfe232196405a7204bc299a747c1cc8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af3c134948e48c446762fa4e427d1cca5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab718b94950a34d589371fe6f5583b259</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a5036f75e3b20c79cb014fcc929d8eef9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_hessianRowMajor</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aeb5c1f09a4433a6bd76ce4ab67bd9a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockTransposedType</type>
      <name>_hessianTransposed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa61657904b00fcfa19df382094386f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
      <name>_jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa21b9d84924ec93192374761ee0adfa7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXjOplusType</type>
      <name>_jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad448518247044496cb99c9d70bd1a363</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>BaseBinaryEdge&lt; 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap &gt;</name>
    <filename>classg2o_1_1BaseBinaryEdge.html</filename>
    <base>BaseEdge&lt; D, Vector3d &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::ErrorVector</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ae1cccf6068b2446ece316b6a69a46acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Dj, Di &gt;, Matrix&lt; double, Dj, Di &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockTransposedType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa72228036ad73cfb3df25cce48a582b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Di, Dj &gt;, Matrix&lt; double, Di, Dj &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a01f39bd21904c65780aed1b9ba567c67</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::InformationType</type>
      <name>InformationType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a4530ef6462aadaf2ab826d440d3b3318</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix&lt; double, D, Di &gt;::AlignedMapType</type>
      <name>JacobianXiOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab1cde84224b129603bcd95db027e0167</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Matrix&lt; double, D, Dj &gt;::AlignedMapType</type>
      <name>JacobianXjOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a83e5dec2135b33e86255c87be3b5d062</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::Measurement</type>
      <name>Measurement</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac1e9249e9906747a6669a9c90013944b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VertexSBAPointXYZ</type>
      <name>VertexXiType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa8e2b04b2c0c90adc48384d6d41063cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>VertexSE3Expmap</type>
      <name>VertexXjType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa489ae37680c37d7b2c3c1a197f90de9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>allVerticesFixed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a1895c3b7141e93fd05bf271daeda7568</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>BaseBinaryEdge</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aacfc6e1d439f2f0fb09c6b069f478cf4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>constructQuadraticForm</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06a18745d95017c6d3c841f838a65364</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createFrom</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a32bfc93b6dede619c7d99db2fb60f80d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createTo</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac7cce17e3229445e5a33c3cb8a569320</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
      <name>jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad036a59a5bc1d04d1799d61b9be15864</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const JacobianXjOplusType &amp;</type>
      <name>jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a8a8ed568c4a00f74943fc1efe5bbc72c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>afc3b6470e7679f027c2614484b394925</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af0fb8a693c8c7996fa65566e7263fbc4</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ada358930854d386a4e8c32f64078e052</anchor>
      <arglist>(double *d, int i, int j, bool rowMajor)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06e64067fa5fff4a5e2d058249b55478</anchor>
      <arglist>(size_t size)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Di</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>abfe232196405a7204bc299a747c1cc8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af3c134948e48c446762fa4e427d1cca5</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab718b94950a34d589371fe6f5583b259</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a5036f75e3b20c79cb014fcc929d8eef9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_hessianRowMajor</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aeb5c1f09a4433a6bd76ce4ab67bd9a64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HessianBlockTransposedType</type>
      <name>_hessianTransposed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa61657904b00fcfa19df382094386f11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
      <name>_jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa21b9d84924ec93192374761ee0adfa7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>JacobianXjOplusType</type>
      <name>_jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad448518247044496cb99c9d70bd1a363</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>BaseBinaryEdge&lt; 7, Sim3, VertexSim3Expmap, VertexSim3Expmap &gt;</name>
    <filename>classg2o_1_1BaseBinaryEdge.html</filename>
    <base>BaseEdge&lt; D, Sim3 &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Sim3 &gt;::ErrorVector</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ae1cccf6068b2446ece316b6a69a46acf</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Dj, Di &gt;, Matrix&lt; double, Dj, Di &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockTransposedType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa72228036ad73cfb3df25cce48a582b6</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, Di, Dj &gt;, Matrix&lt; double, Di, Dj &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a01f39bd21904c65780aed1b9ba567c67</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Sim3 &gt;::InformationType</type>
      <name>InformationType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a4530ef6462aadaf2ab826d440d3b3318</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, Di &gt;::AlignedMapType</type>
      <name>JacobianXiOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab1cde84224b129603bcd95db027e0167</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, Dj &gt;::AlignedMapType</type>
      <name>JacobianXjOplusType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a83e5dec2135b33e86255c87be3b5d062</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Sim3 &gt;::Measurement</type>
      <name>Measurement</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac1e9249e9906747a6669a9c90013944b</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSim3Expmap</type>
      <name>VertexXiType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa8e2b04b2c0c90adc48384d6d41063cc</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSim3Expmap</type>
      <name>VertexXjType</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa489ae37680c37d7b2c3c1a197f90de9</anchor>
      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>allVerticesFixed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a1895c3b7141e93fd05bf271daeda7568</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>BaseBinaryEdge</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aacfc6e1d439f2f0fb09c6b069f478cf4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>constructQuadraticForm</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06a18745d95017c6d3c841f838a65364</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createFrom</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a32bfc93b6dede619c7d99db2fb60f80d</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual OptimizableGraph::Vertex *</type>
      <name>createTo</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ac7cce17e3229445e5a33c3cb8a569320</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
      <name>jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad036a59a5bc1d04d1799d61b9be15864</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const JacobianXjOplusType &amp;</type>
      <name>jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a8a8ed568c4a00f74943fc1efe5bbc72c</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>afc3b6470e7679f027c2614484b394925</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>linearizeOplus</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af0fb8a693c8c7996fa65566e7263fbc4</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ada358930854d386a4e8c32f64078e052</anchor>
      <arglist>(double *d, int i, int j, bool rowMajor)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>resize</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a06e64067fa5fff4a5e2d058249b55478</anchor>
      <arglist>(size_t size)</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Di</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>abfe232196405a7204bc299a747c1cc8b</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>af3c134948e48c446762fa4e427d1cca5</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ab718b94950a34d589371fe6f5583b259</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>a5036f75e3b20c79cb014fcc929d8eef9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_hessianRowMajor</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aeb5c1f09a4433a6bd76ce4ab67bd9a64</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>HessianBlockTransposedType</type>
      <name>_hessianTransposed</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa61657904b00fcfa19df382094386f11</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
      <name>_jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>aa21b9d84924ec93192374761ee0adfa7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JacobianXjOplusType</type>
      <name>_jacobianOplusXj</name>
      <anchorfile>classg2o_1_1BaseBinaryEdge.html</anchorfile>
      <anchor>ad448518247044496cb99c9d70bd1a363</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>g2o::BaseEdge</name>
    <filename>classg2o_1_1BaseEdge.html</filename>
    <templarg>D</templarg>
    <templarg>E</templarg>
    <base>g2o::OptimizableGraph::Edge</base>
    <member kind="typedef">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af5b558dd24e4be2e437563cae4b3550d</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, D &gt;</type>
      <name>InformationType</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a2e5a33343ac3f189d8a7d5ee4d8b73fc</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>E</type>
