SYMBOL INDEX (1496 symbols across 83 files)

FILE: Thirdparty/Sophus/examples/HelloSO3.cpp
  function main (line 4) | int main() {

FILE: Thirdparty/Sophus/setup.py
  class CMakeExtension (line 23) | class CMakeExtension(Extension):
    method __init__ (line 24) | def __init__(self, name, sourcedir=""):
  class CMakeBuild (line 29) | class CMakeBuild(build_ext):
    method build_extension (line 30) | def build_extension(self, ext):
  function main (line 130) | def main():

FILE: Thirdparty/Sophus/sophus/average.hpp
  type Sophus (line 19) | namespace Sophus {
    function iterativeMean (line 26) | optional<typename SequenceContainer::value_type> iterativeMean(
    function average (line 69) | enable_if_t<std::is_same<typename SequenceContainer::value_type,
    function average (line 87) | enable_if_t<
    function average (line 108) | enable_if_t<
    type details (line 124) | namespace details {
      function getUnitQuaternion (line 129) | Eigen::Quaternion<Scalar> getUnitQuaternion(SO3<Scalar> const& R) {
      function getUnitQuaternion (line 134) | Eigen::Quaternion<Scalar> getUnitQuaternion(RxSO3<Scalar> const& sR) {
      function averageUnitQuaternion (line 140) | Eigen::Quaternion<Scalar> averageUnitQuaternion(
    function average (line 182) | enable_if_t<
    function average (line 192) | enable_if_t<
    function average (line 211) | enable_if_t<
    function average (line 222) | enable_if_t<
    function average (line 231) | enable_if_t<
    function average (line 240) | enable_if_t<

FILE: Thirdparty/Sophus/sophus/cartesian.hpp
  type Sophus (line 7) | namespace Sophus {
    class Cartesian (line 9) | class Cartesian
    class CartesianBase (line 77) | class CartesianBase {
      method SOPHUS_FUNC (line 118) | SOPHUS_FUNC Adjoint Adj() const { return Adjoint::Identity(); }
      method SOPHUS_FUNC (line 123) | SOPHUS_FUNC Cartesian<NewScalarType, M> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 129) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 138) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 149) | inverse() const {
      method SOPHUS_FUNC (line 158) | SOPHUS_FUNC Tangent log() const { return params(); }
      method matrix (line 167) | matrix() const {
      method SOPHUS_FUNC (line 177) | SOPHUS_FUNC CartesianBase<Derived, M>& operator=(
      method SOPHUS_FUNC (line 186) | SOPHUS_FUNC CartesianSum<OtherDerived> operator*(
      method SOPHUS_FUNC (line 196) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 206) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 216) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 233) | SOPHUS_FUNC CartesianBase<Derived, M>& operator*=(
      method SOPHUS_FUNC (line 241) | SOPHUS_FUNC ParamsType& params() {
      method SOPHUS_FUNC (line 247) | SOPHUS_FUNC ParamsType const& params() const {
    function SOPHUS_FUNC (line 275) | SOPHUS_FUNC Cartesian& operator=(Cartesian const& other) = default;
    function Cartesian (line 281) | Cartesian() { params_.setZero(); }
    function SOPHUS_FUNC (line 285) | SOPHUS_FUNC Cartesian(Cartesian const& other) = default;
  type Eigen (line 22) | namespace Eigen {
    type internal (line 23) | namespace internal {
      type traits<Sophus::Cartesian<Scalar_, M, Options>> (line 26) | struct traits<Sophus::Cartesian<Scalar_, M, Options>> {
      type traits<Map<Sophus::Cartesian<Scalar_, M>, Options>> (line 32) | struct traits<Map<Sophus::Cartesian<Scalar_, M>, Options>>
      type traits<Map<Sophus::Cartesian<Scalar_, M> const, Options>> (line 39) | struct traits<Map<Sophus::Cartesian<Scalar_, M> const, Options>>
    class Map<Sophus::Cartesian<Scalar_, M>, Options> (line 458) | class Map<Sophus::Cartesian<Scalar_, M>, Options>
      method Map (line 474) | Map(Scalar* coeffs) : params_(coeffs) {}
      method SOPHUS_FUNC (line 478) | SOPHUS_FUNC Map<Sophus::Vector<Scalar, M, Options>>& params() {
  type Sophus (line 47) | namespace Sophus {
    class Cartesian (line 9) | class Cartesian
    class CartesianBase (line 77) | class CartesianBase {
      method SOPHUS_FUNC (line 118) | SOPHUS_FUNC Adjoint Adj() const { return Adjoint::Identity(); }
      method SOPHUS_FUNC (line 123) | SOPHUS_FUNC Cartesian<NewScalarType, M> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 129) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 138) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 149) | inverse() const {
      method SOPHUS_FUNC (line 158) | SOPHUS_FUNC Tangent log() const { return params(); }
      method matrix (line 167) | matrix() const {
      method SOPHUS_FUNC (line 177) | SOPHUS_FUNC CartesianBase<Derived, M>& operator=(
      method SOPHUS_FUNC (line 186) | SOPHUS_FUNC CartesianSum<OtherDerived> operator*(
      method SOPHUS_FUNC (line 196) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 206) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 216) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 233) | SOPHUS_FUNC CartesianBase<Derived, M>& operator*=(
      method SOPHUS_FUNC (line 241) | SOPHUS_FUNC ParamsType& params() {
      method SOPHUS_FUNC (line 247) | SOPHUS_FUNC ParamsType const& params() const {
    function SOPHUS_FUNC (line 275) | SOPHUS_FUNC Cartesian& operator=(Cartesian const& other) = default;
    function Cartesian (line 281) | Cartesian() { params_.setZero(); }
    function SOPHUS_FUNC (line 285) | SOPHUS_FUNC Cartesian(Cartesian const& other) = default;
  function SOPHUS_FUNC (line 314) | SOPHUS_FUNC Scalar* data() { return params_.data(); }
  function SOPHUS_FUNC (line 318) | SOPHUS_FUNC Scalar const* data() const { return params_.data(); }
  function SOPHUS_FUNC (line 322) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 331) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 338) | SOPHUS_FUNC static Sophus::Matrix<Scalar, Dim, DoF> Dx_exp_x_times_point...
  function SOPHUS_FUNC (line 347) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 353) | SOPHUS_FUNC ParamsMember& params() { return params_; }
  function SOPHUS_FUNC (line 357) | SOPHUS_FUNC ParamsMember const& params() const { return params_; }
  function SOPHUS_FUNC (line 382) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 396) | SOPHUS_FUNC static Cartesian<Scalar, M> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 411) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 421) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
  function Cartesian (line 428) | static Cartesian sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 441) | SOPHUS_FUNC static Tangent vee(Transformation const& m) {
  type Eigen (line 451) | namespace Eigen {
    type internal (line 23) | namespace internal {
      type traits<Sophus::Cartesian<Scalar_, M, Options>> (line 26) | struct traits<Sophus::Cartesian<Scalar_, M, Options>> {
      type traits<Map<Sophus::Cartesian<Scalar_, M>, Options>> (line 32) | struct traits<Map<Sophus::Cartesian<Scalar_, M>, Options>>
      type traits<Map<Sophus::Cartesian<Scalar_, M> const, Options>> (line 39) | struct traits<Map<Sophus::Cartesian<Scalar_, M> const, Options>>
    class Map<Sophus::Cartesian<Scalar_, M>, Options> (line 458) | class Map<Sophus::Cartesian<Scalar_, M>, Options>
      method Map (line 474) | Map(Scalar* coeffs) : params_(coeffs) {}
      method SOPHUS_FUNC (line 478) | SOPHUS_FUNC Map<Sophus::Vector<Scalar, M, Options>>& params() {
  class Map<Sophus::Cartesian<Scalar_, M> const, Options> (line 497) | class Map<Sophus::Cartesian<Scalar_, M> const, Options>
    method SOPHUS_FUNC (line 512) | SOPHUS_FUNC Map(Scalar const* coeffs) : params_(coeffs) {}

FILE: Thirdparty/Sophus/sophus/ceres_local_parameterization.hpp
  type Sophus (line 7) | namespace Sophus {
    class LocalParameterization (line 12) | class LocalParameterization : public ceres::LocalParameterization {
      method Plus (line 24) | bool Plus(double const* T_raw, double const* delta_raw,
      method ComputeJacobian (line 37) | bool ComputeJacobian(double const* T_raw,
      method GlobalSize (line 47) | int GlobalSize() const override { return LieGroupd::num_parameters; }
      method LocalSize (line 49) | int LocalSize() const override { return LieGroupd::DoF; }

FILE: Thirdparty/Sophus/sophus/ceres_manifold.hpp
  type Sophus (line 6) | namespace Sophus {
    class Manifold (line 11) | class Manifold : public ceres::Manifold {
      method Plus (line 24) | bool Plus(double const* T_raw, double const* delta_raw,
      method PlusJacobian (line 37) | bool PlusJacobian(double const* T_raw, double* jacobian_raw) const o...
      method Minus (line 46) | bool Minus(double const* y_raw, double const* x_raw,
      method MinusJacobian (line 55) | bool MinusJacobian(double const* x_raw, double* jacobian_raw) const ...
      method AmbientSize (line 63) | int AmbientSize() const override { return LieGroupd::num_parameters; }
      method TangentSize (line 65) | int TangentSize() const override { return LieGroupd::DoF; }

FILE: Thirdparty/Sophus/sophus/ceres_typetraits.hpp
  type Sophus (line 4) | namespace Sophus {
    type Mapper (line 35) | struct Mapper {
      method Map (line 40) | static Map map(Scalar* ptr) noexcept { return *ptr; }
      method ConstMap (line 41) | static ConstMap map(const Scalar* ptr) noexcept { return *ptr; }
    type Mapper<T, typename std::enable_if<IsMappableV<T>>::type> (line 45) | struct Mapper<T, typename std::enable_if<IsMappableV<T>>::type> {
      method Map (line 50) | static Map map(Scalar* ptr) noexcept { return Map(ptr); }
      method ConstMap (line 51) | static ConstMap map(const Scalar* ptr) noexcept { return ConstMap(pt...

FILE: Thirdparty/Sophus/sophus/common.hpp
  type Sophus (line 107) | namespace Sophus {
    type Constants (line 156) | struct Constants {
      method SOPHUS_FUNC (line 157) | SOPHUS_FUNC static Scalar epsilon() { return Scalar(1e-10); }
      method SOPHUS_FUNC (line 159) | SOPHUS_FUNC static Scalar epsilonPlus() {
      method SOPHUS_FUNC (line 163) | SOPHUS_FUNC static Scalar epsilonSqrt() {
      method SOPHUS_FUNC (line 168) | SOPHUS_FUNC static Scalar pi() {
    type Constants<float> (line 174) | struct Constants<float> {
      method epsilon (line 175) | constexpr epsilon() {
      method SOPHUS_FUNC (line 178) | SOPHUS_FUNC static float epsilonPlus() {
      method SOPHUS_FUNC (line 182) | SOPHUS_FUNC static float epsilonSqrt() { return std::sqrt(epsilon()); }
      method pi (line 184) | constexpr pi() {
    type nullopt_t (line 190) | struct nullopt_t {
      method nullopt_t (line 191) | explicit constexpr nullopt_t() {}
    class optional (line 202) | class optional {
      method optional (line 204) | optional() : is_valid_(false) {}
      method optional (line 206) | optional(nullopt_t) : is_valid_(false) {}
      method optional (line 208) | optional(T const& type) : type_(type), is_valid_(true) {}
      method T (line 212) | T const* operator->() const {
      method T (line 217) | T* operator->() {
      method T (line 222) | T const& operator*() const {
      method T (line 227) | T& operator*() {
    type IsUniformRandomBitGenerator (line 241) | struct IsUniformRandomBitGenerator {
  type Sophus (line 153) | namespace Sophus {
    type Constants (line 156) | struct Constants {
      method SOPHUS_FUNC (line 157) | SOPHUS_FUNC static Scalar epsilon() { return Scalar(1e-10); }
      method SOPHUS_FUNC (line 159) | SOPHUS_FUNC static Scalar epsilonPlus() {
      method SOPHUS_FUNC (line 163) | SOPHUS_FUNC static Scalar epsilonSqrt() {
      method SOPHUS_FUNC (line 168) | SOPHUS_FUNC static Scalar pi() {
    type Constants<float> (line 174) | struct Constants<float> {
      method epsilon (line 175) | constexpr epsilon() {
      method SOPHUS_FUNC (line 178) | SOPHUS_FUNC static float epsilonPlus() {
      method SOPHUS_FUNC (line 182) | SOPHUS_FUNC static float epsilonSqrt() { return std::sqrt(epsilon()); }
      method pi (line 184) | constexpr pi() {
    type nullopt_t (line 190) | struct nullopt_t {
      method nullopt_t (line 191) | explicit constexpr nullopt_t() {}
    class optional (line 202) | class optional {
      method optional (line 204) | optional() : is_valid_(false) {}
      method optional (line 206) | optional(nullopt_t) : is_valid_(false) {}
      method optional (line 208) | optional(T const& type) : type_(type), is_valid_(true) {}
      method T (line 212) | T const* operator->() const {
      method T (line 217) | T* operator->() {
      method T (line 222) | T const& operator*() const {
      method T (line 227) | T& operator*() {
    type IsUniformRandomBitGenerator (line 241) | struct IsUniformRandomBitGenerator {

FILE: Thirdparty/Sophus/sophus/example_ensure_handler.cpp
  type Sophus (line 6) | namespace Sophus {
    function ensureFailed (line 7) | void ensureFailed(char const* function, char const* file, int line,

FILE: Thirdparty/Sophus/sophus/geometry.hpp
  type Sophus (line 12) | namespace Sophus {
    function normalFromSO2 (line 18) | Vector2<T> normalFromSO2(SO2<T> const& R_foo_line) {
    function SO2FromNormal (line 28) | SO2<T> SO2FromNormal(Vector2<T> normal_foo) {
    function normalFromSO3 (line 40) | Vector3<T> normalFromSO3(SO3<T> const& R_foo_plane) {
    function rotationFromNormal (line 57) | Matrix3<T> rotationFromNormal(Vector3<T> const& normal_foo,
    function SO3FromNormal (line 116) | SO3<T> SO3FromNormal(Vector3<T> const& normal_foo) {
    function lineFromSE2 (line 126) | Line2<T> lineFromSE2(SE2<T> const& T_foo_line) {
    function SE2FromLine (line 135) | SE2<T> SE2FromLine(Line2<T> const& line_foo) {
    function planeFromSE3 (line 148) | Plane3<T> planeFromSE3(SE3<T> const& T_foo_plane) {
    function SE3FromPlane (line 157) | SE3<T> SE3FromPlane(Plane3<T> const& plane_foo) {
    function makeHyperplaneUnique (line 168) | Eigen::Hyperplane<T, N> makeHyperplaneUnique(

FILE: Thirdparty/Sophus/sophus/interpolate.hpp
  type Sophus (line 10) | namespace Sophus {
    function interpolate (line 26) | enable_if_t<interp_details::Traits<G>::supported, G> interpolate(

FILE: Thirdparty/Sophus/sophus/interpolate_details.hpp
  type Sophus (line 13) | namespace Sophus {
    type interp_details (line 14) | namespace interp_details {
      type Traits (line 17) | struct Traits
      type Traits<Cartesian<Scalar, Dim>> (line 20) | struct Traits<Cartesian<Scalar, Dim>> {
        method hasShortestPathAmbiguity (line 23) | static bool hasShortestPathAmbiguity(Cartesian<Scalar, Dim> const&) {
      type Traits<SO2<Scalar>> (line 29) | struct Traits<SO2<Scalar>> {
        method hasShortestPathAmbiguity (line 32) | static bool hasShortestPathAmbiguity(SO2<Scalar> const& foo_T_bar) {
      type Traits<RxSO2<Scalar>> (line 41) | struct Traits<RxSO2<Scalar>> {
        method hasShortestPathAmbiguity (line 44) | static bool hasShortestPathAmbiguity(RxSO2<Scalar> const& foo_T_ba...
      type Traits<SO3<Scalar>> (line 50) | struct Traits<SO3<Scalar>> {
        method hasShortestPathAmbiguity (line 53) | static bool hasShortestPathAmbiguity(SO3<Scalar> const& foo_T_bar) {
      type Traits<RxSO3<Scalar>> (line 62) | struct Traits<RxSO3<Scalar>> {
        method hasShortestPathAmbiguity (line 65) | static bool hasShortestPathAmbiguity(RxSO3<Scalar> const& foo_T_ba...
      type Traits<SE2<Scalar>> (line 71) | struct Traits<SE2<Scalar>> {
        method hasShortestPathAmbiguity (line 74) | static bool hasShortestPathAmbiguity(SE2<Scalar> const& foo_T_bar) {
      type Traits<SE3<Scalar>> (line 80) | struct Traits<SE3<Scalar>> {
        method hasShortestPathAmbiguity (line 83) | static bool hasShortestPathAmbiguity(SE3<Scalar> const& foo_T_bar) {
      type Traits<Sim2<Scalar>> (line 89) | struct Traits<Sim2<Scalar>> {
        method hasShortestPathAmbiguity (line 92) | static bool hasShortestPathAmbiguity(Sim2<Scalar> const& foo_T_bar) {
      type Traits<Sim3<Scalar>> (line 100) | struct Traits<Sim3<Scalar>> {
        method hasShortestPathAmbiguity (line 103) | static bool hasShortestPathAmbiguity(Sim3<Scalar> const& foo_T_bar) {

FILE: Thirdparty/Sophus/sophus/num_diff.hpp
  type Sophus (line 12) | namespace Sophus {
    type details (line 14) | namespace details {
      class Curve (line 16) | class Curve {
        method num_diff (line 19) | static auto num_diff(Fn curve, Scalar t, Scalar h) -> decltype(cur...
      class VectorField (line 32) | class VectorField {
        method num_diff (line 34) | static Eigen::Matrix<Scalar, N, M> num_diff(
      class VectorField<Scalar, N, 1> (line 55) | class VectorField<Scalar, N, 1> {
        method num_diff (line 57) | static Eigen::Matrix<Scalar, N, 1> num_diff(
    function curveNumDiff (line 71) | auto curveNumDiff(Fn curve, Scalar t,
    function vectorFieldNumDiff (line 83) | Eigen::Matrix<Scalar, N, M> vectorFieldNumDiff(

