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      <arglist></arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const</arglist>
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      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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      <type>const fuse_core::MatrixXd &amp;</type>
      <name>sqrtInformation</name>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
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      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; Euler &gt;</type>
      <name>axes_</name>
      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
      <anchor>a0d01e7a25eb5b8c440bb3cd105f8a25e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::VectorXd</type>
      <name>mean_</name>
      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
      <anchor>af54f876e41f349710b9bb50cfc808a37</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
      <name>sqrt_information_</name>
      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
      <anchor>a380ca25e1fb75503006d542137a7a570</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
      <anchor>a903ca6448a7ab6f614a8fbb5d2b470c1</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1AbsoluteOrientation3DStampedEulerConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>fuse_constraints::AbsolutePose2DStampedConstraint</name>
    <filename>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</filename>
    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type></type>
      <name>AbsolutePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a2e3a375d08b6654d2502cf76ffe25e46</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>AbsolutePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>aae371fe4e80bf7b962b16a8452cdb581</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Position2DStamped &amp;position, const fuse_variables::Orientation2DStamped &amp;orientation, const fuse_core::VectorXd &amp;partial_mean, const fuse_core::MatrixXd &amp;partial_covariance, const std::vector&lt; size_t &gt; &amp;linear_indices={fuse_variables::Position2DStamped::X, fuse_variables::Position2DStamped::Y}, const std::vector&lt; size_t &gt; &amp;angular_indices={fuse_variables::Orientation2DStamped::YAW})</arglist>
    </member>
    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a29222d627780a664be7867671f3c060a</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix3d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>abc3a351256b2b564ad8fed9bc99acd83</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a0a38a21d1fcbad761dd81b894b528631</anchor>
      <arglist>(AbsolutePose2DStampedConstraint)</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector3d &amp;</type>
      <name>mean</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a34e9d9c76ca28348a308ca0b42c3bf0d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
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      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type>const fuse_core::MatrixXd &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>afb8be4cf8ef96af73ec9491dc462ae9a</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~AbsolutePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a766cde7e908b70cbc79078998720ce1d</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector3d</type>
      <name>mean_</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a9babc78739375aac6a16ef22e5b8a083</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
      <name>sqrt_information_</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>a08d324dadd64f46208d8e39326fd934b</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>ae02f9b51343726bc3a3c273e90bbd87a</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose2DStampedConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>fuse_constraints::AbsolutePose3DStampedConstraint</name>
    <filename>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</filename>
    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type></type>
      <name>AbsolutePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ab82c8167d68b37795f0a86647b5aa375</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>AbsolutePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>a4006869d81b389eb1280edcd3ccbb7ae</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Position3DStamped &amp;position, const fuse_variables::Orientation3DStamped &amp;orientation, const fuse_core::Vector7d &amp;mean, const fuse_core::Matrix6d &amp;covariance)</arglist>
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    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>a7abeb025ab637b4eca52765fb0d82e68</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix6d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>a413496140f3aa07118b038bbb543773e</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ab96864230d618e40ad7ca6067fe0a50a</anchor>
      <arglist>(AbsolutePose3DStampedConstraint)</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector7d &amp;</type>
      <name>mean</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ade1bdf36fe4b1d592f064d68cb172daf</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>acd4f7ffdbd607a117bb0c79ea59f04fd</anchor>
      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type>const fuse_core::Matrix6d &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>a00eec7d4da5f929c7aeed42190db2862</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~AbsolutePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ab7bdedbe7b155015abb2a9a9515c645f</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector7d</type>
      <name>mean_</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>a5ef7ad630be99406d109bafb14728d0f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Matrix6d</type>
      <name>sqrt_information_</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ad781cd8ab50f31a570ed99f4f8cf3a71</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>af238577d1cc9d81299bcfc1423e39d01</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1AbsolutePose3DStampedConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>fuse_constraints::Fixed3DLandmarkConstraint</name>
    <filename>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</filename>
