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<li class="toctree-l1"><a class="reference internal" href="tutorials/sympy_tutorial.html">SymPy Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/geometry_tutorial.html">Geometry Tutorial</a></li>
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<li class="toctree-l1"><a class="reference internal" href="tutorials/optimization_tutorial.html">Optimization Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/epsilon_tutorial.html">Epsilon Tutorial</a></li>
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<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
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<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment/README.html">Bundle Adjustment</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment_fixed_size/README.html">Fixed Size Bundle Adjustment</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment_in_the_large/README.html">Bundle-Adjustment-in-the-Large</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/custom_factor_generation/README.html">Custom Factor Generation</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/robot_2d_localization/README.html">Robot 2D Localization</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/robot_3d_localization/README.html">Robot 3D Localization</a></li>
</ul>
<p class="caption" role="heading"><span class="caption-text">symforce Reference</span></p>
<ul>
<li class="toctree-l1 has-children"><a class="reference internal" href="api/symforce.html">symforce package</a><input aria-label="Toggle navigation of symforce package" class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" role="switch" type="checkbox"/><label for="toctree-checkbox-1"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
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</ul>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.benchmarks.matrix_multiplication.html">symforce.benchmarks.matrix_multiplication package</a><input aria-label="Toggle navigation of symforce.benchmarks.matrix_multiplication package" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" role="switch" type="checkbox"/><label for="toctree-checkbox-4"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html">symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark module</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.benchmarks.robot_3d_localization.html">symforce.benchmarks.robot_3d_localization package</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.benchmarks.run_benchmarks.html">symforce.benchmarks.run_benchmarks module</a></li>
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<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.camera.html">symforce.cam.camera module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.camera_cal.html">symforce.cam.camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.camera_util.html">symforce.cam.camera_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.double_sphere_camera_cal.html">symforce.cam.double_sphere_camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.equirectangular_camera_cal.html">symforce.cam.equirectangular_camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.linear_camera_cal.html">symforce.cam.linear_camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.orthographic_camera_cal.html">symforce.cam.orthographic_camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.polynomial_camera_cal.html">symforce.cam.polynomial_camera_cal module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.posed_camera.html">symforce.cam.posed_camera module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.spherical_camera_cal.html">symforce.cam.spherical_camera_cal module</a></li>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.caspar.memory.dtype.html">symforce.caspar.memory.dtype module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.caspar.memory.layouts.html">symforce.caspar.memory.layouts module</a></li>
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</ul>
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<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.cpp.cpp_code_printer.html">symforce.codegen.backends.cpp.cpp_code_printer module</a></li>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.cpp.cpp_config.html">symforce.codegen.backends.cpp.cpp_config module</a></li>
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<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.cuda.cuda_config.html">symforce.codegen.backends.cuda.cuda_config module</a></li>
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<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.python.generate_module_init.html">symforce.codegen.backends.python.generate_module_init module</a></li>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.python.python_code_printer.html">symforce.codegen.backends.python.python_code_printer module</a></li>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.python.python_config.html">symforce.codegen.backends.python.python_config module</a></li>
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<li class="toctree-l4 has-children"><a class="reference internal" href="api/symforce.codegen.backends.pytorch.html">symforce.codegen.backends.pytorch package</a><input aria-label="Toggle navigation of symforce.codegen.backends.pytorch package" class="toctree-checkbox" id="toctree-checkbox-13" name="toctree-checkbox-13" role="switch" type="checkbox"/><label for="toctree-checkbox-13"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
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<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.pytorch.pytorch_config.html">symforce.codegen.backends.pytorch.pytorch_config module</a></li>