FILE: Thirdparty/Sophus/sophus/rotation_matrix.hpp
  type Sophus (line 11) | namespace Sophus {
    function SOPHUS_FUNC (line 16) | SOPHUS_FUNC bool isOrthogonal(Eigen::MatrixBase<D> const& R) {
    function SOPHUS_FUNC (line 32) | SOPHUS_FUNC bool isScaledOrthogonalAndPositive(Eigen::MatrixBase<D> co...
    function SOPHUS_FUNC (line 58) | SOPHUS_FUNC enable_if_t<

FILE: Thirdparty/Sophus/sophus/rxso2.hpp
  type Sophus (line 8) | namespace Sophus {
    class RxSO2 (line 10) | class RxSO2
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function setComplex (line 79) | class RxSO2Base {
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC ComplexType const& complex() const {
    function SOPHUS_FUNC (line 362) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC Scalar scale() const {
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC void setAngle(Scalar const& theta) { setSO2(SO2<Scalar>(th...
    function SOPHUS_FUNC (line 383) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 389) | SOPHUS_FUNC void setScale(Scalar const& scale) {
    function SOPHUS_FUNC (line 400) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 408) | SOPHUS_FUNC void setSO2(SO2<Scalar> const& so2) {
    function SOPHUS_FUNC (line 415) | SOPHUS_FUNC SO2<Scalar> so2() const { return SO2<Scalar>(complex()); }
    class RxSO2 (line 427) | class RxSO2 : public RxSO2Base<RxSO2<Scalar_, Options>> {
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function SOPHUS_FUNC (line 561) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
    function SOPHUS_FUNC (line 575) | SOPHUS_FUNC static RxSO2<Scalar> exp(Tangent const& a) {
    function SOPHUS_FUNC (line 605) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 627) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
    function SOPHUS_FUNC (line 645) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
    function RxSO2 (line 657) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function SOPHUS_FUNC (line 676) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 15) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::RxSO2<Scalar_, Options_>> (line 19) | struct traits<Sophus::RxSO2<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO2<Scalar_>, Options_>> (line 26) | struct traits<Map<Sophus::RxSO2<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO2<Scalar_> const, Options_>> (line 34) | struct traits<Map<Sophus::RxSO2<Scalar_> const, Options_>>
    class Map<Sophus::RxSO2<Scalar_>, Options> (line 696) | class Map<Sophus::RxSO2<Scalar_>, Options>
      method Map (line 715) | Map(Scalar* coeffs) : complex_(coeffs) {}
  type Sophus (line 43) | namespace Sophus {
    class RxSO2 (line 10) | class RxSO2
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function setComplex (line 79) | class RxSO2Base {
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC ComplexType const& complex() const {
    function SOPHUS_FUNC (line 362) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC Scalar scale() const {
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC void setAngle(Scalar const& theta) { setSO2(SO2<Scalar>(th...
    function SOPHUS_FUNC (line 383) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 389) | SOPHUS_FUNC void setScale(Scalar const& scale) {
    function SOPHUS_FUNC (line 400) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 408) | SOPHUS_FUNC void setSO2(SO2<Scalar> const& so2) {
    function SOPHUS_FUNC (line 415) | SOPHUS_FUNC SO2<Scalar> so2() const { return SO2<Scalar>(complex()); }
    class RxSO2 (line 427) | class RxSO2 : public RxSO2Base<RxSO2<Scalar_, Options>> {
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function SOPHUS_FUNC (line 561) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
    function SOPHUS_FUNC (line 575) | SOPHUS_FUNC static RxSO2<Scalar> exp(Tangent const& a) {
    function SOPHUS_FUNC (line 605) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 627) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
    function SOPHUS_FUNC (line 645) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
    function RxSO2 (line 657) | static RxSO2 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 446) | SOPHUS_FUNC RxSO2& operator=(RxSO2 const& other) = default;
      method RxSO2 (line 456) | RxSO2() : complex_(Scalar(1), Scalar(0)) {}
      method SOPHUS_FUNC (line 460) | SOPHUS_FUNC RxSO2(RxSO2 const& other) = default;
      method SOPHUS_FUNC (line 465) | SOPHUS_FUNC RxSO2(RxSO2Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 483) | SOPHUS_FUNC RxSO2(Scalar const& scale, Transformation const& R)
      method SOPHUS_FUNC (line 490) | SOPHUS_FUNC RxSO2(Scalar const& scale, SO2<Scalar> const& so2)
      method RxSO2 (line 497) | RxSO2(Vector2<Scalar> const& z) : complex_(z) {
      method RxSO2 (line 517) | RxSO2(Scalar const& real, Scalar const& imag)
      method SOPHUS_FUNC (line 522) | SOPHUS_FUNC ComplexMember const& complex() const { return complex_; }
      method SOPHUS_FUNC (line 526) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_ex...
    function SOPHUS_FUNC (line 676) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 689) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::RxSO2<Scalar_, Options_>> (line 19) | struct traits<Sophus::RxSO2<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO2<Scalar_>, Options_>> (line 26) | struct traits<Map<Sophus::RxSO2<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO2<Scalar_> const, Options_>> (line 34) | struct traits<Map<Sophus::RxSO2<Scalar_> const, Options_>>
    class Map<Sophus::RxSO2<Scalar_>, Options> (line 696) | class Map<Sophus::RxSO2<Scalar_>, Options>
      method Map (line 715) | Map(Scalar* coeffs) : complex_(coeffs) {}
  class Map<Sophus::RxSO2<Scalar_> const, Options> (line 737) | class Map<Sophus::RxSO2<Scalar_> const, Options>
    method Map (line 752) | Map(Scalar const* coeffs) : complex_(coeffs) {}

FILE: Thirdparty/Sophus/sophus/rxso3.hpp
  type Sophus (line 8) | namespace Sophus {
    class RxSO3 (line 10) | class RxSO3
    function setQuaternion (line 70) | class RxSO3Base {
    function SOPHUS_FUNC (line 365) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 371) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 379) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 384) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 396) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 408) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 426) | SOPHUS_FUNC void setSO3(SO3<Scalar> const& so3) {
    function SOPHUS_FUNC (line 433) | SOPHUS_FUNC SO3<Scalar> so3() const { return SO3<Scalar>(quaternion()); }
    function SOPHUS_FUNC (line 437) | SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 466) | SOPHUS_FUNC Matrix<Scalar, DoF, num_parameters> Dx_log_this_inv_by_x_a...
    function Dxi_exp_x_matrix_at_0 (line 490) | class RxSO3 : public RxSO3Base<RxSO3<Scalar_, Options>> {
    function SOPHUS_FUNC (line 650) | SOPHUS_FUNC static RxSO3<Scalar> exp(Tangent const& a) {
    function SOPHUS_FUNC (line 659) | SOPHUS_FUNC static RxSO3<Scalar> expAndTheta(Tangent const& a,
    function SOPHUS_FUNC (line 704) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 726) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
    function SOPHUS_FUNC (line 745) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const&...
    function RxSO3 (line 760) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
    function SOPHUS_FUNC (line 780) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 15) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::RxSO3<Scalar_, Options_>> (line 19) | struct traits<Sophus::RxSO3<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO3<Scalar_>, Options_>> (line 26) | struct traits<Map<Sophus::RxSO3<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO3<Scalar_> const, Options_>> (line 34) | struct traits<Map<Sophus::RxSO3<Scalar_> const, Options_>>
    class Map<Sophus::RxSO3<Scalar_>, Options> (line 800) | class Map<Sophus::RxSO3<Scalar_>, Options>
      method Map (line 818) | Map(Scalar* coeffs) : quaternion_(coeffs) {}
  type Sophus (line 43) | namespace Sophus {
    class RxSO3 (line 10) | class RxSO3
    function setQuaternion (line 70) | class RxSO3Base {
    function SOPHUS_FUNC (line 365) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 371) | SOPHUS_FUNC Transformation rotationMatrix() const {
    function SOPHUS_FUNC (line 379) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 384) | SOPHUS_FUNC void setRotationMatrix(Transformation const& R) {
    function SOPHUS_FUNC (line 396) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 408) | SOPHUS_FUNC void setScaledRotationMatrix(Transformation const& sR) {
    function SOPHUS_FUNC (line 426) | SOPHUS_FUNC void setSO3(SO3<Scalar> const& so3) {
    function SOPHUS_FUNC (line 433) | SOPHUS_FUNC SO3<Scalar> so3() const { return SO3<Scalar>(quaternion()); }
    function SOPHUS_FUNC (line 437) | SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 466) | SOPHUS_FUNC Matrix<Scalar, DoF, num_parameters> Dx_log_this_inv_by_x_a...
    function Dxi_exp_x_matrix_at_0 (line 490) | class RxSO3 : public RxSO3Base<RxSO3<Scalar_, Options>> {
    function SOPHUS_FUNC (line 650) | SOPHUS_FUNC static RxSO3<Scalar> exp(Tangent const& a) {
    function SOPHUS_FUNC (line 659) | SOPHUS_FUNC static RxSO3<Scalar> expAndTheta(Tangent const& a,
    function SOPHUS_FUNC (line 704) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 726) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
    function SOPHUS_FUNC (line 745) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const&...
    function RxSO3 (line 760) | static RxSO3 sampleUniform(UniformRandomBitGenerator& generator) {
    function SOPHUS_FUNC (line 780) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 793) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::RxSO3<Scalar_, Options_>> (line 19) | struct traits<Sophus::RxSO3<Scalar_, Options_>> {
      type traits<Map<Sophus::RxSO3<Scalar_>, Options_>> (line 26) | struct traits<Map<Sophus::RxSO3<Scalar_>, Options_>>
      type traits<Map<Sophus::RxSO3<Scalar_> const, Options_>> (line 34) | struct traits<Map<Sophus::RxSO3<Scalar_> const, Options_>>
    class Map<Sophus::RxSO3<Scalar_>, Options> (line 800) | class Map<Sophus::RxSO3<Scalar_>, Options>
      method Map (line 818) | Map(Scalar* coeffs) : quaternion_(coeffs) {}
  class Map<Sophus::RxSO3<Scalar_> const, Options> (line 840) | class Map<Sophus::RxSO3<Scalar_> const, Options>
    method Map (line 855) | Map(Scalar const* coeffs) : quaternion_(coeffs) {}

FILE: Thirdparty/Sophus/sophus/se2.hpp
  type Sophus (line 8) | namespace Sophus {
    class SE2 (line 10) | class SE2
    class SE2Base (line 57) | class SE2Base {
      method SOPHUS_FUNC (line 105) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 118) | SOPHUS_FUNC SE2<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 125) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 147) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 159) | inverse() const {
      method SOPHUS_FUNC (line 174) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 202) | SOPHUS_FUNC void normalize() { so2().normalize(); }
      method matrix (line 214) | matrix() const {
      method matrix2x3 (line 224) | matrix2x3() const {
      method SOPHUS_FUNC (line 234) | SOPHUS_FUNC SE2Base<Derived>& operator=(SE2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 243) | SOPHUS_FUNC SE2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 260) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 270) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 285) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 312) | SOPHUS_FUNC SE2Base<Derived>& operator*=(SE2Base<OtherDerived> const...
    function SOPHUS_FUNC (line 338) | SOPHUS_FUNC void setComplex(Sophus::Vector2<Scalar> const& complex) {
    function SOPHUS_FUNC (line 346) | SOPHUS_FUNC void setRotationMatrix(Matrix<Scalar, 2, 2> const& R) {
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 363) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 384) | SOPHUS_FUNC
  type Eigen (line 15) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::SE2<Scalar_, Options>> (line 19) | struct traits<Sophus::SE2<Scalar_, Options>> {
      type traits<Map<Sophus::SE2<Scalar_>, Options>> (line 26) | struct traits<Map<Sophus::SE2<Scalar_>, Options>>
      type traits<Map<Sophus::SE2<Scalar_> const, Options>> (line 34) | struct traits<Map<Sophus::SE2<Scalar_> const, Options>>
    class Map<Sophus::SE2<Scalar_>, Options> (line 800) | class Map<Sophus::SE2<Scalar_>, Options>
      method Map (line 816) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 822) | SOPHUS_FUNC Map<Sophus::SO2<Scalar>, Options>& so2() { return so2_; }
    function SOPHUS_FUNC (line 838) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  type Sophus (line 43) | namespace Sophus {
    class SE2 (line 10) | class SE2
    class SE2Base (line 57) | class SE2Base {
      method SOPHUS_FUNC (line 105) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 118) | SOPHUS_FUNC SE2<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 125) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 147) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 159) | inverse() const {
      method SOPHUS_FUNC (line 174) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 202) | SOPHUS_FUNC void normalize() { so2().normalize(); }
      method matrix (line 214) | matrix() const {
      method matrix2x3 (line 224) | matrix2x3() const {
      method SOPHUS_FUNC (line 234) | SOPHUS_FUNC SE2Base<Derived>& operator=(SE2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 243) | SOPHUS_FUNC SE2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 260) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 270) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 285) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 312) | SOPHUS_FUNC SE2Base<Derived>& operator*=(SE2Base<OtherDerived> const...
    function SOPHUS_FUNC (line 338) | SOPHUS_FUNC void setComplex(Sophus::Vector2<Scalar> const& complex) {
    function SOPHUS_FUNC (line 346) | SOPHUS_FUNC void setRotationMatrix(Matrix<Scalar, 2, 2> const& R) {
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 363) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 370) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 377) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 384) | SOPHUS_FUNC
  function SOPHUS_FUNC (line 413) | SOPHUS_FUNC SE2& operator=(SE2 const& other) = default;
  function SOPHUS_FUNC (line 423) | SOPHUS_FUNC SE2(SE2 const& other) = default;
  function SOPHUS_FUNC (line 481) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 488) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 495) | SOPHUS_FUNC SO2Member& so2() { return so2_; }
  function SOPHUS_FUNC (line 499) | SOPHUS_FUNC SO2Member const& so2() const { return so2_; }
  function SOPHUS_FUNC (line 503) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 507) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 513) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 567) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 584) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 2, DoF> Dx_exp_x_times_point_a...
  function SOPHUS_FUNC (line 594) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 610) | SOPHUS_FUNC static SE2<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 636) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SE2>
  function SOPHUS_FUNC (line 662) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 683) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 700) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function SOPHUS_FUNC (line 712) | static SOPHUS_FUNC SE2 rot(Scalar const& x) {
  function SE2 (line 721) | static SE2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 730) | static SOPHUS_FUNC SE2 trans(T0 const& x, T1 const& y) {
  function SOPHUS_FUNC (line 734) | static SOPHUS_FUNC SE2 trans(Vector2<Scalar> const& xy) {
  function SOPHUS_FUNC (line 740) | static SOPHUS_FUNC SE2 transX(Scalar const& x) {
  function SOPHUS_FUNC (line 746) | static SOPHUS_FUNC SE2 transY(Scalar const& y) {
  function SOPHUS_FUNC (line 763) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  function SOPHUS_FUNC (line 779) | SOPHUS_FUNC SE2<Scalar, Options>::SE2()
  type Eigen (line 794) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::SE2<Scalar_, Options>> (line 19) | struct traits<Sophus::SE2<Scalar_, Options>> {
      type traits<Map<Sophus::SE2<Scalar_>, Options>> (line 26) | struct traits<Map<Sophus::SE2<Scalar_>, Options>>
      type traits<Map<Sophus::SE2<Scalar_> const, Options>> (line 34) | struct traits<Map<Sophus::SE2<Scalar_> const, Options>>
    class Map<Sophus::SE2<Scalar_>, Options> (line 800) | class Map<Sophus::SE2<Scalar_>, Options>
      method Map (line 816) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 822) | SOPHUS_FUNC Map<Sophus::SO2<Scalar>, Options>& so2() { return so2_; }
    function SOPHUS_FUNC (line 838) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  class Map<Sophus::SE2<Scalar_> const, Options> (line 851) | class Map<Sophus::SE2<Scalar_> const, Options>
    method Map (line 865) | Map(Scalar const* coeffs)