    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a2c5f93a906554c10631709530a5638c5</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix6d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a7e3cd49d0786c47c0d4bbbccb9393d04</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>Fixed3DLandmarkConstraint</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ae9b44854fccda328f18b1b423f9d6ba7</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>Fixed3DLandmarkConstraint</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a06397461ab197e59d701c7ec7beb2d1a</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Position3DStamped &amp;position, const fuse_variables::Orientation3DStamped &amp;orientation, const fuse_variables::PinholeCamera &amp;calibraton, const double &amp;marker_size, const fuse_core::MatrixXd &amp;observations, const fuse_core::Vector7d &amp;mean, const fuse_core::Matrix6d &amp;covariance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Fixed3DLandmarkConstraint</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a733e5458565acd593aa765d0c335b460</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Position3DStamped &amp;position, const fuse_variables::Orientation3DStamped &amp;orientation, const fuse_variables::PinholeCamera &amp;calibraton, const fuse_core::MatrixXd &amp;pts3d, const fuse_core::MatrixXd &amp;observations, const fuse_core::Vector7d &amp;mean, const fuse_core::Matrix6d &amp;covariance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a8ec92e35eb0e276bb6d720f0f59fdb3d</anchor>
      <arglist>(Fixed3DLandmarkConstraint)</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector7d &amp;</type>
      <name>mean</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ae58976358516df1a43373a29d871a006</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const fuse_core::MatrixXd &amp;</type>
      <name>observations</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>abd653956eafe3295429e1cc41f30a177</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ac548ca4cd59c1a9d428b4106e79c9b08</anchor>
      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type>const fuse_core::MatrixXd &amp;</type>
      <name>pts3d</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a350ac828ddf735fe18950acdaa6f52cf</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const fuse_core::Matrix6d &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>adaaf81246597ba6e4934ccb9f388759d</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Fixed3DLandmarkConstraint</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ad70d8d2b88821d0f2546c860fb1e98d6</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector7d</type>
      <name>mean_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>adb9e20f1655346cd193479cf0afc4aac</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
      <name>observations_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ae39fadccb2bc9b193f779caeb3b59038</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
      <name>pts3d_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a8c26a381ea6dffdc708e6c6c9c63fc0d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Matrix6d</type>
      <name>sqrt_information_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a0343f74937702620e4048d568f37a634</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>a3df5a3dd6b80666edd9f3e45988f6da2</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <filename>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</filename>
    <member kind="function">
      <type></type>
      <name>Fixed3DLandmarkCostFunctor</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>aea6e3014468a4c2e4369ecc787f3470e</anchor>
      <arglist>(const fuse_core::MatrixXd &amp;A, const fuse_core::Vector7d &amp;b, const fuse_core::MatrixXd &amp;obs, const fuse_core::MatrixXd &amp;pts3d)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Fixed3DLandmarkCostFunctor</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>ad41e76bb1839a4b6dd5c46d68b075d44</anchor>
      <arglist>(const fuse_core::MatrixXd &amp;A, const fuse_core::Vector7d &amp;b, const fuse_core::MatrixXd &amp;obs, const fuse_core::Vector1d &amp;marker_size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FUSE_MAKE_ALIGNED_OPERATOR_NEW</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>a0810139e92781c1ffcda2ea88d2b3b9a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
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      <arglist>(const T *const position, const T *const orientation, const T *const calibration, T *residual) const</arglist>
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    <member kind="variable" protection="private">
      <type>fuse_core::MatrixXd</type>
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      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>a29f36ddced0ef1a2b566231efddc3539</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>fuse_core::Vector7d</type>
      <name>b_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>aa2a79e9602dced0fc5cc91dabdb37c54</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>fuse_core::MatrixXd</type>
      <name>obs_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>NormalPriorOrientation3DCostFunctor</type>
      <name>orientation_functor_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>a58fffaa19df5c7ff5087ea75de00b220</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>fuse_core::MatrixXd</type>
      <name>pts3d_</name>
      <anchorfile>classfuse__constraints_1_1Fixed3DLandmarkCostFunctor.html</anchorfile>
      <anchor>aaa34a215d38199844fc7d0a9f52f4ac0</anchor>
      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="variable">
      <type>std::vector&lt; fuse_core::MatrixXd &gt;</type>
      <name>A</name>
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      <arglist></arglist>
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    <member kind="variable">
      <type>fuse_core::VectorXd</type>
      <name>b</name>
      <anchorfile>structfuse__constraints_1_1detail_1_1LinearTerm.html</anchorfile>
      <anchor>a36ee50a64e91d8b7740e5be3d7edb013</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; unsigned int &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <filename>classfuse__constraints_1_1MarginalConstraint.html</filename>
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      <arglist>()=default</arglist>