</ul>
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<li class="toctree-l4 has-children"><a class="reference internal" href="api/symforce.codegen.backends.rust.html">symforce.codegen.backends.rust package</a><input aria-label="Toggle navigation of symforce.codegen.backends.rust package" class="toctree-checkbox" id="toctree-checkbox-14" name="toctree-checkbox-14" role="switch" type="checkbox"/><label for="toctree-checkbox-14"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.rust.rust_code_printer.html">symforce.codegen.backends.rust.rust_code_printer module</a></li>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.rust.rust_config.html">symforce.codegen.backends.rust.rust_config module</a></li>
</ul>
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<li class="toctree-l4 has-children"><a class="reference internal" href="api/symforce.codegen.backends.typescript.html">symforce.codegen.backends.typescript package</a><input aria-label="Toggle navigation of symforce.codegen.backends.typescript package" class="toctree-checkbox" id="toctree-checkbox-15" name="toctree-checkbox-15" role="switch" type="checkbox"/><label for="toctree-checkbox-15"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.typescript.typescript_code_printer.html">symforce.codegen.backends.typescript.typescript_code_printer module</a></li>
<li class="toctree-l5"><a class="reference internal" href="api/symforce.codegen.backends.typescript.typescript_config.html">symforce.codegen.backends.typescript.typescript_config module</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.cam_package_codegen.html">symforce.codegen.cam_package_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.codegen.html">symforce.codegen.codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.codegen_config.html">symforce.codegen.codegen_config module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.codegen_util.html">symforce.codegen.codegen_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.format_util.html">symforce.codegen.format_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.geo_factors_codegen.html">symforce.codegen.geo_factors_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.geo_package_codegen.html">symforce.codegen.geo_package_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.lcm_types_codegen.html">symforce.codegen.lcm_types_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.ops_codegen_util.html">symforce.codegen.ops_codegen_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.similarity_index.html">symforce.codegen.similarity_index module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.slam_factors_codegen.html">symforce.codegen.slam_factors_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.sym_util_package_codegen.html">symforce.codegen.sym_util_package_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.template_util.html">symforce.codegen.template_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.types_package_codegen.html">symforce.codegen.types_package_codegen module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.codegen.values_codegen.html">symforce.codegen.values_codegen module</a></li>
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<li class="toctree-l3"><a class="reference internal" href="api/symforce.examples.bundle_adjustment.html">symforce.examples.bundle_adjustment package</a></li>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.examples.bundle_adjustment_fixed_size.build_values.html">symforce.examples.bundle_adjustment_fixed_size.build_values module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem.html">symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.examples.bundle_adjustment_in_the_large.html">symforce.examples.bundle_adjustment_in_the_large package</a><input aria-label="Toggle navigation of symforce.examples.bundle_adjustment_in_the_large package" class="toctree-checkbox" id="toctree-checkbox-18" name="toctree-checkbox-18" role="switch" type="checkbox"/><label for="toctree-checkbox-18"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.examples.bundle_adjustment_in_the_large.download_dataset.html">symforce.examples.bundle_adjustment_in_the_large.download_dataset module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.examples.custom_factor_generation.html">symforce.examples.custom_factor_generation package</a><input aria-label="Toggle navigation of symforce.examples.custom_factor_generation package" class="toctree-checkbox" id="toctree-checkbox-19" name="toctree-checkbox-19" role="switch" type="checkbox"/><label for="toctree-checkbox-19"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.examples.custom_factor_generation.factor_residuals.html">symforce.examples.custom_factor_generation.factor_residuals module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.examples.custom_factor_generation.generate_factors.html">symforce.examples.custom_factor_generation.generate_factors module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.examples.robot_2d_localization.html">symforce.examples.robot_2d_localization package</a><input aria-label="Toggle navigation of symforce.examples.robot_2d_localization package" class="toctree-checkbox" id="toctree-checkbox-20" name="toctree-checkbox-20" role="switch" type="checkbox"/><label for="toctree-checkbox-20"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.examples.robot_3d_localization.html">symforce.examples.robot_3d_localization package</a><input aria-label="Toggle navigation of symforce.examples.robot_3d_localization package" class="toctree-checkbox" id="toctree-checkbox-21" name="toctree-checkbox-21" role="switch" type="checkbox"/><label for="toctree-checkbox-21"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.geo.unsupported.pose3_se3.html">symforce.geo.unsupported.pose3_se3 module</a></li>