FILE: Thirdparty/Sophus/sophus/se3.hpp
  type Sophus (line 8) | namespace Sophus {
    class SE3 (line 10) | class SE3
    class SE3Base (line 57) | class SE3Base {
      method SOPHUS_FUNC (line 105) | SOPHUS_FUNC Adjoint Adj() const {
      method Scalar (line 117) | Scalar angleX() const { return so3().angleX(); }
      method Scalar (line 121) | Scalar angleY() const { return so3().angleY(); }
      method Scalar (line 125) | Scalar angleZ() const { return so3().angleZ(); }
      method SOPHUS_FUNC (line 130) | SOPHUS_FUNC SE3<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 137) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 210) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 222) | inverse() const {
      method SOPHUS_FUNC (line 237) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 261) | SOPHUS_FUNC void normalize() { so3().normalize(); }
      method matrix (line 273) | matrix() const {
      method matrix3x4 (line 283) | matrix3x4() const {
      method SOPHUS_FUNC (line 293) | SOPHUS_FUNC SE3Base<Derived>& operator=(SE3Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 302) | SOPHUS_FUNC SE3Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 319) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 329) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 344) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 368) | SOPHUS_FUNC SE3Base<Derived>& operator*=(SE3Base<OtherDerived> const...
      method rotationMatrix (line 375) | rotationMatrix() const { return so3().matrix(); }
      method SOPHUS_FUNC (line 379) | SOPHUS_FUNC SO3Type& so3() { return static_cast<Derived*>(this)->so3...
      method SOPHUS_FUNC (line 383) | SOPHUS_FUNC SO3Type const& so3() const {
      method SOPHUS_FUNC (line 391) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quat) {
      method SOPHUS_FUNC (line 399) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar> const& R) {
    function SOPHUS_FUNC (line 426) | SOPHUS_FUNC TranslationType const& translation() const {
    function SOPHUS_FUNC (line 432) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
  type Eigen (line 15) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::SE3<Scalar_, Options>> (line 19) | struct traits<Sophus::SE3<Scalar_, Options>> {
      type traits<Map<Sophus::SE3<Scalar_>, Options>> (line 26) | struct traits<Map<Sophus::SE3<Scalar_>, Options>>
      type traits<Map<Sophus::SE3<Scalar_> const, Options>> (line 34) | struct traits<Map<Sophus::SE3<Scalar_> const, Options>>
    class Map<Sophus::SE3<Scalar_>, Options> (line 1069) | class Map<Sophus::SE3<Scalar_>, Options>
      method Map (line 1084) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 1090) | SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& so3() { return so3_; }
    function SOPHUS_FUNC (line 1106) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options>> const& translation()...
  type Sophus (line 43) | namespace Sophus {
    class SE3 (line 10) | class SE3
    class SE3Base (line 57) | class SE3Base {
      method SOPHUS_FUNC (line 105) | SOPHUS_FUNC Adjoint Adj() const {
      method Scalar (line 117) | Scalar angleX() const { return so3().angleX(); }
      method Scalar (line 121) | Scalar angleY() const { return so3().angleY(); }
      method Scalar (line 125) | Scalar angleZ() const { return so3().angleZ(); }
      method SOPHUS_FUNC (line 130) | SOPHUS_FUNC SE3<NewScalarType> cast() const {
      method Dx_this_mul_exp_x_at_0 (line 137) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 210) | Dx_log_this_inv_by_x_at_this()
      method inverse (line 222) | inverse() const {
      method SOPHUS_FUNC (line 237) | SOPHUS_FUNC Tangent log() const {
      method SOPHUS_FUNC (line 261) | SOPHUS_FUNC void normalize() { so3().normalize(); }
      method matrix (line 273) | matrix() const {
      method matrix3x4 (line 283) | matrix3x4() const {
      method SOPHUS_FUNC (line 293) | SOPHUS_FUNC SE3Base<Derived>& operator=(SE3Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 302) | SOPHUS_FUNC SE3Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 319) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 329) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 344) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 368) | SOPHUS_FUNC SE3Base<Derived>& operator*=(SE3Base<OtherDerived> const...
      method rotationMatrix (line 375) | rotationMatrix() const { return so3().matrix(); }
      method SOPHUS_FUNC (line 379) | SOPHUS_FUNC SO3Type& so3() { return static_cast<Derived*>(this)->so3...
      method SOPHUS_FUNC (line 383) | SOPHUS_FUNC SO3Type const& so3() const {
      method SOPHUS_FUNC (line 391) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quat) {
      method SOPHUS_FUNC (line 399) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar> const& R) {
    function SOPHUS_FUNC (line 426) | SOPHUS_FUNC TranslationType const& translation() const {
    function SOPHUS_FUNC (line 432) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
  function SOPHUS_FUNC (line 460) | SOPHUS_FUNC SE3& operator=(SE3 const& other) = default;
  function SOPHUS_FUNC (line 470) | SOPHUS_FUNC SE3(SE3 const& other) = default;
  function SOPHUS_FUNC (line 530) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 537) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 544) | SOPHUS_FUNC SO3Member& so3() { return so3_; }
  function SOPHUS_FUNC (line 548) | SOPHUS_FUNC SO3Member const& so3() const { return so3_; }
  function SOPHUS_FUNC (line 552) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 556) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 560) | SOPHUS_FUNC static Matrix3<Scalar> jacobianUpperRightBlock(
  function SOPHUS_FUNC (line 599) | SOPHUS_FUNC static Sophus::Matrix<Scalar, DoF, DoF> leftJacobian(
  function SOPHUS_FUNC (line 610) | SOPHUS_FUNC static Sophus::Matrix<Scalar, DoF, DoF> leftJacobianInverse(
  function SOPHUS_FUNC (line 623) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 805) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 826) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 832) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 3, DoF> Dx_exp_x_times_point_a...
  function SOPHUS_FUNC (line 852) | SOPHUS_FUNC static SE3<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 866) | SOPHUS_FUNC static enable_if_t<std::is_floating_point<S>::value, SE3>
  function SOPHUS_FUNC (line 910) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 931) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 949) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function SOPHUS_FUNC (line 964) | static SOPHUS_FUNC SE3 rotX(Scalar const& x) {
  function SOPHUS_FUNC (line 970) | static SOPHUS_FUNC SE3 rotY(Scalar const& y) {
  function SOPHUS_FUNC (line 976) | static SOPHUS_FUNC SE3 rotZ(Scalar const& z) {
  function SE3 (line 985) | static SE3 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 995) | static SOPHUS_FUNC SE3 trans(T0 const& x, T1 const& y, T2 const& z) {
  function SOPHUS_FUNC (line 999) | static SOPHUS_FUNC SE3 trans(Vector3<Scalar> const& xyz) {
  function SOPHUS_FUNC (line 1005) | static SOPHUS_FUNC SE3 transX(Scalar const& x) {
  function SOPHUS_FUNC (line 1011) | static SOPHUS_FUNC SE3 transY(Scalar const& y) {
  function SOPHUS_FUNC (line 1017) | static SOPHUS_FUNC SE3 transZ(Scalar const& z) {
  function SOPHUS_FUNC (line 1035) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  function SOPHUS_FUNC (line 1049) | SOPHUS_FUNC SE3<Scalar, Options>::SE3()
  type Eigen (line 1063) | namespace Eigen {
    type internal (line 16) | namespace internal {
      type traits<Sophus::SE3<Scalar_, Options>> (line 19) | struct traits<Sophus::SE3<Scalar_, Options>> {
      type traits<Map<Sophus::SE3<Scalar_>, Options>> (line 26) | struct traits<Map<Sophus::SE3<Scalar_>, Options>>
      type traits<Map<Sophus::SE3<Scalar_> const, Options>> (line 34) | struct traits<Map<Sophus::SE3<Scalar_> const, Options>>
    class Map<Sophus::SE3<Scalar_>, Options> (line 1069) | class Map<Sophus::SE3<Scalar_>, Options>
      method Map (line 1084) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 1090) | SOPHUS_FUNC Map<Sophus::SO3<Scalar>, Options>& so3() { return so3_; }
    function SOPHUS_FUNC (line 1106) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar, Options>> const& translation()...
  class Map<Sophus::SE3<Scalar_> const, Options> (line 1119) | class Map<Sophus::SE3<Scalar_> const, Options>
    method Map (line 1133) | Map(Scalar const* coeffs)

FILE: Thirdparty/Sophus/sophus/sim2.hpp
  type Sophus (line 9) | namespace Sophus {
    class Sim2 (line 11) | class Sim2
    class Sim2Base (line 58) | class Sim2Base {
      method SOPHUS_FUNC (line 106) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 123) | SOPHUS_FUNC Sim2<NewScalarType> cast() const {
      method inverse (line 130) | inverse() const {
      method SOPHUS_FUNC (line 145) | SOPHUS_FUNC Tangent log() const {
      method matrix (line 176) | matrix() const {
      method matrix2x3 (line 186) | matrix2x3() const {
      method SOPHUS_FUNC (line 196) | SOPHUS_FUNC Sim2Base<Derived>& operator=(
      method SOPHUS_FUNC (line 209) | SOPHUS_FUNC Sim2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 226) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 236) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 251) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 298) | SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC Matrix<Scalar, DoF, num_parameters> Dx_log_this_inv_by_x_a...
    function SOPHUS_FUNC (line 324) | SOPHUS_FUNC void setComplex(Vector2<Scalar> const& z) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 338) | SOPHUS_FUNC Matrix2<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 344) | SOPHUS_FUNC RxSO2Type& rxso2() {
    function SOPHUS_FUNC (line 350) | SOPHUS_FUNC RxSO2Type const& rxso2() const {
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC Scalar scale() const { return rxso2().scale(); }
    function SOPHUS_FUNC (line 360) | SOPHUS_FUNC void setRotationMatrix(Matrix2<Scalar>& R) {
    function SOPHUS_FUNC (line 369) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso2().setScale(scal...
    function SOPHUS_FUNC (line 376) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix2<Scalar> const& sR) {
    function SOPHUS_FUNC (line 382) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 388) | SOPHUS_FUNC TranslationType const& translation() const {
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::Sim2<Scalar_, Options>> (line 20) | struct traits<Sophus::Sim2<Scalar_, Options>> {
      type traits<Map<Sophus::Sim2<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::Sim2<Scalar_>, Options>>
      type traits<Map<Sophus::Sim2<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::Sim2<Scalar_> const, Options>>
    class Map<Sophus::Sim2<Scalar_>, Options> (line 747) | class Map<Sophus::Sim2<Scalar_>, Options>
      method Map (line 762) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 768) | SOPHUS_FUNC Map<Sophus::RxSO2<Scalar>, Options>& rxso2() { return rx...
    function SOPHUS_FUNC (line 783) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  type Sophus (line 44) | namespace Sophus {
    class Sim2 (line 11) | class Sim2
    class Sim2Base (line 58) | class Sim2Base {
      method SOPHUS_FUNC (line 106) | SOPHUS_FUNC Adjoint Adj() const {
      method SOPHUS_FUNC (line 123) | SOPHUS_FUNC Sim2<NewScalarType> cast() const {
      method inverse (line 130) | inverse() const {
      method SOPHUS_FUNC (line 145) | SOPHUS_FUNC Tangent log() const {
      method matrix (line 176) | matrix() const {
      method matrix2x3 (line 186) | matrix2x3() const {
      method SOPHUS_FUNC (line 196) | SOPHUS_FUNC Sim2Base<Derived>& operator=(
      method SOPHUS_FUNC (line 209) | SOPHUS_FUNC Sim2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 226) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 236) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 251) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 298) | SOPHUS_FUNC Matrix<Scalar, num_parameters, DoF> Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 310) | SOPHUS_FUNC Matrix<Scalar, DoF, num_parameters> Dx_log_this_inv_by_x_a...
    function SOPHUS_FUNC (line 324) | SOPHUS_FUNC void setComplex(Vector2<Scalar> const& z) {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 338) | SOPHUS_FUNC Matrix2<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 344) | SOPHUS_FUNC RxSO2Type& rxso2() {
    function SOPHUS_FUNC (line 350) | SOPHUS_FUNC RxSO2Type const& rxso2() const {
    function SOPHUS_FUNC (line 356) | SOPHUS_FUNC Scalar scale() const { return rxso2().scale(); }
    function SOPHUS_FUNC (line 360) | SOPHUS_FUNC void setRotationMatrix(Matrix2<Scalar>& R) {
    function SOPHUS_FUNC (line 369) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso2().setScale(scal...
    function SOPHUS_FUNC (line 376) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix2<Scalar> const& sR) {
    function SOPHUS_FUNC (line 382) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 388) | SOPHUS_FUNC TranslationType const& translation() const {
  function SOPHUS_FUNC (line 412) | SOPHUS_FUNC Sim2& operator=(Sim2 const& other) = default;
  function SOPHUS_FUNC (line 425) | SOPHUS_FUNC Sim2(Sim2 const& other) = default;
  function SOPHUS_FUNC (line 474) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 481) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 488) | SOPHUS_FUNC RxSo2Member& rxso2() { return rxso2_; }
  function SOPHUS_FUNC (line 492) | SOPHUS_FUNC RxSo2Member const& rxso2() const { return rxso2_; }
  function SOPHUS_FUNC (line 496) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 500) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 506) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 518) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 555) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 2, DoF> Dx_exp_x_times_point_a...
  function SOPHUS_FUNC (line 565) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 590) | SOPHUS_FUNC static Sim2<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 628) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 649) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 667) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function Sim2 (line 693) | static Sim2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 712) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  function SOPHUS_FUNC (line 726) | SOPHUS_FUNC Sim2<Scalar, Options>::Sim2()
  type Eigen (line 741) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::Sim2<Scalar_, Options>> (line 20) | struct traits<Sophus::Sim2<Scalar_, Options>> {
      type traits<Map<Sophus::Sim2<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::Sim2<Scalar_>, Options>>
      type traits<Map<Sophus::Sim2<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::Sim2<Scalar_> const, Options>>
    class Map<Sophus::Sim2<Scalar_>, Options> (line 747) | class Map<Sophus::Sim2<Scalar_>, Options>
      method Map (line 762) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 768) | SOPHUS_FUNC Map<Sophus::RxSO2<Scalar>, Options>& rxso2() { return rx...
    function SOPHUS_FUNC (line 783) | SOPHUS_FUNC Map<Sophus::Vector2<Scalar>, Options> const& translation()...
  class Map<Sophus::Sim2<Scalar_> const, Options> (line 796) | class Map<Sophus::Sim2<Scalar_> const, Options>
    method Map (line 810) | Map(Scalar const* coeffs)

FILE: Thirdparty/Sophus/sophus/sim3.hpp
  type Sophus (line 9) | namespace Sophus {
    class Sim3 (line 11) | class Sim3
    function setQuaternion (line 58) | class Sim3Base {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 336) | SOPHUS_FUNC Matrix3<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 342) | SOPHUS_FUNC RxSO3Type& rxso3() {
    function SOPHUS_FUNC (line 348) | SOPHUS_FUNC RxSO3Type const& rxso3() const {
    function SOPHUS_FUNC (line 354) | SOPHUS_FUNC Scalar scale() const { return rxso3().scale(); }
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar>& R) {
    function SOPHUS_FUNC (line 367) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso3().setScale(scal...
    function SOPHUS_FUNC (line 374) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix3<Scalar> const& sR) {
    function SOPHUS_FUNC (line 380) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 386) | SOPHUS_FUNC TranslationType const& translation() const {
  type Eigen (line 16) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::Sim3<Scalar_, Options>> (line 20) | struct traits<Sophus::Sim3<Scalar_, Options>> {
      type traits<Map<Sophus::Sim3<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::Sim3<Scalar_>, Options>>
      type traits<Map<Sophus::Sim3<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::Sim3<Scalar_> const, Options>>
    class Map<Sophus::Sim3<Scalar_>, Options> (line 790) | class Map<Sophus::Sim3<Scalar_>, Options>
      method Map (line 805) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 811) | SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options>& rxso3() { return rx...
    function SOPHUS_FUNC (line 826) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options> const& translation()...
  type Sophus (line 44) | namespace Sophus {
    class Sim3 (line 11) | class Sim3
    function setQuaternion (line 58) | class Sim3Base {
    function SOPHUS_FUNC (line 330) | SOPHUS_FUNC QuaternionType const& quaternion() const {
    function SOPHUS_FUNC (line 336) | SOPHUS_FUNC Matrix3<Scalar> rotationMatrix() const {
    function SOPHUS_FUNC (line 342) | SOPHUS_FUNC RxSO3Type& rxso3() {
    function SOPHUS_FUNC (line 348) | SOPHUS_FUNC RxSO3Type const& rxso3() const {
    function SOPHUS_FUNC (line 354) | SOPHUS_FUNC Scalar scale() const { return rxso3().scale(); }
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC void setRotationMatrix(Matrix3<Scalar>& R) {
    function SOPHUS_FUNC (line 367) | SOPHUS_FUNC void setScale(Scalar const& scale) { rxso3().setScale(scal...
    function SOPHUS_FUNC (line 374) | SOPHUS_FUNC void setScaledRotationMatrix(Matrix3<Scalar> const& sR) {
    function SOPHUS_FUNC (line 380) | SOPHUS_FUNC TranslationType& translation() {
    function SOPHUS_FUNC (line 386) | SOPHUS_FUNC TranslationType const& translation() const {
  function SOPHUS_FUNC (line 413) | SOPHUS_FUNC Sim3& operator=(Sim3 const& other) = default;
  function SOPHUS_FUNC (line 423) | SOPHUS_FUNC Sim3(Sim3 const& other) = default;
  function SOPHUS_FUNC (line 465) | SOPHUS_FUNC explicit Sim3(Scalar const& scale,
  function SOPHUS_FUNC (line 484) | SOPHUS_FUNC Scalar* data() {
  function SOPHUS_FUNC (line 491) | SOPHUS_FUNC Scalar const* data() const {
  function SOPHUS_FUNC (line 498) | SOPHUS_FUNC RxSo3Member& rxso3() { return rxso3_; }
  function SOPHUS_FUNC (line 502) | SOPHUS_FUNC RxSo3Member const& rxso3() const { return rxso3_; }
  function SOPHUS_FUNC (line 506) | SOPHUS_FUNC TranslationMember& translation() { return translation_; }
  function SOPHUS_FUNC (line 510) | SOPHUS_FUNC TranslationMember const& translation() const {
  function SOPHUS_FUNC (line 516) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 528) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 583) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 3, DoF> Dx_exp_x_times_point_a...
  function SOPHUS_FUNC (line 593) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
  function SOPHUS_FUNC (line 610) | SOPHUS_FUNC static Sim3<Scalar> exp(Tangent const& a) {
  function SOPHUS_FUNC (line 670) | SOPHUS_FUNC static Transformation generator(int i) {
  function SOPHUS_FUNC (line 691) | SOPHUS_FUNC static Transformation hat(Tangent const& a) {
  function SOPHUS_FUNC (line 709) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& a, Tangent const& b) {
  function Sim3 (line 734) | static Sim3 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 755) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  function SOPHUS_FUNC (line 769) | SOPHUS_FUNC Sim3<Scalar, Options>::Sim3()
  type Eigen (line 784) | namespace Eigen {
    type internal (line 17) | namespace internal {
      type traits<Sophus::Sim3<Scalar_, Options>> (line 20) | struct traits<Sophus::Sim3<Scalar_, Options>> {
      type traits<Map<Sophus::Sim3<Scalar_>, Options>> (line 27) | struct traits<Map<Sophus::Sim3<Scalar_>, Options>>
      type traits<Map<Sophus::Sim3<Scalar_> const, Options>> (line 35) | struct traits<Map<Sophus::Sim3<Scalar_> const, Options>>
    class Map<Sophus::Sim3<Scalar_>, Options> (line 790) | class Map<Sophus::Sim3<Scalar_>, Options>
      method Map (line 805) | Map(Scalar* coeffs)
      method SOPHUS_FUNC (line 811) | SOPHUS_FUNC Map<Sophus::RxSO3<Scalar>, Options>& rxso3() { return rx...
    function SOPHUS_FUNC (line 826) | SOPHUS_FUNC Map<Sophus::Vector3<Scalar>, Options> const& translation()...
  class Map<Sophus::Sim3<Scalar_> const, Options> (line 839) | class Map<Sophus::Sim3<Scalar_> const, Options>
    method Map (line 854) | Map(Scalar const* coeffs)

FILE: Thirdparty/Sophus/sophus/sim_details.hpp
  type Sophus (line 5) | namespace Sophus {
    type details (line 6) | namespace details {
      function calcW (line 9) | Matrix<Scalar, N, N> calcW(Matrix<Scalar, N, N> const &Omega,
      function calcW_derivatives (line 51) | void calcW_derivatives(Scalar const theta, Scalar const sigma, Scala...
      function calcWInv (line 142) | Matrix<Scalar, N, N> calcWInv(Matrix<Scalar, N, N> const &Omega,