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      <arglist>()=default</arglist>
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      <type>std::string</type>
      <name>type</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>ad303b4c5531d8d4055af442268b5a564</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>type</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>adb6ee0196614a887fb0cfd738fe6aa45</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>type</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>ae4f935e517a98a6f7011d2b57168e144</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RelativeConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>a2e7cd659093dcc0d35a09ad2762b45c8</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::VectorXd</type>
      <name>delta_</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>aa9387178bd1de560cc7b667f16489614</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
      <name>sqrt_information_</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>aa11fe2092b7b2cfd02ff1cb6ec6f01f9</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>a0d290bd1ab0a0f0cdfef1374945d1bdf</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
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      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1RelativeConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>fuse_constraints::RelativeOrientation3DStampedConstraint</name>
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    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>a18be3f4badb7eb41314294c991a892a5</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix3d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>a9d0105d996f5fbc60e44460ffd5ba33a</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector4d &amp;</type>
      <name>delta</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>a2f8a8175d7b0375eca5f2d06e6f908fd</anchor>
      <arglist>(RelativeOrientation3DStampedConstraint)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativeOrientation3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>a28269fb678a5522b0f81afe030bf1ede</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativeOrientation3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>ac27381a6a8c460e24bb4fb80a721da71</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Orientation3DStamped &amp;orientation1, const fuse_variables::Orientation3DStamped &amp;orientation2, const Eigen::Quaterniond &amp;delta, const fuse_core::Matrix3d &amp;covariance)</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativeOrientation3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(const std::string &amp;source, const fuse_variables::Orientation3DStamped &amp;orientation1, const fuse_variables::Orientation3DStamped &amp;orientation2, const fuse_core::Vector4d &amp;delta, const fuse_core::Matrix3d &amp;covariance)</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativeOrientation3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(const std::string &amp;source, const fuse_variables::Orientation3DStamped &amp;orientation1, const fuse_variables::Orientation3DStamped &amp;orientation2, const geometry_msgs::Quaternion &amp;delta, const std::array&lt; double, 9 &gt; &amp;covariance)</arglist>
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    <member kind="function">
      <type>const fuse_core::Matrix3d &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RelativeOrientation3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>()=default</arglist>
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    <member kind="function" protection="protected" static="yes">
      <type>static fuse_core::Vector4d</type>
      <name>toEigen</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(const Eigen::Quaterniond &amp;quaternion)</arglist>
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    <member kind="function" protection="protected" static="yes">
      <type>static fuse_core::Vector4d</type>
      <name>toEigen</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(const geometry_msgs::Quaternion &amp;quaternion)</arglist>
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    <member kind="function" protection="protected" static="yes">
      <type>static fuse_core::Matrix3d</type>
      <name>toEigen</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(const std::array&lt; double, 9 &gt; &amp;covariance)</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector4d</type>
      <name>delta_</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>ac444b137460ccbe27256784523858592</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Matrix3d</type>
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      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
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      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1RelativeOrientation3DStampedConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>fuse_constraints::RelativePose2DStampedConstraint</name>
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    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>a11d3929a9a10a8cb8ae5b6f45a04dbbb</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix3d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>ae83796ab51d2148c49891a89840e86ce</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector3d &amp;</type>
      <name>delta</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>ad21fd755969daa9cae7737bf8fe3dd8a</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>afc2d7a4bdb9ca863f3908692e0289d55</anchor>
      <arglist>(RelativePose2DStampedConstraint)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>ac7ae1bb2c1963878b53312453d659c16</anchor>
      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>ab8ebb51b5c82ba390957f7605c58490b</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>af6313f3e8f7bdcef40e74ebab96a6a05</anchor>
      <arglist>(const std::string &amp;source, const fuse_variables::Position2DStamped &amp;position1, const fuse_variables::Orientation2DStamped &amp;orientation1, const fuse_variables::Position2DStamped &amp;position2, const fuse_variables::Orientation2DStamped &amp;orientation2, const fuse_core::VectorXd &amp;partial_delta, const fuse_core::MatrixXd &amp;partial_covariance, const std::vector&lt; size_t &gt; &amp;linear_indices={fuse_variables::Position2DStamped::X, fuse_variables::Position2DStamped::Y}, const std::vector&lt; size_t &gt; &amp;angular_indices={fuse_variables::Orientation2DStamped::YAW})</arglist>