      <name>Measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a2c148abba650a20b8c7eed75d3e2211e</anchor>
      <arglist></arglist>
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    <member kind="function">
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      <name>BaseEdge</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a5efd0eb7e76a7f1ad723e7a5896a54d5</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>chi2</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a7ea9406b8cc06b44433569bbd4fcefac</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>const ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a52fb082b224f30a29248431ea34e9c39</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ad0a9e3b6d5490c8f4af794c77742faae</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double *</type>
      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a2483ee84ebe78e35e71db7dce703edae</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab80452c1134036928a2af6303412a3c4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab682086df7223ce2b039d652416ddc23</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>addff9120320d63504e07bfe17f1d04a7</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double *</type>
      <name>informationData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a49791e1acda790a7819388e60d80ed50</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>informationData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a72ae9d215d6abc892f735e3d3ab81a88</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>initialEstimate</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a0c3d9763f1dc504627df75e0f381ca70</anchor>
      <arglist>(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</arglist>
    </member>
    <member kind="function">
      <type>const Measurement &amp;</type>
      <name>measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a8c20e7ffa66bb7a4a02c8cee82e89c8b</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>rank</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a56269f26521052cf52de8a61c37e4c29</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>setInformation</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a9bb871a94d2413ec3113a147417f2dc4</anchor>
      <arglist>(const InformationType &amp;information)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMeasurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a24aae7b4fc35d311158f104cfdd95aeb</anchor>
      <arglist>(const Measurement &amp;m)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~BaseEdge</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a92a5cba950b867f9ff10b8154291087c</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab4812acb21e0b9de80dc6d676e71cb70</anchor>
      <arglist></arglist>
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    <member kind="function" protection="protected">
      <type>InformationType</type>
      <name>robustInformation</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a069937ed6fadf557368cd0fce7ab2f59</anchor>
      <arglist>(const Eigen::Vector3d &amp;rho)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ErrorVector</type>
      <name>_error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af31f4b0a67bb12b4de4a32dc42467836</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>InformationType</type>
      <name>_information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a49f11e3d1eaa8e666e1d4d3607279377</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Measurement</type>
      <name>_measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af2a6ab1df6e91601b4cab23e0e99e034</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>BaseEdge&lt; D, Sim3 &gt;</name>
    <filename>classg2o_1_1BaseEdge.html</filename>
    <base>g2o::OptimizableGraph::Edge</base>
    <member kind="typedef">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>ErrorVector</name>
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      <arglist></arglist>
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      <type>Matrix&lt; double, D, D &gt;</type>
      <name>InformationType</name>
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      <arglist></arglist>
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      <name>Measurement</name>
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      <arglist></arglist>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <name>chi2</name>
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      <anchor>a7ea9406b8cc06b44433569bbd4fcefac</anchor>
      <arglist>() const</arglist>
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      <type>const ErrorVector &amp;</type>
      <name>error</name>
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      <anchor>a52fb082b224f30a29248431ea34e9c39</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ad0a9e3b6d5490c8f4af794c77742faae</anchor>
      <arglist>()</arglist>
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      <anchor>a2483ee84ebe78e35e71db7dce703edae</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab80452c1134036928a2af6303412a3c4</anchor>
      <arglist>()</arglist>
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      <name>information</name>
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      <anchor>ab682086df7223ce2b039d652416ddc23</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>addff9120320d63504e07bfe17f1d04a7</anchor>
      <arglist>()</arglist>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>informationData</name>
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      <arglist>()</arglist>
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      <arglist>(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const InformationType &amp;information)</arglist>
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      <anchor>a24aae7b4fc35d311158f104cfdd95aeb</anchor>
      <arglist>(const Measurement &amp;m)</arglist>
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      <type>virtual</type>
      <name>~BaseEdge</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a92a5cba950b867f9ff10b8154291087c</anchor>
      <arglist>()</arglist>
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      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab4812acb21e0b9de80dc6d676e71cb70</anchor>
      <arglist></arglist>
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      <type>InformationType</type>
      <name>robustInformation</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a069937ed6fadf557368cd0fce7ab2f59</anchor>
      <arglist>(const Eigen::Vector3d &amp;rho)</arglist>
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      <type>ErrorVector</type>
      <name>_error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af31f4b0a67bb12b4de4a32dc42467836</anchor>
      <arglist></arglist>
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      <type>InformationType</type>
      <name>_information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist></arglist>
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      <type>Measurement</type>
      <name>_measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af2a6ab1df6e91601b4cab23e0e99e034</anchor>
      <arglist></arglist>
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    <filename>classg2o_1_1BaseEdge.html</filename>
    <base>g2o::OptimizableGraph::Edge</base>
    <member kind="typedef">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>ErrorVector</name>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <type>virtual double</type>
      <name>chi2</name>
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      <anchor>a7ea9406b8cc06b44433569bbd4fcefac</anchor>
      <arglist>() const</arglist>
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      <type>const ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a52fb082b224f30a29248431ea34e9c39</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ad0a9e3b6d5490c8f4af794c77742faae</anchor>
      <arglist>()</arglist>
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      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a2483ee84ebe78e35e71db7dce703edae</anchor>
      <arglist>() const</arglist>
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      <type>virtual double *</type>
      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab80452c1134036928a2af6303412a3c4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab682086df7223ce2b039d652416ddc23</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>addff9120320d63504e07bfe17f1d04a7</anchor>
      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>virtual double *</type>
      <name>informationData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <name>initialEstimate</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</arglist>
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      <type>const Measurement &amp;</type>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a8c20e7ffa66bb7a4a02c8cee82e89c8b</anchor>
      <arglist>() const</arglist>
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      <name>rank</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a56269f26521052cf52de8a61c37e4c29</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>(const InformationType &amp;information)</arglist>
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      <arglist>(const Measurement &amp;m)</arglist>
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      <name>~BaseEdge</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a92a5cba950b867f9ff10b8154291087c</anchor>
      <arglist>()</arglist>
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      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab4812acb21e0b9de80dc6d676e71cb70</anchor>
      <arglist></arglist>
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    <member kind="function" protection="protected">
      <type>InformationType</type>
      <name>robustInformation</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a069937ed6fadf557368cd0fce7ab2f59</anchor>
      <arglist>(const Eigen::Vector3d &amp;rho)</arglist>
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      <type>ErrorVector</type>
      <name>_error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af31f4b0a67bb12b4de4a32dc42467836</anchor>
      <arglist></arglist>
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      <type>InformationType</type>
      <name>_information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist></arglist>
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      <type>Measurement</type>
      <name>_measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af2a6ab1df6e91601b4cab23e0e99e034</anchor>
      <arglist></arglist>
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    <filename>classg2o_1_1BaseEdge.html</filename>
    <base>g2o::OptimizableGraph::Edge</base>