FILE: Thirdparty/Sophus/sophus/so2.hpp
  type Sophus (line 15) | namespace Sophus {
    class SO2 (line 17) | class SO2
    class SO2Base (line 78) | class SO2Base {
      method SOPHUS_FUNC (line 127) | SOPHUS_FUNC Adjoint Adj() const { return Scalar(1); }
      method SOPHUS_FUNC (line 132) | SOPHUS_FUNC SO2<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 141) | SOPHUS_FUNC Scalar* data() { return unit_complex_nonconst().data(); }
      method SOPHUS_FUNC (line 145) | SOPHUS_FUNC Scalar const* data() const { return unit_complex().data(...
      method inverse (line 149) | inverse() const {
      method SOPHUS_FUNC (line 163) | SOPHUS_FUNC Scalar log() const {
      method SOPHUS_FUNC (line 173) | SOPHUS_FUNC void normalize() {
      method matrix (line 187) | matrix() const {
      method SOPHUS_FUNC (line 202) | SOPHUS_FUNC SO2Base<Derived>& operator=(SO2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 210) | SOPHUS_FUNC SO2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 245) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 261) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 276) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 301) | SOPHUS_FUNC SO2Base<Derived> operator*=(SO2Base<OtherDerived> const&...
      method Dx_this_mul_exp_x_at_0 (line 308) | Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 334) | SOPHUS_FUNC void setComplex(Point const& complex) {
    function SOPHUS_FUNC (line 341) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 380) | SOPHUS_FUNC SO2& operator=(SO2 const& other) = default;
    function SO2 (line 386) | SO2() : unit_complex_(Scalar(1), Scalar(0)) {}
    function SOPHUS_FUNC (line 390) | SOPHUS_FUNC SO2(SO2 const& other) = default;
  type Eigen (line 22) | namespace Eigen {
    type internal (line 23) | namespace internal {
      type traits<Sophus::SO2<Scalar_, Options_>> (line 26) | struct traits<Sophus::SO2<Scalar_, Options_>> {
      type traits<Map<Sophus::SO2<Scalar_>, Options_>> (line 33) | struct traits<Map<Sophus::SO2<Scalar_>, Options_>>
      type traits<Map<Sophus::SO2<Scalar_> const, Options_>> (line 41) | struct traits<Map<Sophus::SO2<Scalar_> const, Options_>>
    class Map<Sophus::SO2<Scalar_>, Options> (line 582) | class Map<Sophus::SO2<Scalar_>, Options>
      method Map (line 602) | Map(Scalar* coeffs) : unit_complex_(coeffs) {}
  type Sophus (line 50) | namespace Sophus {
    class SO2 (line 17) | class SO2
    class SO2Base (line 78) | class SO2Base {
      method SOPHUS_FUNC (line 127) | SOPHUS_FUNC Adjoint Adj() const { return Scalar(1); }
      method SOPHUS_FUNC (line 132) | SOPHUS_FUNC SO2<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 141) | SOPHUS_FUNC Scalar* data() { return unit_complex_nonconst().data(); }
      method SOPHUS_FUNC (line 145) | SOPHUS_FUNC Scalar const* data() const { return unit_complex().data(...
      method inverse (line 149) | inverse() const {
      method SOPHUS_FUNC (line 163) | SOPHUS_FUNC Scalar log() const {
      method SOPHUS_FUNC (line 173) | SOPHUS_FUNC void normalize() {
      method matrix (line 187) | matrix() const {
      method SOPHUS_FUNC (line 202) | SOPHUS_FUNC SO2Base<Derived>& operator=(SO2Base<OtherDerived> const&...
      method SOPHUS_FUNC (line 210) | SOPHUS_FUNC SO2Product<OtherDerived> operator*(
      method SOPHUS_FUNC (line 245) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
      method SOPHUS_FUNC (line 261) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
      method SOPHUS_FUNC (line 276) | SOPHUS_FUNC Line operator*(Line const& l) const {
      method SOPHUS_FUNC (line 301) | SOPHUS_FUNC SO2Base<Derived> operator*=(SO2Base<OtherDerived> const&...
      method Dx_this_mul_exp_x_at_0 (line 308) | Dx_this_mul_exp_x_at_0()
    function SOPHUS_FUNC (line 334) | SOPHUS_FUNC void setComplex(Point const& complex) {
    function SOPHUS_FUNC (line 341) | SOPHUS_FUNC
    function SOPHUS_FUNC (line 380) | SOPHUS_FUNC SO2& operator=(SO2 const& other) = default;
    function SO2 (line 386) | SO2() : unit_complex_(Scalar(1), Scalar(0)) {}
    function SOPHUS_FUNC (line 390) | SOPHUS_FUNC SO2(SO2 const& other) = default;
  function SOPHUS_FUNC (line 415) | SOPHUS_FUNC SO2(Scalar const& real, Scalar const& imag)
  function SOPHUS_FUNC (line 425) | SOPHUS_FUNC explicit SO2(Eigen::MatrixBase<D> const& complex)
  function SOPHUS_FUNC (line 434) | SOPHUS_FUNC explicit SO2(Scalar theta) {
  function SOPHUS_FUNC (line 440) | SOPHUS_FUNC ComplexMember const& unit_complex() const {
  function SOPHUS_FUNC (line 453) | SOPHUS_FUNC static SO2<Scalar> exp(Tangent const& theta) {
  function SOPHUS_FUNC (line 461) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
  function SOPHUS_FUNC (line 470) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
  function SOPHUS_FUNC (line 477) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 2, DoF> Dx_exp_x_times_point_a...
  function SOPHUS_FUNC (line 484) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int) {
  function SOPHUS_FUNC (line 495) | SOPHUS_FUNC static Transformation generator() { return hat(Scalar(1)); }
  function SOPHUS_FUNC (line 510) | SOPHUS_FUNC static Transformation hat(Tangent const& theta) {
  function SOPHUS_FUNC (line 523) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO2>
  function SOPHUS_FUNC (line 533) | SOPHUS_FUNC static Tangent lieBracket(Tangent const&, Tangent const&) {
  function SO2 (line 540) | static SO2 sampleUniform(UniformRandomBitGenerator& generator) {
  function SOPHUS_FUNC (line 560) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 575) | namespace Eigen {
    type internal (line 23) | namespace internal {
      type traits<Sophus::SO2<Scalar_, Options_>> (line 26) | struct traits<Sophus::SO2<Scalar_, Options_>> {
      type traits<Map<Sophus::SO2<Scalar_>, Options_>> (line 33) | struct traits<Map<Sophus::SO2<Scalar_>, Options_>>
      type traits<Map<Sophus::SO2<Scalar_> const, Options_>> (line 41) | struct traits<Map<Sophus::SO2<Scalar_> const, Options_>>
    class Map<Sophus::SO2<Scalar_>, Options> (line 582) | class Map<Sophus::SO2<Scalar_>, Options>
      method Map (line 602) | Map(Scalar* coeffs) : unit_complex_(coeffs) {}
  class Map<Sophus::SO2<Scalar_> const, Options> (line 627) | class Map<Sophus::SO2<Scalar_> const, Options>
    method Map (line 641) | Map(Scalar const* coeffs) : unit_complex_(coeffs) {}

FILE: Thirdparty/Sophus/sophus/so3.hpp
  type Sophus (line 16) | namespace Sophus {
    class SO3 (line 18) | class SO3
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    class SO3Base (line 76) | class SO3Base {
      type TangentAndTheta (line 101) | struct TangentAndTheta {
      method SOPHUS_FUNC (line 133) | SOPHUS_FUNC Adjoint Adj() const { return matrix(); }
      method SOPHUS_FUNC (line 138) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleX(...
      method SOPHUS_FUNC (line 147) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleY(...
      method SOPHUS_FUNC (line 161) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleZ(...
      method SOPHUS_FUNC (line 170) | SOPHUS_FUNC SO3<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 182) | SOPHUS_FUNC Scalar* data() {
      method SOPHUS_FUNC (line 188) | SOPHUS_FUNC Scalar const* data() const {
      method Dx_this_mul_exp_x_at_0 (line 194) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 223) | Dx_log_this_inv_by_x_at_this()
    function SOPHUS_FUNC (line 260) | SOPHUS_FUNC Tangent log() const { return logAndTheta().tangent; }
    function SOPHUS_FUNC (line 264) | SOPHUS_FUNC TangentAndTheta logAndTheta() const {
    function SOPHUS_FUNC (line 318) | SOPHUS_FUNC void normalize() {
    function SOPHUS_FUNC (line 332) | SOPHUS_FUNC Transformation matrix() const {
    function SOPHUS_FUNC (line 339) | SOPHUS_FUNC SO3Base<Derived>& operator=(SO3Base<OtherDerived> const& o...
    function SOPHUS_FUNC (line 346) | SOPHUS_FUNC static QuaternionProductType QuaternionProduct(
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC SO3Product<OtherDerived> operator*(
    function SOPHUS_FUNC (line 388) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
    function SOPHUS_FUNC (line 403) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
    function SOPHUS_FUNC (line 416) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 428) | SOPHUS_FUNC Hyperplane operator*(Hyperplane const& p) const {
    function SOPHUS_FUNC (line 438) | SOPHUS_FUNC SO3Base<Derived>& operator*=(SO3Base<OtherDerived> const& ...
    function SOPHUS_FUNC (line 447) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quater...
    function SOPHUS_FUNC (line 454) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
    class SO3 (line 469) | class SO3 : public SO3Base<SO3<Scalar_, Options>> {
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    function SOPHUS_FUNC (line 601) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
    function SOPHUS_FUNC (line 651) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
    function SOPHUS_FUNC (line 665) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 3, DoF> Dx_exp_x_times_point...
    function SOPHUS_FUNC (line 672) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
    function SOPHUS_FUNC (line 685) | SOPHUS_FUNC static SO3<Scalar> exp(Tangent const& omega) {
    function SOPHUS_FUNC (line 694) | SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
    function SOPHUS_FUNC (line 736) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO3>
    function SOPHUS_FUNC (line 761) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 783) | SOPHUS_FUNC static Transformation hat(Tangent const& omega) {
    function SOPHUS_FUNC (line 807) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& omega1,
    function SOPHUS_FUNC (line 814) | static SOPHUS_FUNC SO3 rotX(Scalar const& x) {
    function SOPHUS_FUNC (line 820) | static SOPHUS_FUNC SO3 rotY(Scalar const& y) {
    function SOPHUS_FUNC (line 826) | static SOPHUS_FUNC SO3 rotZ(Scalar const& z) {
    function SO3 (line 834) | static SO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    function SOPHUS_FUNC (line 866) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 23) | namespace Eigen {
    type internal (line 24) | namespace internal {
      type traits<Sophus::SO3<Scalar_, Options_>> (line 27) | struct traits<Sophus::SO3<Scalar_, Options_>> {
      type traits<Map<Sophus::SO3<Scalar_>, Options_>> (line 34) | struct traits<Map<Sophus::SO3<Scalar_>, Options_>>
      type traits<Map<Sophus::SO3<Scalar_> const, Options_>> (line 42) | struct traits<Map<Sophus::SO3<Scalar_> const, Options_>>
    class Map<Sophus::SO3<Scalar_>, Options> (line 888) | class Map<Sophus::SO3<Scalar_>, Options>
      method Map (line 907) | Map(Scalar* coeffs) : unit_quaternion_(coeffs) {}
  type Sophus (line 51) | namespace Sophus {
    class SO3 (line 18) | class SO3
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    class SO3Base (line 76) | class SO3Base {
      type TangentAndTheta (line 101) | struct TangentAndTheta {
      method SOPHUS_FUNC (line 133) | SOPHUS_FUNC Adjoint Adj() const { return matrix(); }
      method SOPHUS_FUNC (line 138) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleX(...
      method SOPHUS_FUNC (line 147) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleY(...
      method SOPHUS_FUNC (line 161) | SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, S> angleZ(...
      method SOPHUS_FUNC (line 170) | SOPHUS_FUNC SO3<NewScalarType> cast() const {
      method SOPHUS_FUNC (line 182) | SOPHUS_FUNC Scalar* data() {
      method SOPHUS_FUNC (line 188) | SOPHUS_FUNC Scalar const* data() const {
      method Dx_this_mul_exp_x_at_0 (line 194) | Dx_this_mul_exp_x_at_0()
      method Dx_log_this_inv_by_x_at_this (line 223) | Dx_log_this_inv_by_x_at_this()
    function SOPHUS_FUNC (line 260) | SOPHUS_FUNC Tangent log() const { return logAndTheta().tangent; }
    function SOPHUS_FUNC (line 264) | SOPHUS_FUNC TangentAndTheta logAndTheta() const {
    function SOPHUS_FUNC (line 318) | SOPHUS_FUNC void normalize() {
    function SOPHUS_FUNC (line 332) | SOPHUS_FUNC Transformation matrix() const {
    function SOPHUS_FUNC (line 339) | SOPHUS_FUNC SO3Base<Derived>& operator=(SO3Base<OtherDerived> const& o...
    function SOPHUS_FUNC (line 346) | SOPHUS_FUNC static QuaternionProductType QuaternionProduct(
    function SOPHUS_FUNC (line 358) | SOPHUS_FUNC SO3Product<OtherDerived> operator*(
    function SOPHUS_FUNC (line 388) | SOPHUS_FUNC PointProduct<PointDerived> operator*(
    function SOPHUS_FUNC (line 403) | SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*(
    function SOPHUS_FUNC (line 416) | SOPHUS_FUNC Line operator*(Line const& l) const {
    function SOPHUS_FUNC (line 428) | SOPHUS_FUNC Hyperplane operator*(Hyperplane const& p) const {
    function SOPHUS_FUNC (line 438) | SOPHUS_FUNC SO3Base<Derived>& operator*=(SO3Base<OtherDerived> const& ...
    function SOPHUS_FUNC (line 447) | SOPHUS_FUNC void setQuaternion(Eigen::Quaternion<Scalar> const& quater...
    function SOPHUS_FUNC (line 454) | SOPHUS_FUNC QuaternionType const& unit_quaternion() const {
    class SO3 (line 469) | class SO3 : public SO3Base<SO3<Scalar_, Options>> {
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    function SOPHUS_FUNC (line 601) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF> Dx_exp_x(
    function SOPHUS_FUNC (line 651) | SOPHUS_FUNC static Sophus::Matrix<Scalar, num_parameters, DoF>
    function SOPHUS_FUNC (line 665) | SOPHUS_FUNC static Sophus::Matrix<Scalar, 3, DoF> Dx_exp_x_times_point...
    function SOPHUS_FUNC (line 672) | SOPHUS_FUNC static Transformation Dxi_exp_x_matrix_at_0(int i) {
    function SOPHUS_FUNC (line 685) | SOPHUS_FUNC static SO3<Scalar> exp(Tangent const& omega) {
    function SOPHUS_FUNC (line 694) | SOPHUS_FUNC static SO3<Scalar> expAndTheta(Tangent const& omega,
    function SOPHUS_FUNC (line 736) | static SOPHUS_FUNC enable_if_t<std::is_floating_point<S>::value, SO3>
    function SOPHUS_FUNC (line 761) | SOPHUS_FUNC static Transformation generator(int i) {
    function SOPHUS_FUNC (line 783) | SOPHUS_FUNC static Transformation hat(Tangent const& omega) {
    function SOPHUS_FUNC (line 807) | SOPHUS_FUNC static Tangent lieBracket(Tangent const& omega1,
    function SOPHUS_FUNC (line 814) | static SOPHUS_FUNC SO3 rotX(Scalar const& x) {
    function SOPHUS_FUNC (line 820) | static SOPHUS_FUNC SO3 rotY(Scalar const& y) {
    function SOPHUS_FUNC (line 826) | static SOPHUS_FUNC SO3 rotZ(Scalar const& z) {
    function SO3 (line 834) | static SO3 sampleUniform(UniformRandomBitGenerator& generator) {
      method SOPHUS_FUNC (line 492) | SOPHUS_FUNC SO3& operator=(SO3 const& other) = default;
      method SO3 (line 498) | SO3()
      method SOPHUS_FUNC (line 503) | SOPHUS_FUNC SO3(SO3 const& other) = default;
      method SOPHUS_FUNC (line 508) | SOPHUS_FUNC SO3(SO3Base<OtherDerived> const& other)
      method SOPHUS_FUNC (line 528) | SOPHUS_FUNC explicit SO3(Eigen::QuaternionBase<D> const& quat)
      method SOPHUS_FUNC (line 538) | SOPHUS_FUNC QuaternionMember const& unit_quaternion() const {
      method if (line 561) | if (theta_sq <
      method else (line 564) | else {
    function SOPHUS_FUNC (line 866) | SOPHUS_FUNC static Tangent vee(Transformation const& Omega) {
  type Eigen (line 882) | namespace Eigen {
    type internal (line 24) | namespace internal {
      type traits<Sophus::SO3<Scalar_, Options_>> (line 27) | struct traits<Sophus::SO3<Scalar_, Options_>> {
      type traits<Map<Sophus::SO3<Scalar_>, Options_>> (line 34) | struct traits<Map<Sophus::SO3<Scalar_>, Options_>>
      type traits<Map<Sophus::SO3<Scalar_> const, Options_>> (line 42) | struct traits<Map<Sophus::SO3<Scalar_> const, Options_>>
    class Map<Sophus::SO3<Scalar_>, Options> (line 888) | class Map<Sophus::SO3<Scalar_>, Options>
      method Map (line 907) | Map(Scalar* coeffs) : unit_quaternion_(coeffs) {}
  class Map<Sophus::SO3<Scalar_> const, Options> (line 932) | class Map<Sophus::SO3<Scalar_> const, Options>
    method Map (line 946) | Map(Scalar const* coeffs) : unit_quaternion_(coeffs) {}