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    <member kind="function">
      <type>const fuse_core::MatrixXd &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RelativePose2DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>a4622641ca151fe64707f26bd8547a628</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector3d</type>
      <name>delta_</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>a417a34b8d1625fa8c0672a0b4d704a86</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::MatrixXd</type>
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      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>a3a5f1f5305657c79ed6ab935256a8995</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>a24f544194951563a7ab708963b8e5452</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
      <type>friend class</type>
      <name>boost::serialization::access</name>
      <anchorfile>classfuse__constraints_1_1RelativePose2DStampedConstraint.html</anchorfile>
      <anchor>ac98d07dd8f7b70e16ccb9a01abf56b9c</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <base>fuse_core::Constraint</base>
    <member kind="function">
      <type>ceres::CostFunction *</type>
      <name>costFunction</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>a7c4d1d7f102a148de279089efc6ea26c</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>fuse_core::Matrix6d</type>
      <name>covariance</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>add4b447848ee241a26e892605639d727</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const fuse_core::Vector7d &amp;</type>
      <name>delta</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>a8449c2d748e3e3d6bce454d898b65b59</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>ac60a9195394e4d69f922148f7034d81c</anchor>
      <arglist>(RelativePose3DStampedConstraint)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>print</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist>(std::ostream &amp;stream=std::cout) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>af54724b2ad781c5ea844defeb341266d</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>RelativePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist>(const std::string &amp;source, const fuse_variables::Position3DStamped &amp;position1, const fuse_variables::Orientation3DStamped &amp;orientation1, const fuse_variables::Position3DStamped &amp;position2, const fuse_variables::Orientation3DStamped &amp;orientation2, const fuse_core::Vector7d &amp;delta, const fuse_core::Matrix6d &amp;covariance)</arglist>
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    <member kind="function">
      <type>const fuse_core::Matrix6d &amp;</type>
      <name>sqrtInformation</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RelativePose3DStampedConstraint</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Vector7d</type>
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      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>a3c83c9bd4b18b88f5b45428c130e59b2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>fuse_core::Matrix6d</type>
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      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>serialize</name>
      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
      <anchor>af2bef1a0474d5e61027a4cb15e4ef43f</anchor>
      <arglist>(Archive &amp;archive, const unsigned int)</arglist>
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    <member kind="friend">
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      <anchorfile>classfuse__constraints_1_1RelativePose3DStampedConstraint.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <filename>classfuse__constraints_1_1UuidOrdering.html</filename>
    <member kind="function">
      <type>unsigned int</type>
      <name>at</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>(const fuse_core::UUID &amp;uuid) const</arglist>
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    <member kind="function">
      <type>const fuse_core::UUID &amp;</type>
      <name>at</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>(const unsigned int index) const</arglist>
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    <member kind="function">
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      <arglist>() const</arglist>
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    <member kind="function">
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      <arglist>(const fuse_core::UUID &amp;uuid) const</arglist>
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      <name>exists</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>(const unsigned int index) const</arglist>
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      <arglist>(const fuse_core::UUID &amp;uuid)</arglist>
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    <member kind="function">
      <type>const fuse_core::UUID &amp;</type>
      <name>operator[]</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>(const unsigned int index) const</arglist>
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      <name>push_back</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>(const fuse_core::UUID &amp;uuid)</arglist>
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    <member kind="function">
      <type>size_t</type>
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      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>UuidOrdering</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
      <anchor>afb30848e82e36d4096d81876fa7f11f5</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
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      <name>UuidOrdering</name>
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      <anchor>a7db0b72768e3a8b6352c375faede5a61</anchor>
      <arglist>(std::initializer_list&lt; fuse_core::UUID &gt; uuid_list)</arglist>
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    <member kind="function">
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      <name>UuidOrdering</name>
      <anchorfile>classfuse__constraints_1_1UuidOrdering.html</anchorfile>
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