    <member kind="typedef">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>ErrorVector</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>Vector3d</type>
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      <arglist></arglist>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <type>virtual double</type>
      <name>chi2</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a52fb082b224f30a29248431ea34e9c39</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>ErrorVector &amp;</type>
      <name>error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ad0a9e3b6d5490c8f4af794c77742faae</anchor>
      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>virtual double *</type>
      <name>errorData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>InformationType &amp;</type>
      <name>information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>informationData</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a72ae9d215d6abc892f735e3d3ab81a88</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>initialEstimate</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a0c3d9763f1dc504627df75e0f381ca70</anchor>
      <arglist>(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</arglist>
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      <type>const Measurement &amp;</type>
      <name>measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a8c20e7ffa66bb7a4a02c8cee82e89c8b</anchor>
      <arglist>() const</arglist>
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      <type>virtual int</type>
      <name>rank</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a56269f26521052cf52de8a61c37e4c29</anchor>
      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>(const InformationType &amp;information)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>setMeasurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist>(const Measurement &amp;m)</arglist>
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      <name>~BaseEdge</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a92a5cba950b867f9ff10b8154291087c</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
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      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>ab4812acb21e0b9de80dc6d676e71cb70</anchor>
      <arglist></arglist>
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      <type>InformationType</type>
      <name>robustInformation</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>a069937ed6fadf557368cd0fce7ab2f59</anchor>
      <arglist>(const Eigen::Vector3d &amp;rho)</arglist>
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    <member kind="variable" protection="protected">
      <type>ErrorVector</type>
      <name>_error</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af31f4b0a67bb12b4de4a32dc42467836</anchor>
      <arglist></arglist>
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      <type>InformationType</type>
      <name>_information</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
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      <arglist></arglist>
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      <type>Measurement</type>
      <name>_measurement</name>
      <anchorfile>classg2o_1_1BaseEdge.html</anchorfile>
      <anchor>af2a6ab1df6e91601b4cab23e0e99e034</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>g2o::BaseMultiEdge</name>
    <filename>classg2o_1_1BaseMultiEdge.html</filename>
    <templarg>D</templarg>
    <templarg></templarg>
    <base>g2o::BaseEdge</base>
    <class kind="struct">g2o::BaseMultiEdge::HessianHelper</class>
    <member kind="typedef">
      <type>BaseEdge&lt; D, E &gt;::ErrorVector</type>
      <name>ErrorVector</name>
      <anchorfile>classg2o_1_1BaseMultiEdge.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Eigen::Map&lt; MatrixXd, MatrixXd::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseMultiEdge.html</anchorfile>
      <anchor>a81d2a7c3a924855d1fd23594c66f7bce</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, E &gt;::InformationType</type>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchor>a72176776797987b8ae79ea2e33971e9e</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
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      <arglist>()</arglist>
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      <arglist>(double *d, int i, int j, bool rowMajor)</arglist>
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      <arglist>(size_t size)</arglist>
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      <arglist></arglist>
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      <arglist>(const InformationType &amp;omega, const ErrorVector &amp;weightedError)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const std::string name_)</arglist>
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      <arglist>(const std::string &amp;s)=0</arglist>
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      <arglist>()</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <templarg>D</templarg>
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    <templarg>VertexXi</templarg>
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      <type>BaseEdge&lt; D, E &gt;::ErrorVector</type>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, VertexXiType::Dimension &gt;::AlignedMapType</type>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexXi</type>
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      <arglist></arglist>
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      <type>virtual bool</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
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      <arglist>() const </arglist>
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      <type></type>
      <name>BaseUnaryEdge</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
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      <arglist>()</arglist>
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      <anchor>ad7e6dc44c571be159f066bdb961ade2b</anchor>
      <arglist>()</arglist>
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      <type>virtual void</type>
      <name>initialEstimate</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a3d3311901116092cf817b094f6a0b44b</anchor>
      <arglist>(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)</arglist>
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    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
      <name>jacobianOplusXi</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a39a254035af4f53fc3a6b5a77cd5a0ca</anchor>
      <arglist>() const </arglist>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a8b396647b5b438d30a04758023baa595</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
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      <type>virtual void</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a367f19b903938faf6e89dd1b0e4e722b</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a919dcb89130f6e7082e807530facdd78</anchor>
      <arglist>(double *, int, int, bool)</arglist>
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      <type>virtual void</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a01fcdfd2d3ed0325655bb99db95c0b10</anchor>
      <arglist>(size_t size)</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a4e584cf552998a34948d8d5b484f7fd3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>af7d022a6c6c9c29dfd9147fce0dc13d8</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <base>BaseEdge&lt; D, Vector2d &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::ErrorVector</type>
      <name>ErrorVector</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector2d &gt;::InformationType</type>
      <name>InformationType</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, VertexXiType::Dimension &gt;::AlignedMapType</type>
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      <arglist></arglist>
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      <type>BaseEdge&lt; D, Vector2d &gt;::Measurement</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSE3Expmap</type>
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      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>BaseUnaryEdge</name>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>()</arglist>
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      <name>initialEstimate</name>
      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a3d3311901116092cf817b094f6a0b44b</anchor>
      <arglist>(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)</arglist>
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    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
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      <arglist>() const</arglist>
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      <type>virtual void</type>
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      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <arglist>(double *, int, int, bool)</arglist>
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      <arglist>(size_t size)</arglist>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
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      <arglist></arglist>
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    <base>BaseEdge&lt; D, Vector3d &gt;</base>
    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::ErrorVector</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::InformationType</type>
      <name>InformationType</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Matrix&lt; double, D, VertexXiType::Dimension &gt;::AlignedMapType</type>
      <name>JacobianXiOplusType</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>BaseEdge&lt; D, Vector3d &gt;::Measurement</type>
      <name>Measurement</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>VertexSE3Expmap</type>
      <name>VertexXiType</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
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      <arglist>() const</arglist>
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      <name>BaseUnaryEdge</name>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>()</arglist>
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      <arglist>(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)</arglist>
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    <member kind="function">
      <type>const JacobianXiOplusType &amp;</type>
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      <arglist>() const</arglist>
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      <type>virtual void</type>
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      <anchor>a8b396647b5b438d30a04758023baa595</anchor>
      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a919dcb89130f6e7082e807530facdd78</anchor>
      <arglist>(double *, int, int, bool)</arglist>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a01fcdfd2d3ed0325655bb99db95c0b10</anchor>