FILE: Thirdparty/Sophus/sophus/spline.hpp
  type Sophus (line 10) | namespace Sophus {
    class SplineBasisFunction (line 13) | class SplineBasisFunction {
    function SOPHUS_FUNC (line 34) | static SOPHUS_FUNC Vector3<Scalar> Dt_B(Scalar const& u,
    function SOPHUS_FUNC (line 43) | static SOPHUS_FUNC Vector3<Scalar> Dt2_B(Scalar const& u,
  class BasisSplineFn (line 53) | class BasisSplineFn {
    method LieGroup (line 60) | static LieGroup parent_T_spline(
    method Transformation (line 69) | static Transformation Dt_parent_T_spline(
    method Transformation (line 84) | static Transformation Dt2_parent_T_spline(
    method A (line 109) | static std::tuple<LieGroup, LieGroup, LieGroup> A(
    method Dt_A (line 119) | static std::tuple<Transformation, Transformation, Transformation> Dt_A(
    method Dt2_A (line 133) | static std::tuple<Transformation, Transformation, Transformation> Dt2_A(
  type SegmentCase (line 154) | enum class SegmentCase { first, normal, last }
  type BasisSplineSegment (line 157) | struct BasisSplineSegment {
    method BasisSplineSegment (line 162) | BasisSplineSegment(SegmentCase segment_case, T const* const raw_ptr0,
    method world_pose_foo_prev (line 171) | Eigen::Map<LieGroup const> const world_pose_foo_prev() const {
    method world_pose_foo_0 (line 174) | Eigen::Map<LieGroup const> const world_pose_foo_0() const {
    method world_pose_foo_1 (line 178) | Eigen::Map<LieGroup const> const world_pose_foo_1() const {
    method world_pose_foo_2 (line 182) | Eigen::Map<LieGroup const> const world_pose_foo_2() const {
    method LieGroup (line 185) | LieGroup parent_T_spline(double u) {
    method Transformation (line 215) | Transformation Dt_parent_T_spline(double u, double delta_t) {
    method Transformation (line 245) | Transformation Dt2_parent_T_spline(double u, double delta_t) {
  class BasisSplineImpl (line 284) | class BasisSplineImpl {
    method BasisSplineImpl (line 291) | BasisSplineImpl(const std::vector<LieGroup>& parent_Ts_control_point,
    method LieGroup (line 298) | LieGroup parent_T_spline(int i, double u) const {
    method Transformation (line 323) | Transformation Dt_parent_T_spline(int i, double u) const {
    method Transformation (line 348) | Transformation Dt2_parent_T_spline(int i, double u) const {
    method getNumSegments (line 381) | int getNumSegments() const {
    method delta_t (line 385) | double delta_t() const { return delta_t_; }
  type IndexAndU (line 392) | struct IndexAndU {
  class BasisSpline (line 398) | class BasisSpline {
    method BasisSpline (line 405) | BasisSpline(std::vector<LieGroup> parent_Ts_control_point, double t0,
    method LieGroup (line 409) | LieGroup parent_T_spline(double t) const {
    method Transformation (line 415) | Transformation Dt_parent_T_spline(double t) const {
    method Transformation (line 420) | Transformation Dt2_parent_T_spline(double t) const {
    method t0 (line 425) | double t0() const { return t0_; }
    method tmax (line 427) | double tmax() const { return t0_ + impl_.delta_t() * getNumSegments(); }
    method getNumSegments (line 437) | int getNumSegments() const { return impl_.getNumSegments(); }
    method s (line 439) | double s(double t) const { return (t - t0_) / impl_.delta_t(); }
    method delta_t (line 441) | double delta_t() const { return impl_.delta_t(); }
    method IndexAndU (line 443) | IndexAndU index_and_u(double t) const {

FILE: Thirdparty/Sophus/sophus/test_macros.hpp
  type Sophus (line 8) | namespace Sophus {
    type details (line 9) | namespace details {
      class Pretty (line 12) | class Pretty {
        method impl (line 14) | static std::string impl(Scalar s) {
      class Pretty<Ptr, enable_if_t<std::is_pointer<Ptr>::value>> (line 22) | class Pretty<Ptr, enable_if_t<std::is_pointer<Ptr>::value>> {
        method impl (line 24) | static std::string impl(Ptr ptr) {
      class Pretty<Eigen::Matrix<Scalar, M, N>, void> (line 32) | class Pretty<Eigen::Matrix<Scalar, M, N>, void> {
        method impl (line 34) | static std::string impl(Matrix<Scalar, M, N> const& v) {
      function pretty (line 42) | std::string pretty(T const& v) {
      function testFailed (line 47) | void testFailed(bool& passed, char const* func, char const* file, in...
    function processTestResult (line 59) | void processTestResult(bool passed) {

FILE: Thirdparty/Sophus/sophus/types.hpp
  type Sophus (line 9) | namespace Sophus {
    type details (line 93) | namespace details {
      class MaxMetric (line 95) | class MaxMetric {
        method Scalar (line 97) | static Scalar impl(Scalar s0, Scalar s1) {
      class MaxMetric<Matrix<Scalar, M, N>> (line 104) | class MaxMetric<Matrix<Scalar, M, N>> {
        method Scalar (line 106) | static Scalar impl(Matrix<Scalar, M, N> const& p0,
      class SetToZero (line 113) | class SetToZero {
        method impl (line 115) | static void impl(Scalar& s) { s = Scalar(0); }
      class SetToZero<Matrix<Scalar, M, N>> (line 119) | class SetToZero<Matrix<Scalar, M, N>> {
        method impl (line 121) | static void impl(Matrix<Scalar, M, N>& v) { v.setZero(); }
      class SetElementAt (line 125) | class SetElementAt
      class SetElementAt<Scalar, Scalar> (line 128) | class SetElementAt<Scalar, Scalar> {
        method impl (line 130) | static void impl(Scalar& s, Scalar value, int at) {
      class SetElementAt<Vector<Scalar, N>, Scalar> (line 137) | class SetElementAt<Vector<Scalar, N>, Scalar> {
        method impl (line 139) | static void impl(Vector<Scalar, N>& v, Scalar value, int at) {
      class SquaredNorm (line 146) | class SquaredNorm {
        method Scalar (line 148) | static Scalar impl(Scalar const& s) { return s * s; }
      class SquaredNorm<Matrix<Scalar, N, 1>> (line 152) | class SquaredNorm<Matrix<Scalar, N, 1>> {
        method Scalar (line 154) | static Scalar impl(Matrix<Scalar, N, 1> const& s) { return s.squar...
      class Transpose (line 158) | class Transpose {
        method Scalar (line 160) | static Scalar impl(Scalar const& s) { return s; }
      class Transpose<Matrix<Scalar, M, N>> (line 164) | class Transpose<Matrix<Scalar, M, N>> {
        method impl (line 166) | static Matrix<Scalar, M, N> impl(Matrix<Scalar, M, N> const& s) {
    function maxMetric (line 176) | auto maxMetric(T const& p0, T const& p1)
    function setToZero (line 184) | void setToZero(T& p) {
    function setElementAt (line 192) | void setElementAt(T& p, Scalar value, int i) {
    function squaredNorm (line 199) | auto squaredNorm(T const& p) -> decltype(details::SquaredNorm<T>::impl...
    function transpose (line 207) | auto transpose(T const& p) -> decltype(details::Transpose<T>::impl(T()...
    type IsFloatingPoint (line 212) | struct IsFloatingPoint {
    type IsFloatingPoint<Matrix<Scalar, M, N>> (line 217) | struct IsFloatingPoint<Matrix<Scalar, M, N>> {
    type GetScalar (line 222) | struct GetScalar {
    type GetScalar<Matrix<Scalar_, M, N>> (line 227) | struct GetScalar<Matrix<Scalar_, M, N>> {
    type IsFixedSizeVector (line 237) | struct IsFixedSizeVector : std::true_type {}

FILE: Thirdparty/Sophus/sophus/velocities.hpp
  type Sophus (line 8) | namespace Sophus {
    type experimental (line 9) | namespace experimental {
      function transformVelocity (line 17) | Vector3<Scalar> transformVelocity(SO3<Scalar> const& foo_R_bar,
      function transformVelocity (line 34) | Vector3<Scalar> transformVelocity(SE3<Scalar> const& foo_T_bar,
      function finiteDifferenceRotationalVelocity (line 42) | Vector3<Scalar> finiteDifferenceRotationalVelocity(
      function finiteDifferenceRotationalVelocity (line 62) | Vector3<Scalar> finiteDifferenceRotationalVelocity(

FILE: Thirdparty/Sophus/sophus_pybind-stubs/sophus_pybind.pyi
  class SE3 (line 5) | class SE3:
    method exp (line 8) | def exp(arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[...
    method exp (line 14) | def exp(arg0: numpy.ndarray[numpy.float64[m, 3]], arg1: numpy.ndarray[...
    method from_matrix (line 20) | def from_matrix(arg0: numpy.ndarray[numpy.float64[4, 4]]) -> SE3:
    method from_matrix (line 24) | def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SE3:
    method from_matrix3x4 (line 28) | def from_matrix3x4(arg0: numpy.ndarray[numpy.float64[3, 4]]) -> SE3:
    method from_matrix3x4 (line 32) | def from_matrix3x4(arg0: numpy.ndarray[numpy.float64]) -> SE3:
    method __copy__ (line 34) | def __copy__(self) -> SE3:
    method __getitem__ (line 36) | def __getitem__(self, arg0: typing.Any) -> SE3:
    method __imatmul__ (line 38) | def __imatmul__(self, arg0: SE3) -> SE3:
    method __init__ (line 41) | def __init__(self) -> None:
    method __init__ (line 46) | def __init__(self, arg0: SE3) -> None:
    method __len__ (line 50) | def __len__(self) -> int:
    method __matmul__ (line 53) | def __matmul__(self, arg0: SE3) -> SE3:
    method __matmul__ (line 56) | def __matmul__(self, arg0: numpy.ndarray[numpy.float64[3, n]]) -> nump...
    method __repr__ (line 58) | def __repr__(self) -> str:
    method __setitem__ (line 60) | def __setitem__(self, arg0: typing.Any, arg1: SE3) -> None:
    method __str__ (line 62) | def __str__(self) -> str:
    method from_quat_and_translation (line 65) | def from_quat_and_translation(self, arg0: numpy.ndarray[numpy.float64[...
    method from_quat_and_translation (line 70) | def from_quat_and_translation(self, arg0: numpy.ndarray[numpy.float64[...
    method inverse (line 74) | def inverse(self) -> SE3:
    method log (line 78) | def log(self) -> numpy.ndarray[numpy.float64[m, 6]]:
    method rotation (line 82) | def rotation(self) -> SO3:
    method to_matrix (line 86) | def to_matrix(self) -> numpy.ndarray[numpy.float64]:
    method to_matrix3x4 (line 90) | def to_matrix3x4(self) -> numpy.ndarray[numpy.float64]:
    method to_quat_and_translation (line 94) | def to_quat_and_translation(self) -> numpy.ndarray[numpy.float64[m, 7]]:
    method translation (line 98) | def translation(self) -> numpy.ndarray[numpy.float64[m, 3]]:
  class SO3 (line 102) | class SO3:
    method exp (line 104) | def exp(arg0: numpy.ndarray[numpy.float64[m, 3]]) -> SO3:
    method from_matrix (line 110) | def from_matrix(arg0: numpy.ndarray[numpy.float64[3, 3]]) -> SO3:
    method from_matrix (line 114) | def from_matrix(arg0: numpy.ndarray[numpy.float64]) -> SO3:
    method from_quat (line 118) | def from_quat(arg0: float, arg1: numpy.ndarray[numpy.float64[3, 1]]) -...
    method from_quat (line 124) | def from_quat(arg0: list[float], arg1: numpy.ndarray[numpy.float64[m, ...
    method __copy__ (line 128) | def __copy__(self) -> SO3:
    method __getitem__ (line 130) | def __getitem__(self, arg0: typing.Any) -> SO3:
    method __imatmul__ (line 132) | def __imatmul__(self, arg0: SO3) -> SO3:
    method __init__ (line 135) | def __init__(self) -> None:
    method __init__ (line 140) | def __init__(self, arg0: SO3) -> None:
    method __len__ (line 144) | def __len__(self) -> int:
    method __matmul__ (line 147) | def __matmul__(self, arg0: SO3) -> SO3:
    method __matmul__ (line 150) | def __matmul__(self, arg0: numpy.ndarray[numpy.float64[3, n]]) -> nump...
    method __repr__ (line 152) | def __repr__(self) -> str:
    method __setitem__ (line 154) | def __setitem__(self, arg0: typing.Any, arg1: SO3) -> None:
    method __str__ (line 156) | def __str__(self) -> str:
    method inverse (line 158) | def inverse(self) -> SO3:
    method log (line 162) | def log(self) -> numpy.ndarray[numpy.float64[m, 3]]:
    method to_matrix (line 166) | def to_matrix(self) -> numpy.ndarray[numpy.float64]:
    method to_quat (line 170) | def to_quat(self) -> numpy.ndarray[numpy.float64[m, 4]]:
  function interpolate (line 174) | def interpolate(arg0: SE3, arg1: SE3, arg2: float) -> SE3:
  function iterativeMean (line 178) | def iterativeMean(arg0: SE3) -> SE3:

FILE: Thirdparty/Sophus/sophus_pybind/SE3PyBind.h
  function namespace (line 15) | namespace Sophus {
  function namespace (line 39) | namespace pybind11 {
  function namespace (line 69) | namespace Sophus {
  function else (line 404) | else if (pybind11::isinstance<pybind11::list>(index_or_slice_or_list)) {

FILE: Thirdparty/Sophus/sophus_pybind/SO3PyBind.h
  function namespace (line 12) | namespace Sophus {
  function namespace (line 38) | namespace pybind11 {
  function namespace (line 68) | namespace Sophus {
  function else (line 298) | else if (pybind11::isinstance<pybind11::list>(index_or_slice_or_list)) {

FILE: Thirdparty/Sophus/sophus_pybind/SophusPyBind.h
  function namespace (line 16) | namespace Sophus {

FILE: Thirdparty/Sophus/sophus_pybind/bindings.cpp
  function PYBIND11_MODULE (line 3) | PYBIND11_MODULE(sophus_pybind, m) { Sophus::exportSophus(m); }

FILE: Thirdparty/Sophus/sophus_pybind/tests/sophusPybindTests.py
  class SophusPybindTest (line 7) | class SophusPybindTest(unittest.TestCase):
    method test_sophus (line 8) | def test_sophus(self) -> None:

FILE: Thirdparty/Sophus/sympy/sophus/complex.py
  class Complex (line 6) | class Complex:
    method __init__ (line 9) | def __init__(self, real, imag):
    method __mul__ (line 13) | def __mul__(self, right):
    method __add__ (line 18) | def __add__(self, right):
    method __neg__ (line 21) | def __neg__(self):
    method __truediv__ (line 24) | def __truediv__(self, scalar):
    method __repr__ (line 28) | def __repr__(self):
    method __getitem__ (line 31) | def __getitem__(self, key):
    method squared_norm (line 38) | def squared_norm(self):
    method conj (line 42) | def conj(self):
    method inv (line 46) | def inv(self):
    method identity (line 51) | def identity():
    method zero (line 55) | def zero():
    method __eq__ (line 58) | def __eq__(self, other):
    method subs (line 63) | def subs(self, x, y):
    method simplify (line 66) | def simplify(self):
    method Da_a_mul_b (line 71) | def Da_a_mul_b(a, b):
    method Db_a_mul_b (line 77) | def Db_a_mul_b(a, b):
  class TestComplex (line 83) | class TestComplex(unittest.TestCase):
    method setUp (line 84) | def setUp(self):
    method test_multiplications (line 90) | def test_multiplications(self):
    method test_derivatives (line 98) | def test_derivatives(self):

FILE: Thirdparty/Sophus/sympy/sophus/cse_codegen.py
  function cse_codegen (line 6) | def cse_codegen(symbols):

FILE: Thirdparty/Sophus/sympy/sophus/dual_quaternion.py
  class DualQuaternion (line 9) | class DualQuaternion:
    method __init__ (line 12) | def __init__(self, real_q, inf_q):
    method __mul__ (line 18) | def __mul__(self, right):
    method __truediv__ (line 24) | def __truediv__(self, scalar):
    method __repr__ (line 28) | def __repr__(self):
    method __getitem__ (line 32) | def __getitem__(self, key):
    method squared_norm (line 39) | def squared_norm(self):
    method conj (line 43) | def conj(self):
    method inv (line 47) | def inv(self):
    method simplify (line 53) | def simplify(self):
    method identity (line 58) | def identity():
    method __eq__ (line 62) | def __eq__(self, other):
  class TestDualQuaternion (line 68) | class TestDualQuaternion(unittest.TestCase):
    method setUp (line 69) | def setUp(self):
    method test_multiplications (line 84) | def test_multiplications(self):

FILE: Thirdparty/Sophus/sympy/sophus/matrix.py
  function dot (line 8) | def dot(left, right):
  function squared_norm (line 19) | def squared_norm(m):
  function Vector2 (line 24) | def Vector2(x, y):
  function ZeroVector2 (line 28) | def ZeroVector2():
  function Vector3 (line 32) | def Vector3(x, y, z):
  function ZeroVector3 (line 36) | def ZeroVector3():
  function Vector4 (line 40) | def Vector4(a, b, c, d):
  function ZeroVector4 (line 44) | def ZeroVector4():
  function Vector5 (line 48) | def Vector5(a, b, c, d, e):
  function ZeroVector5 (line 52) | def ZeroVector5():
  function Vector6 (line 56) | def Vector6(a, b, c, d, e, f):
  function ZeroVector6 (line 60) | def ZeroVector6():
  function proj (line 64) | def proj(v):
  function unproj (line 73) | def unproj(v):

FILE: Thirdparty/Sophus/sympy/sophus/quaternion.py
  class Quaternion (line 11) | class Quaternion:
    method __init__ (line 14) | def __init__(self, real, vec):
    method __mul__ (line 21) | def __mul__(self, right):
    method __add__ (line 27) | def __add__(self, right):
    method __neg__ (line 31) | def __neg__(self):
    method __truediv__ (line 34) | def __truediv__(self, scalar):
    method __repr__ (line 38) | def __repr__(self):
    method __getitem__ (line 41) | def __getitem__(self, key):
    method squared_norm (line 49) | def squared_norm(self):
    method conj (line 53) | def conj(self):
    method inv (line 57) | def inv(self):
    method identity (line 62) | def identity():
    method zero (line 66) | def zero():
    method subs (line 69) | def subs(self, x, y):
    method simplify (line 72) | def simplify(self):
    method __eq__ (line 77) | def __eq__(self, other):
    method Da_a_mul_b (line 83) | def Da_a_mul_b(a, b):
    method Db_a_mul_b (line 95) | def Db_a_mul_b(a, b):
  class TestQuaternion (line 107) | class TestQuaternion(unittest.TestCase):
    method setUp (line 108) | def setUp(self):
    method test_multiplications (line 116) | def test_multiplications(self):
    method test_derivatives (line 124) | def test_derivatives(self):