      <arglist>(size_t size)</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>a4e584cf552998a34948d8d5b484f7fd3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JacobianXiOplusType</type>
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      <anchorfile>classg2o_1_1BaseUnaryEdge.html</anchorfile>
      <anchor>af7d022a6c6c9c29dfd9147fce0dc13d8</anchor>
      <arglist></arglist>
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    <templarg>D</templarg>
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    <member kind="typedef">
      <type>std::stack&lt; EstimateType, std::vector&lt; EstimateType, Eigen::aligned_allocator&lt; EstimateType &gt; &gt; &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const </arglist>
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      <arglist>(int i) const </arglist>
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      <arglist>()</arglist>
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      <arglist>() const </arglist>
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      <name>BaseVertex</name>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a144f99c7aa36a100dea65b30793e6d76</anchor>
      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(double *b_) const </arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a71729c4d91044bde9bfea4c859b0c02d</anchor>
      <arglist>()</arglist>
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      <name>estimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>abb9caa0d2d00af70e95963a11ee9660a</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i, int j) const </arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i, int j)</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>aedf92fbb5c2c86185422a955be02a3a6</anchor>
      <arglist>()</arglist>
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      <type>virtual double</type>
      <name>hessianDeterminant</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a4f302a5d56f733a93fe5e98b49a20a07</anchor>
      <arglist>() const </arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(double *d)</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a502bf3db2ee32061a2c8257ef81a1552</anchor>
      <arglist>()</arglist>
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      <anchor>ae6edf93fe07aa27579a9352faa83098c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>acb6e8e8f39caa04f62dd93a3dd400e06</anchor>
      <arglist>(const EstimateType &amp;et)</arglist>
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      <name>solveDirect</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a0bbd9551b7e03f7e422169e396e8ec9b</anchor>
      <arglist>(double lambda=0)</arglist>
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      <name>stackSize</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ad40208e3c8e3c221560c69af176b2eb6</anchor>
      <arglist>() const </arglist>
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      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a9a831bfdf84cfe625d8f942bc4f1c2d1</anchor>
      <arglist></arglist>
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      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>_b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a70c672f2997275927efa49c1f5b18ac3</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>afaf73b0e874db76655d90bdb2f156c00</anchor>
      <arglist></arglist>
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    <base>g2o::OptimizableGraph::Vertex</base>
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      <type>std::stack&lt; EstimateType, std::vector&lt; EstimateType, Eigen::aligned_allocator&lt; EstimateType &gt; &gt; &gt;</type>
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      <type>Eigen::Map&lt; Matrix&lt; double, D, D &gt;, Matrix&lt; double, D, D &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
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      <arglist></arglist>
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      <type>HessianBlockType &amp;</type>
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      <arglist>()</arglist>
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      <name>A</name>
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      <arglist>() const</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i) const</arglist>
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      <arglist>(int i)</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <name>BaseVertex</name>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(double *b_) const</arglist>
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      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>()</arglist>
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      <name>estimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i, int j) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a6ab2212fdb00dec460299fdbabe09cb9</anchor>
      <arglist>(int i, int j)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>hessianData</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>aedf92fbb5c2c86185422a955be02a3a6</anchor>
      <arglist>()</arglist>
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      <type>virtual double</type>
      <name>hessianDeterminant</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a4f302a5d56f733a93fe5e98b49a20a07</anchor>
      <arglist>() const</arglist>
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      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a54227ac315e6bc75c63ed117a2c75668</anchor>
      <arglist>(double *d)</arglist>
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      <name>pop</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a502bf3db2ee32061a2c8257ef81a1552</anchor>
      <arglist>()</arglist>
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      <name>push</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setEstimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>acb6e8e8f39caa04f62dd93a3dd400e06</anchor>
      <arglist>(const EstimateType &amp;et)</arglist>
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      <name>solveDirect</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a0bbd9551b7e03f7e422169e396e8ec9b</anchor>
      <arglist>(double lambda=0)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>stackSize</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ad40208e3c8e3c221560c69af176b2eb6</anchor>
      <arglist>() const</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a9a831bfdf84cfe625d8f942bc4f1c2d1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>_b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a70c672f2997275927efa49c1f5b18ac3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>BackupStackType</type>
      <name>_backup</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a936082916993857a77c8318bc3e59d23</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>EstimateType</type>
      <name>_estimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ab188c92c3e906c6e06507ae624c0e7ac</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>afaf73b0e874db76655d90bdb2f156c00</anchor>
      <arglist></arglist>
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    <name>BaseVertex&lt; 6, SE3Quat &gt;</name>
    <filename>classg2o_1_1BaseVertex.html</filename>
    <base>g2o::OptimizableGraph::Vertex</base>
    <member kind="typedef">
      <type>std::stack&lt; EstimateType, std::vector&lt; EstimateType, Eigen::aligned_allocator&lt; EstimateType &gt; &gt; &gt;</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>SE3Quat</type>
      <name>EstimateType</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>aaffb179a0d591da4769ec7c3fc7f7daa</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Eigen::Map&lt; Matrix&lt; double, D, D &gt;, Matrix&lt; double, D, D &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type>HessianBlockType &amp;</type>
      <name>A</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a43bcf2bb3420a0b2cb80bfd297b464a6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const HessianBlockType &amp;</type>
      <name>A</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double &amp;</type>
      <name>b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ae50dec87bfcb6a874ba87512c61bada7</anchor>
      <arglist>(int i) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double &amp;</type>
      <name>b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a5c235369ef3fb58de65b90c8cc37d611</anchor>
      <arglist>(int i)</arglist>
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    <member kind="function">
      <type>Matrix&lt; double, D, 1 &gt; &amp;</type>
      <name>b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>af7a70ede844ad023ba32edde16c8c745</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const Matrix&lt; double, D, 1 &gt; &amp;</type>
      <name>b</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a209c260b9a2730a832270cf3cf7ab605</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>BaseVertex</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a40fcd78e21bb4aedf7e299922c650937</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>bData</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ac8edea7073e5850c90b0ba37092b8f84</anchor>
      <arglist>()</arglist>
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      <name>clearQuadraticForm</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a144f99c7aa36a100dea65b30793e6d76</anchor>
      <arglist>()</arglist>
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      <type>virtual int</type>
      <name>copyB</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(double *b_) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>discardTop</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a71729c4d91044bde9bfea4c859b0c02d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const EstimateType &amp;</type>
      <name>estimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>abb9caa0d2d00af70e95963a11ee9660a</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>ac591409722e675a3b69b9157fb5c7933</anchor>
      <arglist>(int i, int j) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a6ab2212fdb00dec460299fdbabe09cb9</anchor>
      <arglist>(int i, int j)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>hessianData</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>aedf92fbb5c2c86185422a955be02a3a6</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>hessianDeterminant</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a4f302a5d56f733a93fe5e98b49a20a07</anchor>
      <arglist>() const</arglist>
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      <type>virtual void</type>
      <name>mapHessianMemory</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a54227ac315e6bc75c63ed117a2c75668</anchor>
      <arglist>(double *d)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>pop</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>a502bf3db2ee32061a2c8257ef81a1552</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>push</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setEstimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
      <anchor>acb6e8e8f39caa04f62dd93a3dd400e06</anchor>
      <arglist>(const EstimateType &amp;et)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>solveDirect</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(double lambda=0)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>stackSize</name>
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      <arglist>() const</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>Dimension</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Matrix&lt; double, D, 1 &gt;</type>
      <name>_b</name>
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      <anchor>a70c672f2997275927efa49c1f5b18ac3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>BackupStackType</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>EstimateType</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>HessianBlockType</type>
      <name>_hessian</name>
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      <arglist></arglist>
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      <type>std::stack&lt; EstimateType, std::vector&lt; EstimateType, Eigen::aligned_allocator&lt; EstimateType &gt; &gt; &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>Eigen::Map&lt; Matrix&lt; double, D, D &gt;, Matrix&lt; double, D, D &gt;::Flags &amp;PacketAccessBit?Aligned:Unaligned &gt;</type>
      <name>HessianBlockType</name>
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      <arglist></arglist>
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    <member kind="function">
      <type>HessianBlockType &amp;</type>
      <name>A</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const HessianBlockType &amp;</type>
      <name>A</name>
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      <arglist>() const</arglist>
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      <type>virtual const double &amp;</type>
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      <arglist>(int i) const</arglist>
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      <type>virtual double &amp;</type>
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      <arglist>(int i)</arglist>
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      <type>Matrix&lt; double, D, 1 &gt; &amp;</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const Matrix&lt; double, D, 1 &gt; &amp;</type>
      <name>b</name>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>BaseVertex</name>
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      <arglist>()</arglist>
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      <type>virtual double *</type>
      <name>bData</name>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <type>virtual int</type>
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      <arglist>(double *b_) const</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const EstimateType &amp;</type>
      <name>estimate</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i, int j) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double &amp;</type>
      <name>hessian</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>(int i, int j)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double *</type>
      <name>hessianData</name>
      <anchorfile>classg2o_1_1BaseVertex.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>hessianDeterminant</name>
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      <arglist>() const</arglist>
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      <type>virtual void</type>
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      <arglist>(double *d)</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>(const EstimateType &amp;et)</arglist>
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      <arglist>(double lambda=0)</arglist>
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      <type>virtual int</type>
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      <arglist>() const</arglist>
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      <type>static const int</type>
      <name>Dimension</name>
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      <anchor>a9a831bfdf84cfe625d8f942bc4f1c2d1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Matrix&lt; double, D, 1 &gt;</type>
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      <arglist></arglist>
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      <type>BackupStackType</type>
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      <arglist></arglist>
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      <type>EstimateType</type>
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      <arglist></arglist>
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      <type>HessianBlockType</type>
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      <arglist></arglist>
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      <type>Traits::LandmarkHessianType</type>
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      <arglist></arglist>
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      <type>Traits::LandmarkMatrixType</type>
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      <arglist></arglist>
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      <type>Traits::LandmarkVectorType</type>
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      <arglist></arglist>
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      <type>Traits::LinearSolverType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Traits::PoseHessianType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Traits::PoseLandmarkHessianType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Traits::PoseLandmarkMatrixType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Traits::PoseMatrixType</type>
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      <anchorfile>classg2o_1_1BlockSolver.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>Traits::PoseVectorType</type>
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      <arglist></arglist>
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      <name>BlockSolver</name>
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      <arglist>(LinearSolverType *linearSolver)</arglist>
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      <arglist>(bool zeroBlocks=false)</arglist>
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      <arglist>()</arglist>
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      <arglist>(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices)</arglist>
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      <arglist>(SparseOptimizer *optmizer, bool online=false)</arglist>
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      <arglist>() const </arglist>
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      <arglist>(double *dest, const double *src) const </arglist>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <arglist>(const std::string &amp;fileName) const </arglist>
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      <name>schur</name>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classg2o_1_1BlockSolver.html</anchorfile>
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      <arglist>(double lambda, bool backup=false)</arglist>
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      <arglist>(bool s)</arglist>
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      <anchorfile>classg2o_1_1BlockSolver.html</anchorfile>
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      <arglist>(bool writeDebug)</arglist>
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      <anchorfile>classg2o_1_1BlockSolver.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
      <name>updateStructure</name>
      <anchorfile>classg2o_1_1BlockSolver.html</anchorfile>
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    <member kind="function">
      <type>Vertex *</type>
      <name>vertex</name>
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      <arglist>(size_t i)</arglist>
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      <name>vertices</name>
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      <arglist>() const </arglist>
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      <type>VertexContainer &amp;</type>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>int</type>
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      <arglist></arglist>
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      <type>VertexContainer</type>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const </arglist>
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      <arglist>()=0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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      <type>virtual Vertex *</type>
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      <arglist>()</arglist>
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      <type>int</type>
      <name>dimension</name>
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      <arglist>() const </arglist>
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      <name>Edge</name>
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      <arglist>()</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()=0</arglist>
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      <type>virtual bool</type>
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      <arglist>(double *m) const </arglist>
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      <type>OptimizableGraph *</type>
      <name>graph</name>
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      <arglist>()</arglist>
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      <type>const OptimizableGraph *</type>
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      <arglist>() const </arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const double *</type>
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      <arglist>() const =0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)=0</arglist>
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      <arglist>(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to)</arglist>
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      <type>long long</type>
      <name>internalId</name>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
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      <arglist>(JacobianWorkspace &amp;jacobianWorkspace)=0</arglist>
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      <arglist>(double *d, int i, int j, bool rowMajor)=0</arglist>
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      <arglist>() const </arglist>
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      <type>size_t</type>