FILE: Thirdparty/Sophus/sympy/sophus/se2.py
  class Se2 (line 17) | class Se2:
    method __init__ (line 20) | def __init__(self, so2, t):
    method exp (line 27) | def exp(v):
    method log (line 39) | def log(self):
    method calc_Dx_log_this (line 49) | def calc_Dx_log_this(self):
    method __repr__ (line 53) | def __repr__(self):
    method hat (line 57) | def hat(v):
    method matrix (line 64) | def matrix(self):
    method __mul__ (line 69) | def __mul__(self, right):
    method __getitem__ (line 80) | def __getitem__(self, key):
    method calc_Dx_exp_x (line 89) | def calc_Dx_exp_x(x):
    method Dx_exp_x_at_0 (line 94) | def Dx_exp_x_at_0():
    method calc_Dx_this_mul_exp_x_at_0 (line 100) | def calc_Dx_this_mul_exp_x_at_0(self, x):
    method calc_Dx_exp_x_at_0 (line 106) | def calc_Dx_exp_x_at_0(x):
    method Dxi_x_matrix (line 110) | def Dxi_x_matrix(x, i):
    method calc_Dxi_x_matrix (line 120) | def calc_Dxi_x_matrix(x, i):
    method Dxi_exp_x_matrix (line 125) | def Dxi_exp_x_matrix(x, i):
    method calc_Dxi_exp_x_matrix (line 132) | def calc_Dxi_exp_x_matrix(x, i):
    method Dxi_exp_x_matrix_at_0 (line 137) | def Dxi_exp_x_matrix_at_0(i):
    method calc_Dxi_exp_x_matrix_at_0 (line 143) | def calc_Dxi_exp_x_matrix_at_0(x, i):
  class TestSe2 (line 149) | class TestSe2(unittest.TestCase):
    method setUp (line 150) | def setUp(self):
    method test_exp_log (line 163) | def test_exp_log(self):
    method test_matrix (line 171) | def test_matrix(self):
    method test_derivatives (line 180) | def test_derivatives(self):
    method test_codegen (line 199) | def test_codegen(self):

FILE: Thirdparty/Sophus/sympy/sophus/se3.py
  class Se3 (line 18) | class Se3:
    method __init__ (line 21) | def __init__(self, so3, t):
    method exp (line 32) | def exp(v):
    method log (line 45) | def log(self):
    method calc_Dx_log_this (line 59) | def calc_Dx_log_this(self):
    method __repr__ (line 63) | def __repr__(self):
    method inverse (line 66) | def inverse(self):
    method hat (line 71) | def hat(v):
    method vee (line 81) | def vee(Omega):
    method matrix (line 92) | def matrix(self):
    method __mul__ (line 97) | def __mul__(self, right):
    method __getitem__ (line 109) | def __getitem__(self, key):
    method calc_Dx_exp_x (line 118) | def calc_Dx_exp_x(x):
    method Dx_exp_x_at_0 (line 123) | def Dx_exp_x_at_0():
    method calc_Dx_this_mul_exp_x_at_0 (line 132) | def calc_Dx_this_mul_exp_x_at_0(self, x):
    method calc_Dx_exp_x_at_0 (line 139) | def calc_Dx_exp_x_at_0(x):
    method Dxi_x_matrix (line 144) | def Dxi_x_matrix(x, i):
    method calc_Dxi_x_matrix (line 154) | def calc_Dxi_x_matrix(x, i):
    method Dxi_exp_x_matrix (line 159) | def Dxi_exp_x_matrix(x, i):
    method calc_Dxi_exp_x_matrix (line 166) | def calc_Dxi_exp_x_matrix(x, i):
    method Dxi_exp_x_matrix_at_0 (line 171) | def Dxi_exp_x_matrix_at_0(i):
    method calc_Dxi_exp_x_matrix_at_0 (line 177) | def calc_Dxi_exp_x_matrix_at_0(x, i):
  class TestSe3 (line 184) | class TestSe3(unittest.TestCase):
    method setUp (line 185) | def setUp(self):
    method test_exp_log (line 199) | def test_exp_log(self):
    method test_matrix (line 207) | def test_matrix(self):
    method test_derivatives (line 216) | def test_derivatives(self):
    method test_codegen (line 236) | def test_codegen(self):

FILE: Thirdparty/Sophus/sympy/sophus/so2.py
  class So2 (line 12) | class So2:
    method __init__ (line 15) | def __init__(self, z):
    method exp (line 20) | def exp(theta):
    method log (line 27) | def log(self):
    method calc_Dx_log_this (line 31) | def calc_Dx_log_this(self):
    method calc_Dx_log_exp_x_times_this_at_0 (line 34) | def calc_Dx_log_exp_x_times_this_at_0(self, x):
    method __repr__ (line 37) | def __repr__(self):
    method hat (line 41) | def hat(theta):
    method matrix (line 45) | def matrix(self):
    method __mul__ (line 51) | def __mul__(self, right):
    method __getitem__ (line 61) | def __getitem__(self, key):
    method calc_Dx_exp_x (line 65) | def calc_Dx_exp_x(x):
    method Dx_exp_x_at_0 (line 70) | def Dx_exp_x_at_0():
    method calc_Dx_exp_x_at_0 (line 74) | def calc_Dx_exp_x_at_0(x):
    method calc_Dx_this_mul_exp_x_at_0 (line 77) | def calc_Dx_this_mul_exp_x_at_0(self, x):
    method Dxi_x_matrix (line 83) | def Dxi_x_matrix(x, i):
    method calc_Dxi_x_matrix (line 92) | def calc_Dxi_x_matrix(x, i):
    method Dx_exp_x_matrix (line 97) | def Dx_exp_x_matrix(x):
    method calc_Dx_exp_x_matrix (line 104) | def calc_Dx_exp_x_matrix(x):
    method Dx_exp_x_matrix_at_0 (line 109) | def Dx_exp_x_matrix_at_0():
    method calc_Dx_exp_x_matrix_at_0 (line 113) | def calc_Dx_exp_x_matrix_at_0(x):
  class TestSo2 (line 119) | class TestSo2(unittest.TestCase):
    method setUp (line 120) | def setUp(self):
    method test_exp_log (line 128) | def test_exp_log(self):
    method test_matrix (line 133) | def test_matrix(self):
    method test_derivatives (line 142) | def test_derivatives(self):
    method test_codegen (line 160) | def test_codegen(self):

FILE: Thirdparty/Sophus/sympy/sophus/so3.py
  class So3 (line 13) | class So3:
    method __init__ (line 16) | def __init__(self, q):
    method exp (line 21) | def exp(v):
    method log (line 30) | def log(self):
    method calc_Dx_log_this (line 35) | def calc_Dx_log_this(self):
    method calc_Dx_log_exp_x_times_this_at_0 (line 39) | def calc_Dx_log_exp_x_times_this_at_0(self, x):
    method __repr__ (line 44) | def __repr__(self):
    method inverse (line 47) | def inverse(self):
    method hat (line 51) | def hat(o):
    method vee (line 70) | def vee(Omega):
    method matrix (line 76) | def matrix(self):
    method __mul__ (line 98) | def __mul__(self, right):
    method __getitem__ (line 108) | def __getitem__(self, key):
    method calc_Dx_exp_x (line 112) | def calc_Dx_exp_x(x):
    method Dx_exp_x_at_0 (line 117) | def Dx_exp_x_at_0():
    method calc_Dx_exp_x_at_0 (line 124) | def calc_Dx_exp_x_at_0(x):
    method calc_Dx_this_mul_exp_x_at_0 (line 127) | def calc_Dx_this_mul_exp_x_at_0(self, x):
    method calc_Dx_exp_x_mul_this_at_0 (line 132) | def calc_Dx_exp_x_mul_this_at_0(self, x):
    method Dxi_x_matrix (line 138) | def Dxi_x_matrix(x, i):
    method calc_Dxi_x_matrix (line 157) | def calc_Dxi_x_matrix(x, i):
    method Dxi_exp_x_matrix (line 162) | def Dxi_exp_x_matrix(x, i):
    method calc_Dxi_exp_x_matrix (line 169) | def calc_Dxi_exp_x_matrix(x, i):
    method Dxi_exp_x_matrix_at_0 (line 174) | def Dxi_exp_x_matrix_at_0(i):
    method calc_Dxi_exp_x_matrix_at_0 (line 180) | def calc_Dxi_exp_x_matrix_at_0(x, i):
  class TestSo3 (line 186) | class TestSo3(unittest.TestCase):
    method setUp (line 187) | def setUp(self):
    method test_exp_log (line 197) | def test_exp_log(self):
    method test_matrix (line 205) | def test_matrix(self):
    method test_derivatives (line 214) | def test_derivatives(self):
    method test_codegen (line 233) | def test_codegen(self):

FILE: Thirdparty/Sophus/test/ceres/test_ceres_rxso2.cpp
  type RotationalPart<Sophus::RxSO2d> (line 11) | struct RotationalPart<Sophus::RxSO2d> {
    method Norm (line 12) | static double Norm(const typename Sophus::RxSO2d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_rxso3.cpp
  type RotationalPart<Sophus::RxSO3d> (line 11) | struct RotationalPart<Sophus::RxSO3d> {
    method Norm (line 12) | static double Norm(const typename Sophus::RxSO3d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_se2.cpp
  type RotationalPart<Sophus::SE2d> (line 11) | struct RotationalPart<Sophus::SE2d> {
    method Norm (line 12) | static double Norm(const typename Sophus::SE2d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_se3.cpp
  type RotationalPart<Sophus::SE3d> (line 11) | struct RotationalPart<Sophus::SE3d> {
    method Norm (line 12) | static double Norm(const typename Sophus::SE3d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_sim2.cpp
  type RotationalPart<Sophus::Sim2d> (line 11) | struct RotationalPart<Sophus::Sim2d> {
    method Norm (line 12) | static double Norm(const typename Sophus::Sim2d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_sim3.cpp
  type RotationalPart<Sophus::Sim3d> (line 11) | struct RotationalPart<Sophus::Sim3d> {
    method Norm (line 12) | static double Norm(const typename Sophus::Sim3d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_so2.cpp
  type RotationalPart<Sophus::SO2d> (line 11) | struct RotationalPart<Sophus::SO2d> {
    method Norm (line 12) | static double Norm(const typename Sophus::SO2d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/test_ceres_so3.cpp
  type RotationalPart<Sophus::SO3d> (line 11) | struct RotationalPart<Sophus::SO3d> {
    method Norm (line 12) | static double Norm(const typename Sophus::SO3d::Tangent &t) {
  function main (line 17) | int main(int, char **) {

FILE: Thirdparty/Sophus/test/ceres/tests.hpp
  type RotationalPart (line 9) | struct RotationalPart
  type Sophus (line 11) | namespace Sophus {
    function dot (line 14) | double dot(const Vector<double, N>& v1, const Vector<double, N>& v2) {
    function dot (line 18) | double dot(const double& a, const double& b) { return a * b; }
    function squaredNorm (line 21) | double squaredNorm(const Vector<double, N>& vec) {
    function squaredNorm (line 25) | double squaredNorm(const double& scalar) { return scalar * scalar; }
    function T (line 28) | T Zero() {
    type Random (line 52) | struct Random {
      method T (line 54) | T static sample(R& rng) {
    type Random<double> (line 67) | struct Random<double> {
      method T (line 71) | T static sample(R& rng) {
    type LieGroupCeresTests (line 78) | struct LieGroupCeresTests {
      type TestLieGroupCostFunctor (line 90) | struct TestLieGroupCostFunctor {
        method EIGEN_MAKE_ALIGNED_OPERATOR_NEW (line 91) | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      type TestPointCostFunctor (line 124) | struct TestPointCostFunctor {
      type TestGraphFunctor (line 157) | struct TestGraphFunctor {
        method TestGraphFunctor (line 171) | TestGraphFunctor(const LieGroupd& diff) : diff(diff) {}
      method testAll (line 175) | bool testAll() {
      method testAveraging (line 207) | bool testAveraging(const size_t num_vertices, const double sigma_init,
      method test (line 281) | bool test(LieGroupd const& T_w_targ, LieGroupd const& T_w_init,
      method testManifold (line 329) | bool testManifold(const LieGroupd& x, const LieGroupd& y) {
      method xPlusZeroIsXAt (line 362) | bool xPlusZeroIsXAt(const LieGroupd& x) {
      method xMinusXIsZeroAt (line 377) | bool xMinusXIsZeroAt(const LieGroupd& x) {
      method minusPlusIsIdentityAt (line 392) | bool minusPlusIsIdentityAt(const LieGroupd& x, const Tangentd& delta) {
      method plusMinusIsIdentityAt (line 416) | bool plusMinusIsIdentityAt(const LieGroupd& x, const LieGroupd& y) {
      method minusPlusJacobianIsIdentityAt (line 435) | bool minusPlusJacobianIsIdentityAt(const LieGroupd& x) {
      method LieGroupCeresTests (line 462) | LieGroupCeresTests(const StdVector<LieGroupd>& group_vec,

FILE: Thirdparty/Sophus/test/core/test_cartesian2.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::Cartesian<double, 2>> (line 9) | class Map<Sophus::Cartesian<double, 2>>
    class Map<Sophus::Cartesian<double, 2> const> (line 10) | class Map<Sophus::Cartesian<double, 2> const>
  type Sophus (line 13) | namespace Sophus {
    class Cartesian<double, 2, Eigen::AutoAlign> (line 15) | class Cartesian<double, 2, Eigen::AutoAlign>
    class Cartesian<float, 2, Eigen::DontAlign> (line 16) | class Cartesian<float, 2, Eigen::DontAlign>
    class Cartesian<ceres::Jet<double, 2>, 2> (line 18) | class Cartesian<ceres::Jet<double, 2>, 2>
    class Tests (line 22) | class Tests {
      method Tests (line 28) | Tests() {
      method runAll (line 54) | void runAll() {
      method testLieProperties (line 60) | bool testLieProperties() {
    function test_cartesian (line 73) | int test_cartesian() {
  function main (line 93) | int main() { return Sophus::test_cartesian(); }

FILE: Thirdparty/Sophus/test/core/test_cartesian3.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::Cartesian<double, 3>> (line 9) | class Map<Sophus::Cartesian<double, 3>>
    class Map<Sophus::Cartesian<double, 3> const> (line 10) | class Map<Sophus::Cartesian<double, 3> const>
  type Sophus (line 13) | namespace Sophus {
    class Cartesian<double, 3, Eigen::AutoAlign> (line 15) | class Cartesian<double, 3, Eigen::AutoAlign>
    class Cartesian<float, 3, Eigen::DontAlign> (line 16) | class Cartesian<float, 3, Eigen::DontAlign>
    class Cartesian<ceres::Jet<double, 3>, 3> (line 18) | class Cartesian<ceres::Jet<double, 3>, 3>
    class Tests (line 22) | class Tests {
      method Tests (line 28) | Tests() {
      method runAll (line 54) | void runAll() {
      method testLieProperties (line 60) | bool testLieProperties() {
    function test_cartesian (line 73) | int test_cartesian() {
  function main (line 93) | int main() { return Sophus::test_cartesian(); }

FILE: Thirdparty/Sophus/test/core/test_common.cpp
  type Sophus (line 9) | namespace Sophus {
    function testSmokeDetails (line 13) | bool testSmokeDetails() {
    function testSpline (line 34) | bool testSpline() {
    function runAll (line 113) | void runAll() {
  function main (line 123) | int main() { Sophus::runAll(); }

FILE: Thirdparty/Sophus/test/core/test_geometry.cpp
  type Sophus (line 7) | namespace Sophus {
    function test2dGeometry (line 12) | bool test2dGeometry() {
    function test3dGeometry (line 52) | bool test3dGeometry() {
    function runAll (line 116) | void runAll() {
  function main (line 131) | int main() { Sophus::runAll(); }

FILE: Thirdparty/Sophus/test/core/test_rxso2.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::RxSO2<double>> (line 9) | class Map<Sophus::RxSO2<double>>
    class Map<Sophus::RxSO2<double> const> (line 10) | class Map<Sophus::RxSO2<double> const>
  type Sophus (line 13) | namespace Sophus {
    class RxSO2<double, Eigen::AutoAlign> (line 15) | class RxSO2<double, Eigen::AutoAlign>
    class RxSO2<float, Eigen::DontAlign> (line 16) | class RxSO2<float, Eigen::DontAlign>
    class RxSO2<ceres::Jet<double, 3>> (line 18) | class RxSO2<ceres::Jet<double, 3>>
    class Tests (line 22) | class Tests {
      method Tests (line 31) | Tests() {
      method testFit (line 66) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 87) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
      method runAll (line 91) | void runAll() {
      method testLieProperties (line 101) | bool testLieProperties() {
      method testSaturation (line 106) | bool testSaturation() {
      method testRawDataAcces (line 159) | bool testRawDataAcces() {
      method testConstructors (line 238) | bool testConstructors() {
    function test_rxso2 (line 284) | int test_rxso2() {
  function main (line 303) | int main() { return Sophus::test_rxso2(); }

FILE: Thirdparty/Sophus/test/core/test_rxso3.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::RxSO3<double>> (line 9) | class Map<Sophus::RxSO3<double>>
    class Map<Sophus::RxSO3<double> const> (line 10) | class Map<Sophus::RxSO3<double> const>
  type Sophus (line 13) | namespace Sophus {
    class RxSO3<double, Eigen::AutoAlign> (line 15) | class RxSO3<double, Eigen::AutoAlign>
    class RxSO3<float, Eigen::DontAlign> (line 16) | class RxSO3<float, Eigen::DontAlign>
    class RxSO3<ceres::Jet<double, 3>> (line 18) | class RxSO3<ceres::Jet<double, 3>>
    class Tests (line 22) | class Tests {
      method Tests (line 32) | Tests() {
      method runAll (line 81) | void runAll() {
      method testLieProperties (line 91) | bool testLieProperties() {
      method testSaturation (line 96) | bool testSaturation() {
      method testRawDataAcces (line 145) | bool testRawDataAcces() {
      method testConstructors (line 235) | bool testConstructors() {
      method testFit (line 276) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 297) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
    function test_rxso3 (line 306) | int test_rxso3() {
  function main (line 326) | int main() { return Sophus::test_rxso3(); }

FILE: Thirdparty/Sophus/test/core/test_se2.cpp
  type Eigen (line 9) | namespace Eigen {
    class Map<Sophus::SE2<double>> (line 10) | class Map<Sophus::SE2<double>>
    class Map<Sophus::SE2<double> const> (line 11) | class Map<Sophus::SE2<double> const>
  type Sophus (line 14) | namespace Sophus {
    class SE2<double, Eigen::AutoAlign> (line 16) | class SE2<double, Eigen::AutoAlign>
    class SE2<double, Eigen::DontAlign> (line 17) | class SE2<double, Eigen::DontAlign>
    class SE2<ceres::Jet<double, 3>> (line 19) | class SE2<ceres::Jet<double, 3>>
    class Tests (line 23) | class Tests {
      method Tests (line 31) | Tests() {
      method runAll (line 70) | void runAll() {
      method testLieProperties (line 80) | bool testLieProperties() {
      method testRawDataAcces (line 85) | bool testRawDataAcces() {
      method testMutatingAccessors (line 177) | bool testMutatingAccessors() {
      method testConstructors (line 195) | bool testConstructors() {
      method testFit (line 220) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 234) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
    function test_se2 (line 243) | int test_se2() {
  function main (line 262) | int main() { return Sophus::test_se2(); }