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      <arglist>() const </arglist>
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      <arglist>(int argNo) const </arglist>
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      <arglist>(std::istream &amp;is)=0</arglist>
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      <arglist>(size_t newSize)</arglist>
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      <type>RobustKernel *</type>
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      <anchor>aeb6ce9f3bf7b896f58272ea0d3feb8ff</anchor>
      <arglist>() const </arglist>
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      <arglist>(int l)</arglist>
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      <anchor>ae8d99a85921057eba87a2346ba9c6e0a</anchor>
      <arglist>(const double *m)</arglist>
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      <arglist>()</arglist>
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      <arglist>(int argNum, int paramId)</arglist>
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      <arglist>(RobustKernel *ptr)</arglist>
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      <type>virtual bool</type>
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      <anchor>a804b9a2178249b9297c55b8fbbeda56e</anchor>
      <arglist>(std::ostream &amp;os) const =0</arglist>
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      <type>virtual</type>
      <name>~Edge</name>
      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
      <anchor>a62de61a43d47cf223fe39265dac13ca5</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
      <anchor>a237bea2f2fb7cc6a9cf4ee5ee6fe4d88</anchor>
      <arglist>(ParameterType *&amp;p, size_t argNo, int paramId=-1)</arglist>
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      <type>void</type>
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      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
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      <arglist>(CacheType *&amp;cache, OptimizableGraph::Vertex *, const std::string &amp;_type, const ParameterVector &amp;parameters)</arglist>
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      <arglist>()</arglist>
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      <type>bool</type>
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      <arglist>()</arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>_cacheIds</name>
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      <anchor>a56bddaadd70570dbd96e8deed3d4b34c</anchor>
      <arglist></arglist>
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      <type>int</type>
      <name>_dimension</name>
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      <arglist></arglist>
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      <type>long long</type>
      <name>_internalId</name>
      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
      <anchor>abdfc449ed57479d90d2e57a8bc0bea12</anchor>
      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>_parameterIds</name>
      <anchorfile>classg2o_1_1OptimizableGraph_1_1Edge.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; Parameter ** &gt;</type>
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      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
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      <arglist></arglist>
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      <type>RobustKernel *</type>
      <name>_robustKernel</name>
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      <arglist></arglist>
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    <member kind="friend" protection="private">
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      <name>OptimizableGraph</name>
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      <arglist></arglist>
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    <member kind="function">
      <type>bool</type>
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      <arglist>(const Edge *e1, const Edge *e2) const </arglist>
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  <compound kind="class">
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    <base>BaseBinaryEdge&lt; 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap &gt;</base>
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      <type>void</type>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(std::istream &amp;is)</arglist>
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      <arglist>(std::ostream &amp;os) const </arglist>
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    <base>BaseBinaryEdge&lt; 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap &gt;</base>
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      <type>Vector2d</type>
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      <arglist>(const Vector3d &amp;trans_xyz) const </arglist>
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      <anchorfile>classg2o_1_1EdgeSE3ProjectXYZ.html</anchorfile>
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      <arglist>()</arglist>
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      <type>EIGEN_MAKE_ALIGNED_OPERATOR_NEW</type>
      <name>EdgeSE3ProjectXYZ</name>
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      <arglist>()</arglist>
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      <type>bool</type>
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      <arglist>()</arglist>
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      <anchorfile>classg2o_1_1EdgeSE3ProjectXYZ.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(std::istream &amp;is)</arglist>
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      <arglist>(std::ostream &amp;os) const </arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(std::istream &amp;is)</arglist>
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      <arglist>(std::ostream &amp;os) const </arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(OptimizableGraph *g)</arglist>
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      <arglist>(OptimizableGraph::Vertex *v, const EstimatePropagator::PropagateCost &amp;cost, const EstimatePropagator::PropagateAction &amp;action=PropagateAction(), double maxDistance=std::numeric_limits&lt; double &gt;::max(), double maxEdgeCost=std::numeric_limits&lt; double &gt;::max())</arglist>
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      <arglist>(OptimizableGraph::VertexSet &amp;vset, const EstimatePropagator::PropagateCost &amp;cost, const EstimatePropagator::PropagateAction &amp;action=PropagateAction(), double maxDistance=std::numeric_limits&lt; double &gt;::max(), double maxEdgeCost=std::numeric_limits&lt; double &gt;::max())</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(SparseOptimizer *graph)</arglist>
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      <arglist>(OptimizableGraph::Edge *edge, const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *to_) const </arglist>
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      <arglist>(vector&lt; bool &gt; &amp;vbMatchesInliers, float &amp;score, cv::Mat &amp;H21)</arglist>
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      <arglist>(const cv::Mat &amp;Tcw)</arglist>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const float</type>
      <name>mfGridElementHeightInv</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a89412cd7a6d467c262a7c3a584c81990</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const float</type>
      <name>mfGridElementWidthInv</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a7ad664a3275b80e901f3fa290ad7804e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const float</type>
      <name>mfLogScaleFactor</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>ae7ca053915d4aaba66c1fd5962182d14</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const float</type>
      <name>mfScaleFactor</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a18fbd1aa1da7c7cd68cb05d8e5b78a08</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const cv::Mat</type>
      <name>mK</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>mLoopScore</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a40712f54ab899a6dbd795405a4984ab5</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnBAFixedForKF</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a484457e131f76713de4dc4e0bc9b5fed</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnBAGlobalForKF</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a31b686c81674d0248b5f7dabdfd58ecb</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnBALocalForKF</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a75767b3e2e5f8eb4b4b73cba161b097b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const long unsigned int</type>
      <name>mnFrameId</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>const int</type>
      <name>mnGridCols</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a7fe0d03aabb1643abb8f4eef33fdf95a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const int</type>
      <name>mnGridRows</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>afb859eb91a2365180b006a185aa36ba6</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnId</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>long unsigned int</type>
      <name>mnLoopQuery</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>mnLoopWords</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>const int</type>
      <name>mnMaxX</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
      <anchor>a677fd210bec35232bda003b543d0acfc</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const int</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>const int</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnRelocQuery</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>mnRelocWords</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>const int</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>long unsigned int</type>
      <name>mnTrackReferenceForFrame</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>mRelocScore</name>
      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>cv::Mat</type>
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      <arglist></arglist>
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      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>cv::Mat</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>const float</type>
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      <arglist></arglist>
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      <type>const double</type>
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      <arglist></arglist>
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      <type>const std::vector&lt; float &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>const std::vector&lt; float &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>const std::vector&lt; float &gt;</type>
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      <arglist></arglist>
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      <type>const std::vector&lt; float &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>static long unsigned int</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <type>std::map&lt; KeyFrame *, int &gt;</type>
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      <arglist></arglist>
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      <type>std::vector&lt; std::vector&lt; std::vector&lt; size_t &gt; &gt; &gt;</type>
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      <arglist></arglist>
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      <type>float</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::mutex</type>
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      <arglist></arglist>
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      <type>KeyFrameDatabase *</type>
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      <anchorfile>classORB__SLAM2_1_1KeyFrame.html</anchorfile>
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      <arglist></arglist>
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      <type>Map *</type>
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      <arglist></arglist>
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      <type>ORBVocabulary *</type>
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      <arglist></arglist>
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      <type>KeyFrame *</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(KeyFrame *pKF)</arglist>
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      <arglist>()</arglist>
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      <arglist>(KeyFrame *pKF, float minScore)</arglist>
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      <arglist>(Frame *F)</arglist>
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      <arglist>(KeyFrame *pKF)</arglist>
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      <arglist>(ORBVocabulary *porbv)</arglist>
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      <arglist></arglist>
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      <arglist>(bool b)</arglist>
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      <arglist>(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A, double *x, double *b)</arglist>
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      <arglist>(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A)</arglist>
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      <arglist></arglist>
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      <anchor>a27db88f75fe6f2bd43b0bd0769d56462</anchor>
      <arglist>()</arglist>
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      <type>cv::Mat</type>
      <name>ComputeF12</name>
      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>ac72419089ac268253671b8da2ec12c21</anchor>
      <arglist>(KeyFrame *&amp;pKF1, KeyFrame *&amp;pKF2)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>ac06b513357429d9eff89e29d2ae58d6c</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>aca73e5b4bace436b235dfa9c9a522b19</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>acbbb8f04b15e3250e0e24070825d19ae</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a84eea8f268cce9d919a4906ae634dd22</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a3fe34beadb62eaa9446c96d27a5d12c9</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>SearchInNeighbors</name>
      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a5d5e0bc6fd15d9a6bf1ca8a258f104f1</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a1a6e5b76640d7584b749567d0328ccdc</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>cv::Mat</type>
      <name>SkewSymmetricMatrix</name>
      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a4c5c0c57b580767a1dd642d77ad8179a</anchor>
      <arglist>(const cv::Mat &amp;v)</arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>mbAbortBA</name>
      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchor>af38a9dca4bb96b7ae1711336596a609a</anchor>
      <arglist></arglist>
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      <anchor>a4a365466d11db0f8e8fc14d76fc0cd83</anchor>
      <arglist></arglist>
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      <anchor>afd75991c0499447411a3bd304cc9fa13</anchor>
      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a8668b51cf81fdfde9fd5ee61bd936a19</anchor>
      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
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      <arglist></arglist>
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      <type>std::mutex</type>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
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      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a1e4de53f96e97c6b94b794d0a5bc67e3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>LoopClosing *</type>
      <name>mpLoopCloser</name>
      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>ac71702f1061f82c457276c014eebc784</anchor>
      <arglist></arglist>
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      <type>Map *</type>
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      <anchorfile>classORB__SLAM2_1_1LocalMapping.html</anchorfile>
      <anchor>a7ca97c0d4a6064148315589cc96a3302</anchor>
      <arglist></arglist>
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      <type>Tracking *</type>
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      <anchor>a6b4d311f49979f38d47ed96290255a2f</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>pair&lt; set&lt; KeyFrame * &gt;, int &gt;</type>
      <name>ConsistentGroup</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a8efed418be885643d3c43113ff1d7bb2</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>map&lt; KeyFrame *, g2o::Sim3, std::less&lt; KeyFrame * &gt;, Eigen::aligned_allocator&lt; std::pair&lt; KeyFrame *const, g2o::Sim3 &gt; &gt; &gt;</type>
      <name>KeyFrameAndPose</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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      <anchor>a680d0b255d764754841e622f5af97473</anchor>
      <arglist>(KeyFrame *pKF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>af5f7b8a43efa8bc771a5227ed2fbf460</anchor>
      <arglist>(Map *pMap, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale)</arglist>
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      <arglist>()</arglist>
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      <anchor>a7dc868b9f4b8381a94aae2c85bfec3c5</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a4b10a9c18541818c9490a62447ef7f18</anchor>
      <arglist>(unsigned long nLoopKF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aa27124f61055c2b5f53497e918195269</anchor>
      <arglist>(LocalMapping *pLocalMapper)</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a20bce54d19c979511043d7c109aa741a</anchor>
      <arglist>(Tracking *pTracker)</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ac13b01270b4daef9be2a098f82e9f64f</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ab4fcf814eed5b5dd2aec96454561b078</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aa007e0678582ec0de5d71280d23af540</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aa8110ca79cebaf509e378d30e55f1381</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a288545384b48c758f910a4762c873733</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aabe9d9b913f36b607c67b0ed0df42a1d</anchor>
      <arglist>(const KeyFrameAndPose &amp;CorrectedPosesMap)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aeea102bfacf8538ef605d76e4192a622</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a6d8de49d49b647c33f3616f4cc95c42c</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>acdfbeff51644bd4c3d2d54c637d95e6c</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ae9bac1131984f7915ab1fdf220912b0b</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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      <type>g2o::Sim3</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a9ea331d48d572c8e269c90d35c0de1e7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>long unsigned int</type>
      <name>mLastLoopKFid</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a6a6ee027c2c4c45fcd3811819c22953a</anchor>
      <arglist></arglist>
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      <type>std::list&lt; KeyFrame * &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a4b5b9bb2ba5e3fe79428e4af9a002025</anchor>
      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a2bdc72e69885435e1c4f39b759c2ec8d</anchor>
      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a5e6e898fe4e8e5f680f840d746fa5565</anchor>
      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a3c28fbf7b84469cd14b12f511d499533</anchor>
      <arglist></arglist>
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      <type>std::mutex</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a979cad182a7f7bb08be165304d93106b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>float</type>
      <name>mnCovisibilityConsistencyTh</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a78c93c677c23ca7bf62a2a9652c008ff</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a52f6cde58a060bee5aa6d4e5b8d53cea</anchor>
      <arglist></arglist>
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      <type>KeyFrame *</type>
      <name>mpCurrentKF</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a4b6bc1810ef5921462ebdeee32508118</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KeyFrameDatabase *</type>
      <name>mpKeyFrameDB</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a5bc11ebe6d60187d4d1708932bbb52f6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>LocalMapping *</type>
      <name>mpLocalMapper</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a5eaa1b6d507d9bd138ab0f10a308e3c9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Map *</type>
      <name>mpMap</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a0b1dabf1326afa9d6a28768fd6f498b4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>KeyFrame *</type>
      <name>mpMatchedKF</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>a53d45d3e2f0a8e0c9797079b9ae4ea37</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ORBVocabulary *</type>
      <name>mpORBVocabulary</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ac9d1b37eb70edbc013a431d92a4d86d1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::thread *</type>
      <name>mpThreadGBA</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Tracking *</type>
      <name>mpTracker</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ac3bff69250ab812292fb0a0e59cd3076</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; ConsistentGroup &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>aede54de0cb62136859ccb297e890f573</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; KeyFrame * &gt;</type>