FILE: Thirdparty/Sophus/test/core/test_se3.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::SE3<double>> (line 9) | class Map<Sophus::SE3<double>>
    class Map<Sophus::SE3<double> const> (line 10) | class Map<Sophus::SE3<double> const>
  type Sophus (line 13) | namespace Sophus {
    class SE3<double, Eigen::AutoAlign> (line 15) | class SE3<double, Eigen::AutoAlign>
    class SE3<float, Eigen::DontAlign> (line 16) | class SE3<float, Eigen::DontAlign>
    class SE3<ceres::Jet<double, 3>> (line 18) | class SE3<ceres::Jet<double, 3>>
    class Tests (line 22) | class Tests {
      method Tests (line 30) | Tests() {
      method runAll (line 54) | void runAll() {
      method testLieProperties (line 64) | bool testLieProperties() {
      method testRawDataAcces (line 69) | bool testRawDataAcces() {
      method testMutatingAccessors (line 184) | bool testMutatingAccessors() {
      method testConstructors (line 195) | bool testConstructors() {
      method testFit (line 218) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 242) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
    function test_se3 (line 251) | int test_se3() {
  function main (line 270) | int main() { return Sophus::test_se3(); }

FILE: Thirdparty/Sophus/test/core/test_sim2.cpp
  type Eigen (line 10) | namespace Eigen {
    class Map<Sophus::Sim2<double>> (line 11) | class Map<Sophus::Sim2<double>>
    class Map<Sophus::Sim2<double> const> (line 12) | class Map<Sophus::Sim2<double> const>
  type Sophus (line 15) | namespace Sophus {
    class Sim2<double, Eigen::AutoAlign> (line 17) | class Sim2<double, Eigen::AutoAlign>
    class Sim2<float, Eigen::DontAlign> (line 18) | class Sim2<float, Eigen::DontAlign>
    class Sim2<ceres::Jet<double, 3>> (line 20) | class Sim2<ceres::Jet<double, 3>>
    class Tests (line 24) | class Tests {
      method Tests (line 33) | Tests() {
      method runAll (line 75) | void runAll() {
      method testLieProperties (line 83) | bool testLieProperties() {
      method testRawDataAcces (line 88) | bool testRawDataAcces() {
      method testConstructors (line 175) | bool testConstructors() {
    function test_sim3 (line 208) | int test_sim3() {
  function main (line 227) | int main() { return Sophus::test_sim3(); }

FILE: Thirdparty/Sophus/test/core/test_sim3.cpp
  type Eigen (line 10) | namespace Eigen {
    class Map<Sophus::Sim3<double>> (line 11) | class Map<Sophus::Sim3<double>>
    class Map<Sophus::Sim3<double> const> (line 12) | class Map<Sophus::Sim3<double> const>
  type Sophus (line 15) | namespace Sophus {
    class Sim3<double, Eigen::AutoAlign> (line 17) | class Sim3<double, Eigen::AutoAlign>
    class Sim3<float, Eigen::DontAlign> (line 18) | class Sim3<float, Eigen::DontAlign>
    class Sim3<ceres::Jet<double, 3>> (line 20) | class Sim3<ceres::Jet<double, 3>>
    class Tests (line 24) | class Tests {
      method Tests (line 33) | Tests() {
      method runAll (line 113) | void runAll() {
      method testLieProperties (line 121) | bool testLieProperties() {
      method testRawDataAcces (line 126) | bool testRawDataAcces() {
      method testConstructors (line 220) | bool testConstructors() {
    function test_sim3 (line 262) | int test_sim3() {
  function main (line 281) | int main() { return Sophus::test_sim3(); }

FILE: Thirdparty/Sophus/test/core/test_so2.cpp
  type Eigen (line 8) | namespace Eigen {
    class Map<Sophus::SO2<double>> (line 9) | class Map<Sophus::SO2<double>>
    class Map<Sophus::SO2<double> const> (line 10) | class Map<Sophus::SO2<double> const>
  type Sophus (line 13) | namespace Sophus {
    class SO2<double, Eigen::AutoAlign> (line 15) | class SO2<double, Eigen::AutoAlign>
    class SO2<float, Eigen::DontAlign> (line 16) | class SO2<float, Eigen::DontAlign>
    class SO2<ceres::Jet<double, 3>> (line 18) | class SO2<ceres::Jet<double, 3>>
    class Tests (line 22) | class Tests {
      method Tests (line 29) | Tests() {
      method runAll (line 51) | void runAll() {
      method testLieProperties (line 61) | bool testLieProperties() {
      method testUnity (line 66) | bool testUnity() {
      method testRawDataAcces (line 80) | bool testRawDataAcces() {
      method testConstructors (line 137) | bool testConstructors() {
      method testFit (line 148) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 163) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
    function test_so2 (line 172) | int test_so2() {
  function main (line 191) | int main() { return Sophus::test_so2(); }

FILE: Thirdparty/Sophus/test/core/test_so3.cpp
  type Eigen (line 9) | namespace Eigen {
    class Map<Sophus::SO3<double>> (line 10) | class Map<Sophus::SO3<double>>
    class Map<Sophus::SO3<double> const> (line 11) | class Map<Sophus::SO3<double> const>
  type Sophus (line 14) | namespace Sophus {
    class SO3<double, Eigen::AutoAlign> (line 16) | class SO3<double, Eigen::AutoAlign>
    class SO3<float, Eigen::DontAlign> (line 17) | class SO3<float, Eigen::DontAlign>
    class SO3<ceres::Jet<double, 3>> (line 19) | class SO3<ceres::Jet<double, 3>>
    class Tests (line 23) | class Tests {
      method Tests (line 30) | Tests() {
      method runAll (line 65) | void runAll() {
      method testLieProperties (line 76) | bool testLieProperties() {
      method testUnity (line 81) | bool testUnity() {
      method testRawDataAcces (line 95) | bool testRawDataAcces() {
      method testConstructors (line 172) | bool testConstructors() {
      method testSampleUniformSymmetry (line 183) | enable_if_t<std::is_floating_point<S>::value, bool>
      method testSampleUniformSymmetry (line 233) | enable_if_t<!std::is_floating_point<S>::value, bool>
      method testFit (line 239) | enable_if_t<std::is_floating_point<S>::value, bool> testFit() {
      method testFit (line 264) | enable_if_t<!std::is_floating_point<S>::value, bool> testFit() {
    function test_so3 (line 273) | int test_so3() {
  function main (line 292) | int main() { return Sophus::test_so3(); }

FILE: Thirdparty/Sophus/test/core/test_velocities.cpp
  type Sophus (line 7) | namespace Sophus {
    type experimental (line 8) | namespace experimental {
      function tests_linear_velocities (line 11) | bool tests_linear_velocities() {
      function tests_rotational_velocities (line 57) | bool tests_rotational_velocities() {
      function test_velocities (line 110) | int test_velocities() {
  function main (line 130) | int main() { return Sophus::experimental::test_velocities(); }

FILE: Thirdparty/Sophus/test/core/tests.hpp
  type Sophus (line 19) | namespace Sophus {
    function through (line 29) | Hyperplane<Scalar, 2> through(const Vector<Scalar, 2>* points) {
    function through (line 34) | Hyperplane<Scalar, 3> through(const Vector<Scalar, 3>* points) {
    class LieGroupTests (line 39) | class LieGroupTests {
      method LieGroupTests (line 56) | LieGroupTests(
      method adjointTest (line 66) | bool adjointTest() {
      method leftJacobianTest (line 89) | enable_if_t<std::is_same<G, SO3<Scalar>>::value ||
      method leftJacobianTest (line 122) | enable_if_t<!(std::is_same<G, SO3<Scalar>>::value ||
      method moreJacobiansTest (line 129) | bool moreJacobiansTest() {
      method contructorAndAssignmentTest (line 146) | bool contructorAndAssignmentTest() {
      method derivativeTest (line 197) | bool derivativeTest() {
      method additionalDerivativeTest (line 219) | bool additionalDerivativeTest() {
      method productTest (line 275) | bool productTest() {
      method expLogTest (line 289) | bool expLogTest() {
      method expMapTest (line 301) | bool expMapTest() {
      method groupActionTest (line 313) | bool groupActionTest() {
      method lineActionTest (line 342) | bool lineActionTest() {
      method planeActionTest (line 368) | bool planeActionTest() {
      method lieBracketTest (line 396) | bool lieBracketTest() {
      method veeHatTest (line 413) | bool veeHatTest() {
      method newDeleteSmokeTest (line 423) | bool newDeleteSmokeTest() {
      method interpolateAndMeanTest (line 432) | bool interpolateAndMeanTest() {
      method testRandomSmoke (line 557) | bool testRandomSmoke() {
      method testSpline (line 568) | enable_if_t<std::is_same<S, float>::value, bool> testSpline() {
      method testSpline (line 574) | enable_if_t<!std::is_same<S, float>::value, bool> testSpline() {
      method doAllTestsPass (line 645) | enable_if_t<std::is_floating_point<S>::value, bool> doAllTestsPass() {
      method doAllTestsPass (line 650) | enable_if_t<!std::is_floating_point<S>::value, bool> doAllTestsPass() {
      method doesSmallTestSetPass (line 655) | bool doesSmallTestSetPass() {
      method doesLargeTestSetPass (line 670) | bool doesLargeTestSetPass() {
      method map (line 687) | Eigen::Matrix<Scalar, N - 1, 1> map(
      method map (line 694) | Eigen::Matrix<Scalar, N, 1> map(Eigen::Matrix<Scalar, N, N> const& T,
    function getTestSE3s (line 705) | std::vector<SE3<Scalar>, Eigen::aligned_allocator<SE3<Scalar>>> getTes...
    function getTestSE2s (line 744) | std::vector<SE2<T>, Eigen::aligned_allocator<SE2<T>>> getTestSE2s() {

FILE: Thirdparty/tessil-src/include/tsl/robin_growth_policy.h
  function namespace (line 70) | namespace tsl {

FILE: Thirdparty/tessil-src/include/tsl/robin_hash.h
  function namespace (line 45) | namespace tsl {
  function clear (line 222) | void clear() noexcept {
  function value_type (line 238) | const value_type& value() const noexcept {
  function set_as_last_bucket (line 251) | void set_as_last_bucket() noexcept {
  function truncated_hash_type (line 287) | static truncated_hash_type truncate_hash(std::size_t hash) noexcept {
  function USE_STORED_HASH_ON_REHASH (line 395) | static bool USE_STORED_HASH_ON_REHASH(size_type bucket_count) {
  function m_bucket (line 437) | robin_iterator(bucket_entry_ptr bucket) noexcept: m_bucket(bucket) {
  function reference (line 475) | reference operator*() const {
  function pointer (line 479) | pointer operator->() const {
  function iterator (line 667) | iterator begin() noexcept {
  function const_iterator (line 676) | const_iterator begin() const noexcept {
  function iterator (line 689) | iterator end() noexcept {
  function const_iterator (line 693) | const_iterator end() const noexcept {
  function clear (line 720) | void clear() noexcept {
  function iterator (line 826) | iterator erase(iterator pos) {
  function iterator (line 842) | iterator erase(const_iterator pos) {
  function iterator (line 846) | iterator erase(const_iterator first, const_iterator last) {
  function swap (line 926) | void swap(robin_hash& other) {
  function typename (line 959) | typename U::value_type& at(const K& key) const {
  function typename (line 964) | typename U::value_type& at(const K& key, std::size_t hash) const {
  function hash (line 1002) | size_t hash) {
  function size_type (line 1059) | size_type max_bucket_count() const {
  function min_load_factor (line 1082) | void min_load_factor(float ml) {
  function max_load_factor (line 1087) | void max_load_factor(float ml) {
  function rehash (line 1093) | void rehash(size_type count) {
  function reserve (line 1098) | void reserve(size_type count) {
  function iterator (line 1117) | iterator mutable_iterator(const_iterator pos) {
  function next_bucket (line 1140) | size_t next_bucket(std::size_t index) const noexcept {
  function next_bucket (line 1147) | size_t next_bucket(std::size_t index) const noexcept {
  function hash (line 1157) | size_t hash) {
  function erase_from_bucket (line 1180) | void erase_from_bucket(iterator pos) {
  function insert_value (line 1262) | void insert_value(std::size_t ibucket, distance_type dist_from_ideal_buc...
  function insert_value_impl (line 1275) | void insert_value_impl(std::size_t ibucket, distance_type dist_from_idea...
  function rehash_impl (line 1303) | void rehash_impl(size_type count) {

FILE: Thirdparty/tessil-src/include/tsl/robin_map.h
  function namespace (line 37) | namespace tsl {
  function iterator (line 229) | iterator begin() noexcept { return m_ht.begin(); }
  function iterator (line 233) | iterator end() noexcept { return m_ht.end(); }
  function clear (line 248) | void clear() noexcept { m_ht.clear(); }
  function iterator (line 266) | iterator insert(const_iterator hint, const value_type& value) {
  function iterator (line 275) | iterator insert(const_iterator hint, value_type&& value) {
  function insert (line 285) | void insert(std::initializer_list<value_type> ilist) {
  function iterator (line 364) | iterator erase(iterator pos) { return m_ht.erase(pos); }
  function iterator (line 365) | iterator erase(const_iterator pos) { return m_ht.erase(pos); }
  function iterator (line 366) | iterator erase(const_iterator first, const_iterator last) { return m_ht....
  function size_type (line 367) | size_type erase(const key_type& key) { return m_ht.erase(key); }
  function size_type (line 373) | size_type erase(const key_type& key, std::size_t precalculated_hash) {
  function precalculated_hash (line 391) | size_t precalculated_hash) {
  function swap (line 397) | void swap(robin_map& other) { other.m_ht.swap(m_ht); }
  function T (line 413) | const T& at(const Key& key) const { return m_ht.at(key); }
  function T (line 418) | const T& at(const Key& key, std::size_t precalculated_hash) const { retu...
  function size_type (line 459) | size_type count(const Key& key) const { return m_ht.count(key); }
  function size_type (line 465) | size_type count(const Key& key, std::size_t precalculated_hash) const {
  function iterator (line 488) | iterator find(const Key& key) { return m_ht.find(key); }
  function iterator (line 494) | iterator find(const Key& key, std::size_t precalculated_hash) { return m...
  function const_iterator (line 496) | const_iterator find(const Key& key) const { return m_ht.find(key); }
  function const_iterator (line 501) | const_iterator find(const Key& key, std::size_t precalculated_hash) const {
  function precalculated_hash (line 519) | size_t precalculated_hash) { return m_ht.find(key, precalculated_hash); }
  function contains (line 541) | bool contains(const Key& key) const { return m_ht.contains(key); }
  function contains (line 547) | bool contains(const Key& key, std::size_t precalculated_hash) const {
  function min_load_factor (line 650) | void min_load_factor(float ml) { m_ht.min_load_factor(ml); }
  function max_load_factor (line 651) | void max_load_factor(float ml) { m_ht.max_load_factor(ml); }
  function rehash (line 653) | void rehash(size_type count) { m_ht.rehash(count); }
  function reserve (line 654) | void reserve(size_type count) { m_ht.reserve(count); }
  function iterator (line 670) | iterator mutable_iterator(const_iterator pos) {

FILE: Thirdparty/tessil-src/include/tsl/robin_set.h
  function namespace (line 37) | namespace tsl {
  function explicit (line 127) | explicit robin_set(size_type bucket_count,
  function iterator (line 214) | iterator begin() noexcept { return m_ht.begin(); }
  function iterator (line 218) | iterator end() noexcept { return m_ht.end(); }
  function clear (line 233) | void clear() noexcept { m_ht.clear(); }
  function iterator (line 246) | iterator insert(const_iterator hint, const value_type& value) {
  function iterator (line 250) | iterator insert(const_iterator hint, value_type&& value) {
  function insert (line 259) | void insert(std::initializer_list<value_type> ilist) {
  function iterator (line 292) | iterator erase(iterator pos) { return m_ht.erase(pos); }
  function iterator (line 293) | iterator erase(const_iterator pos) { return m_ht.erase(pos); }
  function iterator (line 294) | iterator erase(const_iterator first, const_iterator last) { return m_ht....
  function size_type (line 295) | size_type erase(const key_type& key) { return m_ht.erase(key); }
  function size_type (line 301) | size_type erase(const key_type& key, std::size_t precalculated_hash) {
  function precalculated_hash (line 319) | size_t precalculated_hash) {
  function swap (line 325) | void swap(robin_set& other) { other.m_ht.swap(m_ht); }
  function size_type (line 332) | size_type count(const Key& key) const { return m_ht.count(key); }
  function size_type (line 338) | size_type count(const Key& key, std::size_t precalculated_hash) const { ...
  function iterator (line 359) | iterator find(const Key& key) { return m_ht.find(key); }
  function iterator (line 365) | iterator find(const Key& key, std::size_t precalculated_hash) { return m...
  function const_iterator (line 367) | const_iterator find(const Key& key) const { return m_ht.find(key); }
  function const_iterator (line 372) | const_iterator find(const Key& key, std::size_t precalculated_hash) cons...
  function precalculated_hash (line 388) | size_t precalculated_hash) { return m_ht.find(key, precalculated_hash); }
  function contains (line 408) | bool contains(const Key& key) const { return m_ht.contains(key); }
  function contains (line 414) | bool contains(const Key& key, std::size_t precalculated_hash) const {
  function min_load_factor (line 516) | void min_load_factor(float ml) { m_ht.min_load_factor(ml); }
  function max_load_factor (line 517) | void max_load_factor(float ml) { m_ht.max_load_factor(ml); }
  function rehash (line 519) | void rehash(size_type count) { m_ht.rehash(count); }
  function reserve (line 520) | void reserve(size_type count) { m_ht.reserve(count); }
  function iterator (line 537) | iterator mutable_iterator(const_iterator pos) {

FILE: Thirdparty/tessil-src/tests/custom_allocator_tests.cpp
  class custom_allocator (line 43) | class custom_allocator {
    type rebind (line 56) | struct rebind {
    method custom_allocator (line 60) | custom_allocator() = default;
    method custom_allocator (line 61) | custom_allocator(const custom_allocator&) = default;
    method custom_allocator (line 64) | custom_allocator(const custom_allocator<U>&) {
    method pointer (line 67) | pointer address(reference x) const noexcept {
    method const_pointer (line 71) | const_pointer address(const_reference x) const noexcept {
    method pointer (line 75) | pointer allocate(size_type n, const void* /*hint*/ = 0) {
    method deallocate (line 90) | void deallocate(T* p, size_type /*n*/) {
    method size_type (line 94) | size_type max_size() const noexcept {
    method construct (line 99) | void construct(U* p, Args&&... args) {
    method destroy (line 104) | void destroy(U* p) {
  function BOOST_AUTO_TEST_CASE (line 134) | BOOST_AUTO_TEST_CASE(test_custom_allocator_1) {

FILE: Thirdparty/tessil-src/tests/policy_tests.cpp
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 46) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_policy, Policy, test_types) {
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 75) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_policy_min_bucket_count, Policy, test...
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 83) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_policy_max_bucket_count, Policy, test...

FILE: Thirdparty/tessil-src/tests/robin_map_tests.cpp
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 81) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_insert, HMap, test_types) {
  function BOOST_AUTO_TEST_CASE (line 117) | BOOST_AUTO_TEST_CASE(test_range_insert) {
  function BOOST_AUTO_TEST_CASE (line 141) | BOOST_AUTO_TEST_CASE(test_insert_with_hint) {
  function BOOST_AUTO_TEST_CASE (line 168) | BOOST_AUTO_TEST_CASE(test_emplace_hint) {
  function BOOST_AUTO_TEST_CASE (line 200) | BOOST_AUTO_TEST_CASE(test_emplace) {
  function BOOST_AUTO_TEST_CASE (line 226) | BOOST_AUTO_TEST_CASE(test_try_emplace) {
  function BOOST_AUTO_TEST_CASE (line 244) | BOOST_AUTO_TEST_CASE(test_try_emplace_2) {
  function BOOST_AUTO_TEST_CASE (line 276) | BOOST_AUTO_TEST_CASE(test_try_emplace_hint) {
  function BOOST_AUTO_TEST_CASE (line 299) | BOOST_AUTO_TEST_CASE(test_insert_or_assign) {
  function BOOST_AUTO_TEST_CASE (line 318) | BOOST_AUTO_TEST_CASE(test_insert_or_assign_hint) {
  function BOOST_AUTO_TEST_CASE (line 342) | BOOST_AUTO_TEST_CASE(test_range_erase_all) {
  function BOOST_AUTO_TEST_CASE (line 354) | BOOST_AUTO_TEST_CASE(test_range_erase) {
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 374) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_erase_loop, HMap, test_types) {
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 396) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_erase_loop_range, HMap, test_types) {
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 416) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_insert_erase_insert, HMap, test_types) {
  function BOOST_AUTO_TEST_CASE (line 473) | BOOST_AUTO_TEST_CASE(test_range_erase_same_iterators) {
  function BOOST_AUTO_TEST_CASE (line 493) | BOOST_AUTO_TEST_CASE(test_max_load_factor_extreme_factors) {
  function BOOST_AUTO_TEST_CASE (line 506) | BOOST_AUTO_TEST_CASE(test_min_load_factor_extreme_factors) {
  function BOOST_AUTO_TEST_CASE (line 523) | BOOST_AUTO_TEST_CASE(test_min_load_factor) {
  function BOOST_AUTO_TEST_CASE (line 554) | BOOST_AUTO_TEST_CASE(test_min_load_factor_range_erase) {
  function BOOST_AUTO_TEST_CASE (line 588) | BOOST_AUTO_TEST_CASE(test_rehash_empty) {
  function BOOST_AUTO_TEST_CASE (line 615) | BOOST_AUTO_TEST_CASE(test_compare) {
  function BOOST_AUTO_TEST_CASE (line 663) | BOOST_AUTO_TEST_CASE(test_clear) {
  function BOOST_AUTO_TEST_CASE (line 680) | BOOST_AUTO_TEST_CASE(test_clear_with_min_load_factor) {
  function BOOST_AUTO_TEST_CASE (line 703) | BOOST_AUTO_TEST_CASE(test_modify_value_through_iterator) {
  function BOOST_AUTO_TEST_CASE (line 724) | BOOST_AUTO_TEST_CASE(test_modify_value_through_iterator_with_const_quali...
  function BOOST_AUTO_TEST_CASE (line 736) | BOOST_AUTO_TEST_CASE(test_extreme_bucket_count_value_construction) {
  function BOOST_AUTO_TEST_CASE (line 767) | BOOST_AUTO_TEST_CASE(test_range_construct) {
  function BOOST_AUTO_TEST_CASE (line 778) | BOOST_AUTO_TEST_CASE(test_assign_operator) {
  function BOOST_AUTO_TEST_CASE (line 796) | BOOST_AUTO_TEST_CASE(test_move_constructor) {
  function BOOST_AUTO_TEST_CASE (line 818) | BOOST_AUTO_TEST_CASE(test_move_constructor_empty) {
  function BOOST_AUTO_TEST_CASE (line 829) | BOOST_AUTO_TEST_CASE(test_move_operator) {
  function BOOST_AUTO_TEST_CASE (line 852) | BOOST_AUTO_TEST_CASE(test_move_operator_empty) {
  function BOOST_AUTO_TEST_CASE (line 864) | BOOST_AUTO_TEST_CASE(test_reassign_moved_object_move_constructor) {
  function BOOST_AUTO_TEST_CASE (line 877) | BOOST_AUTO_TEST_CASE(test_reassign_moved_object_move_operator) {
  function BOOST_AUTO_TEST_CASE (line 890) | BOOST_AUTO_TEST_CASE(test_use_after_move_constructor) {
  function BOOST_AUTO_TEST_CASE (line 912) | BOOST_AUTO_TEST_CASE(test_use_after_move_operator) {
  function BOOST_AUTO_TEST_CASE (line 935) | BOOST_AUTO_TEST_CASE(test_copy_constructor_and_operator) {
  function BOOST_AUTO_TEST_CASE (line 954) | BOOST_AUTO_TEST_CASE(test_copy_constructor_empty) {
  function BOOST_AUTO_TEST_CASE (line 965) | BOOST_AUTO_TEST_CASE(test_copy_operator_empty) {
  function BOOST_AUTO_TEST_CASE (line 981) | BOOST_AUTO_TEST_CASE(test_at) {
  function BOOST_AUTO_TEST_CASE (line 993) | BOOST_AUTO_TEST_CASE(test_contains) {
  function BOOST_AUTO_TEST_CASE (line 1004) | BOOST_AUTO_TEST_CASE(test_equal_range) {
  function BOOST_AUTO_TEST_CASE (line 1020) | BOOST_AUTO_TEST_CASE(test_access_operator) {
  function BOOST_AUTO_TEST_CASE (line 1036) | BOOST_AUTO_TEST_CASE(test_swap) {
  function BOOST_AUTO_TEST_CASE (line 1053) | BOOST_AUTO_TEST_CASE(test_swap_empty) {
  function BOOST_AUTO_TEST_CASE (line 1073) | BOOST_AUTO_TEST_CASE(test_key_equal) {
  function BOOST_AUTO_TEST_CASE (line 1115) | BOOST_AUTO_TEST_CASE(test_heterogeneous_lookups) {
  function BOOST_AUTO_TEST_CASE (line 1203) | BOOST_AUTO_TEST_CASE(test_empty_map) {
  function BOOST_AUTO_TEST_CASE (line 1239) | BOOST_AUTO_TEST_CASE(test_precalculated_hash) {

FILE: Thirdparty/tessil-src/tests/robin_set_tests.cpp
  function BOOST_AUTO_TEST_CASE_TEMPLATE (line 70) | BOOST_AUTO_TEST_CASE_TEMPLATE(test_insert, HSet, test_types) {
  function BOOST_AUTO_TEST_CASE (line 101) | BOOST_AUTO_TEST_CASE(test_compare) {
  function BOOST_AUTO_TEST_CASE (line 130) | BOOST_AUTO_TEST_CASE(test_insert_pointer) {

FILE: Thirdparty/tessil-src/tests/utils.h
  function class (line 61) | class self_reference_member_test {
  function class (line 116) | class move_only_test {
  function class (line 174) | class copy_only_test {
  function namespace (line 220) | namespace std {
  function class (line 244) | class utils {
  function counter (line 259) | size_t counter) {
  function counter (line 264) | size_t counter) {
  function counter (line 274) | size_t counter) {
  function counter (line 279) | size_t counter) {
  function counter (line 287) | size_t counter) {
  function counter (line 292) | size_t counter) {
  function counter (line 302) | size_t counter) {
  function counter (line 307) | size_t counter) {
  function HMap (line 314) | HMap utils::get_filled_hash_map(std::size_t nb_elements) {

FILE: include/common_lib.h
  type i2ekf_lo (line 43) | typedef i2ekf_lo::Pose6D     Pose6D;
  type pcl (line 44) | typedef pcl::PointXYZINormal PointType;
  type pcl (line 45) | typedef pcl::PointXYZRGB     PointTypeRGB;
  type pcl (line 46) | typedef pcl::PointCloud<PointType>    PointCloudXYZI;
  type pcl (line 47) | typedef pcl::PointCloud<PointTypeRGB> PointCloudXYZRGB;
  type vector (line 48) | typedef vector<PointType, Eigen::aligned_allocator<PointType>>  PointVec...
  type Vector3d (line 49) | typedef Vector3d V3D;
  type Matrix3d (line 50) | typedef Matrix3d M3D;
  type Vector3f (line 51) | typedef Vector3f V3F;
  type LID_TYPE (line 62) | enum LID_TYPE{AVIA = 1, VELO, OUSTER, L515, PANDAR, ROBOSENSE}
  type POINT_TYPE (line 64) | enum POINT_TYPE{RAW = 1, UNDISTORT, WORLD}
  type StatesGroup (line 66) | struct StatesGroup
  function resetpose (line 151) | void resetpose()
  type Point3D (line 269) | struct Point3D
  type voxel (line 294) | struct voxel
  function voxel (line 308) | inline static voxel coordinates(const Eigen::Vector3d &point, double vox...
  type voxelBlock (line 320) | struct voxelBlock
  function AddPoint (line 329) | void AddPoint(const Eigen::Vector3d &point) {
  function Capacity (line 336) | inline int Capacity() { return num_points; }
  type tsl (line 342) | typedef tsl::robin_map<voxel, voxelBlock> voxelHashMap;
  function namespace (line 344) | namespace std

FILE: include/ikd-Tree/ikd_Tree.cpp
  function BoxPointType (line 90) | BoxPointType KD_TREE::tree_range(){
  type timespec (line 636) | struct timespec
  type timespec (line 683) | struct timespec
  type timespec (line 740) | struct timespec
  type timespec (line 786) | struct timespec
  function PointType_CMP (line 1314) | PointType_CMP MANUAL_HEAP::top(){
  function Operation_Logger_Type (line 1382) | Operation_Logger_Type MANUAL_Q::front(){
  function Operation_Logger_Type (line 1386) | Operation_Logger_Type MANUAL_Q::back(){

FILE: include/ikd-Tree/ikd_Tree.h
  type pcl (line 21) | typedef pcl::PointXYZINormal PointType;
  type vector (line 22) | typedef vector<PointType, Eigen::aligned_allocator<PointType>>  PointVec...
  type KD_TREE_NODE (line 26) | struct KD_TREE_NODE
  type PointType_CMP (line 50) | struct PointType_CMP{
  function operator (line 57) | bool operator < (const PointType_CMP &a)const{
  type BoxPointType (line 63) | struct BoxPointType{
  type operation_set (line 68) | enum operation_set {ADD_POINT, DELETE_POINT, DELETE_BOX, ADD_BOX, DOWNSA...
  type delete_point_storage_set (line 70) | enum delete_point_storage_set {NOT_RECORD, DELETE_POINTS_REC, MULTI_THRE...
  type Operation_Logger_Type (line 72) | struct Operation_Logger_Type{
  function class (line 79) | class MANUAL_Q{
  function class (line 94) | class MANUAL_HEAP
  function class (line 113) | class KD_TREE

FILE: include/matplotlibcpp.h
  function namespace (line 42) | namespace matplotlibcpp {
  function backend (line 265) | inline void backend(const std::string& name)
  function annotate (line 270) | inline bool annotate(std::string annotation, double x, double y)
  function namespace (line 296) | namespace detail {
  function namespace (line 779) | namespace detail {
  function fignum_exists (line 1518) | inline bool fignum_exists(long number)
  function figure_size (line 1534) | inline void figure_size(size_t w, size_t h)
  function legend (line 1556) | inline void legend()
  function legend (line 1566) | inline void legend(const std::map<std::string, std::string>& keywords)
  function xticks (line 1706) | void xticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
  function yticks (line 1755) | void yticks(const std::vector<Numeric> &ticks, const std::map<std::strin...
  function margins (line 1760) | void margins(Numeric margin)
  function margins (line 1775) | void margins(Numeric margin_x, Numeric margin_y)
  function subplot (line 1818) | inline void subplot(long nrows, long ncols, long plot_number)
  function axis (line 1904) | inline void axis(const std::string &axisstr)
  function grid (line 2064) | inline void grid(bool flag)
  function close (line 2106) | inline void close()
  function xkcd (line 2119) | inline void xkcd() {
  function draw (line 2136) | inline void draw()
  function pause (line 2150) | void pause(Numeric interval)
  function save (line 2164) | inline void save(const std::string& filename)
  function clf (line 2181) | inline void clf() {
  function cla (line 2193) | inline void cla() {
  function ion (line 2205) | inline void ion() {
  function tight_layout (line 2254) | inline void tight_layout() {
  function namespace (line 2268) | namespace detail {
  type Fallback (line 2285) | struct Fallback { void operator()(); }
  type Derived (line 2286) | struct Derived
  type dtype (line 2298) | typedef decltype(&Fallback::operator()) dtype;
  type typename (line 2306) | typedef typename is_callable_impl<std::is_class<T>::value, T>::type type;
  function false_type (line 2313) | struct plot_impl<std::false_type>
  function true_type (line 2352) | struct plot_impl<std::true_type>
  function class (line 2398) | class Plot

FILE: include/scope_timer.hpp
  class TimeConsuming (line 16) | class TimeConsuming {
    method TimeConsuming (line 20) | TimeConsuming(string msg, int repeat_time) {
    method TimeConsuming (line 27) | TimeConsuming(string msg) {
    method set_enbale (line 53) | void set_enbale(bool enable){
    method start (line 57) | void start() {
    method stop (line 61) | void stop() {

FILE: src/IMU_Processing.hpp
  function time_list (line 33) | const bool time_list(PointType &x, PointType &y) {return (x.curvature < ...
  class ImuProcess (line 36) | class ImuProcess

FILE: src/laserMapping.cpp
  function calc_dist (line 168) | float calc_dist(PointType p1, PointType p2) {
  function calcBodyVar (line 173) | void calcBodyVar(Eigen::Vector3d &pb, const float range_inc,
  function SigHandle (line 198) | void SigHandle(int sig) {
  function dump_lio_state_to_log (line 208) | inline void dump_lio_state_to_log(FILE *fp) {
  function pointBodyToWorld (line 224) | void pointBodyToWorld(PointType const *const pi, PointType *const po) {
  function pointBodyToWorld (line 238) | void pointBodyToWorld(const Matrix<T, 3, 1> &pi, Matrix<T, 3, 1> &po) {
  function RGBpointBodyToWorld (line 246) | void RGBpointBodyToWorld(PointType const *const pi, PointTypeRGB *const ...
  function points_cache_collect (line 264) | void points_cache_collect()
  function lasermap_fov_segment (line 276) | void lasermap_fov_segment()
  function livox_pcl_cbk (line 337) | void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
  function standard_pcl_cbk (line 388) | void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg)
  function sync_packages (line 436) | bool sync_packages(MeasureGroup &meas)
  function sync_packages_only_lidar (line 476) | bool sync_packages_only_lidar(MeasureGroup &meas) {
  function PointCloudXYZI (line 507) | PointCloudXYZI point3DtoPCL(std::vector<Point3D> &v_point_temp, int type)
  function PointType (line 578) | PointType point3DtoPCLPoint(Point3D& point_3d, int type)
  function iterCurrentPoint3D (line 611) | void iterCurrentPoint3D(Point3D& current_point)
  function iterCurrentPoint3D (line 629) | void iterCurrentPoint3D(Point3D& current_point, int iter_num)
  function iterCurrentPoint3D (line 653) | void iterCurrentPoint3D(Point3D& current_point, bool converge)
  function map_incremental (line 678) | void map_incremental()
  function publish_frame_world (line 729) | void publish_frame_world(const ros::Publisher &pubLaserCloudFullRes) {
  function publish_frame_body (line 786) | void publish_frame_body(const ros::Publisher &pubLaserCloudFullRes_body) {
  function publish_effect_world (line 795) | void publish_effect_world(const ros::Publisher &pubLaserCloudEffect) {
  function publish_map (line 808) | void publish_map(const ros::Publisher &pubLaserCloudMap) {
  function set_posestamp (line 817) | void set_posestamp(T &out)
  function publish_odometry (line 836) | void publish_odometry(const ros::Publisher &pubOdomAftMapped) {
  function publish_mavros (line 858) | void publish_mavros(const ros::Publisher &mavros_pose_publisher) {
  function publish_path (line 866) | void publish_path(const ros::Publisher pubPath) {
  function fileout_calib_result (line 874) | void fileout_calib_result() {
  function print_refine_result (line 893) | void print_refine_result() {
  function printProgress (line 911) | void printProgress(double percentage) {
  function subSampleFrame (line 930) | void subSampleFrame(std::vector<Point3D>& frame, double size_voxel)
  function adjustCVCov (line 952) | void adjustCVCov()
  function main (line 972) | int main(int argc, char **argv)

FILE: src/preprocess.cpp
  function time_list_cut_frame (line 6) | const bool time_list_cut_frame(PointType &x, PointType &y) {
  function time_list_cut_frame3D (line 10) | const bool time_list_cut_frame3D(Point3D &x, Point3D &y) {

FILE: src/preprocess.h
  type Feature (line 12) | enum Feature{Nor, Poss_Plane, Real_Plane, Edge_Jump, Edge_Plane, Wire, Z...
  type Surround (line 13) | enum Surround{Prev, Next}
  type E_jump (line 14) | enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind}
  type orgtype (line 18) | struct orgtype
  function Point (line 36) | struct EIGEN_ALIGN16 Point {
  function Point (line 54) | struct EIGEN_ALIGN16 Point {
  function Point (line 79) | struct EIGEN_ALIGN16 Point {
  function Point (line 98) | struct EIGEN_ALIGN16 Point {