      <name>mvpCurrentConnectedKFs</name>
      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
      <anchor>ad9595220811b5b814d1413451ecbaa4d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; MapPoint * &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; KeyFrame * &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1LoopClosing.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; MapPoint * &gt;</type>
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      <arglist></arglist>
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      <arglist>(KeyFrame *pKF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist>(MapPoint *pMP)</arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist>(KeyFrame *pKF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist>(MapPoint *pMP)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>long unsigned</type>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
      <anchor>a3440f5e9e93ca7231bde3c5138ab5f5c</anchor>
      <arglist>()</arglist>
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      <name>Map</name>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist>(const std::vector&lt; MapPoint * &gt; &amp;vpMPs)</arglist>
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      <arglist></arglist>
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      <anchor>a968356226057387d8207054d56e5d35c</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1Map.html</anchorfile>
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      <arglist></arglist>
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      <arglist>(Archive &amp;ar, const unsigned int version)</arglist>
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      <arglist></arglist>
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      <type>void</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(KeyFrame *pKF, size_t idx)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a79e6a93ea0c39329a082f4f69560f1be</anchor>
      <arglist>(KeyFrame *pKF)</arglist>
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      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>int</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>float</type>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>afbe3f2cf7f4d5e4596fa9f7ff0d44470</anchor>
      <arglist>(KeyFrame *pKF)</arglist>
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      <type>float</type>
      <name>GetMaxDistanceInvariance</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>float</type>
      <name>GetMinDistanceInvariance</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <type>std::map&lt; KeyFrame *, size_t &gt;</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>GetReferenceKeyFrame</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>cv::Mat</type>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(int n=1)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a0a234f5bd6bc19a9ea55fad0c9e6db5f</anchor>
      <arglist>(int n=1)</arglist>
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      <type>bool</type>
      <name>isBad</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a46bb6b57cd914c9ebad30007f3af469a</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(KeyFrame *pKF)</arglist>
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      <name>MapPoint</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(const cv::Mat &amp;Pos, KeyFrame *pRefKF, Map *pMap)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(const cv::Mat &amp;Pos, Map *pMap, Frame *pFrame, const int &amp;idxF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <name>Observations</name>
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      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(const float &amp;currentDist, KeyFrame *pKF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(const float &amp;currentDist, Frame *pF)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>(MapPoint *pMP)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a7ed2a66b528165d6c39cb6f84f684308</anchor>
      <arglist>()</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>ad65e6322e9d06314db235ff4d072509f</anchor>
      <arglist>(const cv::Mat &amp;Pos)</arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist>()</arglist>
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      <name>mbTrackInView</name>
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      <arglist></arglist>
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      <name>mnBAGlobalForKF</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>abcef580d7b3562ea9025ea1dc2141b92</anchor>
      <arglist></arglist>
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      <name>mnBALocalForKF</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>ad4da26d02aa54a3e0be6a09e90fa39ec</anchor>
      <arglist></arglist>
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      <type>long unsigned int</type>
      <name>mnCorrectedByKF</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a86626462be01ad9a133dca0f5b49e688</anchor>
      <arglist></arglist>
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      <name>mnCorrectedReference</name>
      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>ade5858af14ed7924d48dbf191ea5448c</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classORB__SLAM2_1_1MapPoint.html</anchorfile>
      <anchor>a19152183cfddc71b63650175def6aec7</anchor>
      <arglist></arglist>
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      <arglist>(Map *pMap, KeyFrame *pLoopKF, KeyFrame *pCurKF, const LoopClosing::KeyFrameAndPose &amp;NonCorrectedSim3, const LoopClosing::KeyFrameAndPose &amp;CorrectedSim3, const map&lt; KeyFrame *, set&lt; KeyFrame * &gt; &gt; &amp;LoopConnections, const bool &amp;bFixScale)</arglist>
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      <arglist>(KeyFrame *pKF1, KeyFrame *pKF2, std::vector&lt; MapPoint * &gt; &amp;vpMatches1, g2o::Sim3 &amp;g2oS12, const float th2, const bool bFixScale)</arglist>
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      <arglist>(KeyFrame *pKF, cv::Mat Scw, const std::vector&lt; MapPoint * &gt; &amp;vpPoints, float th, vector&lt; MapPoint * &gt; &amp;vpReplacePoint)</arglist>
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      <arglist>(KeyFrame *pKF1, KeyFrame *pKF2, std::vector&lt; MapPoint * &gt; &amp;vpMatches12)</arglist>
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      <arglist>(KeyFrame *pKF, cv::Mat Scw, const std::vector&lt; MapPoint * &gt; &amp;vpPoints, std::vector&lt; MapPoint * &gt; &amp;vpMatched, int th)</arglist>
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      <arglist>(KeyFrame *pKF1, KeyFrame *pKF2, std::vector&lt; MapPoint * &gt; &amp;vpMatches12, const float &amp;s12, const cv::Mat &amp;R12, const cv::Mat &amp;t12, const float th)</arglist>
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      <arglist>(Frame &amp;F1, Frame &amp;F2, std::vector&lt; cv::Point2f &gt; &amp;vbPrevMatched, std::vector&lt; int &gt; &amp;vnMatches12, int windowSize=10)</arglist>
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      <arglist>()</arglist>
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      <arglist>(HyperGraph::EdgeSet &amp;eset)</arglist>
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      <arglist>(SparseOptimizer::VertexContainer &amp;vlist)</arglist>
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      <arglist>(HyperGraph::VertexSet &amp;vlist)</arglist>
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      <arglist>(bool verbose)</arglist>
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      <arglist>()</arglist>
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      <arglist>(HyperGraph::VertexSet &amp;vset, HyperGraph::EdgeSet &amp;eset)</arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>(SparseOptimizer::VertexContainer &amp;vlist)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(std::vector&lt; double &gt; &amp;estimate) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>(int i, int j) const =0</arglist>
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      <arglist>(int i, int j)=0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>(double *d)=0</arglist>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(const double *v)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()=0</arglist>
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      <name>read</name>
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      <arglist>(std::istream &amp;is)=0</arglist>
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      <arglist>(int c)</arglist>
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      <arglist>(const double *estimate)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;estimate)</arglist>
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      <arglist>(bool fixed)</arglist>
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      <arglist>(int ti)</arglist>
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      <arglist>(int id)</arglist>
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      <arglist>(bool marginalized)</arglist>
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      <name>setMinimalEstimateData</name>
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      <arglist>(const double *estimate)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;estimate)</arglist>
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      <arglist>()</arglist>
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      <arglist>(Data *obs)</arglist>
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      <arglist>(double lambda=0)=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <name>Vertex</name>
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      <arglist>()</arglist>
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      <arglist>(std::ostream &amp;os) const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>(const double *v)=0</arglist>
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      <arglist>(const double *)</arglist>
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      <arglist>(const double *)</arglist>
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      <arglist>()=0</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const Vertex *v1, const Vertex *v2) const </arglist>
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      <arglist>(const OptimizableGraph::Vertex *v) const </arglist>
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      <arglist>(const double *update)</arglist>
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      <arglist>(const double *update_)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vector2d &amp;v) const </arglist>
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