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<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.complex.html">symforce.geo.complex module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.dual_quaternion.html">symforce.geo.dual_quaternion module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.matrix.html">symforce.geo.matrix module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.pose2.html">symforce.geo.pose2 module</a></li>
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<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.quaternion.html">symforce.geo.quaternion module</a></li>
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<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.rot3.html">symforce.geo.rot3 module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.geo.unit3.html">symforce.geo.unit3 module</a></li>
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</ul>
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<li class="toctree-l2 has-children"><a class="reference internal" href="api/symforce.ops.html">symforce.ops package</a><input aria-label="Toggle navigation of symforce.ops package" class="toctree-checkbox" id="toctree-checkbox-25" name="toctree-checkbox-25" role="switch" type="checkbox"/><label for="toctree-checkbox-25"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.ops.impl.html">symforce.ops.impl package</a><input aria-label="Toggle navigation of symforce.ops.impl package" class="toctree-checkbox" id="toctree-checkbox-26" name="toctree-checkbox-26" role="switch" type="checkbox"/><label for="toctree-checkbox-26"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.abstract_storage_ops.html">symforce.ops.impl.abstract_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.abstract_vector_group_ops.html">symforce.ops.impl.abstract_vector_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.abstract_vector_lie_group_ops.html">symforce.ops.impl.abstract_vector_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.array_lie_group_ops.html">symforce.ops.impl.array_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.array_storage_ops.html">symforce.ops.impl.array_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.class_group_ops.html">symforce.ops.impl.class_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.class_lie_group_ops.html">symforce.ops.impl.class_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.class_storage_ops.html">symforce.ops.impl.class_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.databuffer_storage_ops.html">symforce.ops.impl.databuffer_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.dataclass_group_ops.html">symforce.ops.impl.dataclass_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.dataclass_lie_group_ops.html">symforce.ops.impl.dataclass_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.dataclass_storage_ops.html">symforce.ops.impl.dataclass_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.nonetype_lie_group_ops.html">symforce.ops.impl.nonetype_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.scalar_lie_group_ops.html">symforce.ops.impl.scalar_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.sequence_group_ops.html">symforce.ops.impl.sequence_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.sequence_lie_group_ops.html">symforce.ops.impl.sequence_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.sequence_storage_ops.html">symforce.ops.impl.sequence_storage_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.sym_class_lie_group_ops.html">symforce.ops.impl.sym_class_lie_group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.vector_class_lie_group_ops.html">symforce.ops.impl.vector_class_lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.ops.interfaces.html">symforce.ops.interfaces package</a><input aria-label="Toggle navigation of symforce.ops.interfaces package" class="toctree-checkbox" id="toctree-checkbox-27" name="toctree-checkbox-27" role="switch" type="checkbox"/><label for="toctree-checkbox-27"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.interfaces.group.html">symforce.ops.interfaces.group module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.interfaces.lie_group.html">symforce.ops.interfaces.lie_group module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.interfaces.storage.html">symforce.ops.interfaces.storage module</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.ops.group_ops.html">symforce.ops.group_ops module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.ops.lie_group_ops.html">symforce.ops.lie_group_ops module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.ops.ops.html">symforce.ops.ops module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.ops.storage_ops.html">symforce.ops.storage_ops module</a></li>
</ul>
</li>
<li class="toctree-l2 has-children"><a class="reference internal" href="api/symforce.opt.html">symforce.opt package</a><input aria-label="Toggle navigation of symforce.opt package" class="toctree-checkbox" id="toctree-checkbox-28" name="toctree-checkbox-28" role="switch" type="checkbox"/><label for="toctree-checkbox-28"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.opt.objectives.html">symforce.opt.objectives package</a><input aria-label="Toggle navigation of symforce.opt.objectives package" class="toctree-checkbox" id="toctree-checkbox-29" name="toctree-checkbox-29" role="switch" type="checkbox"/><label for="toctree-checkbox-29"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.opt.objectives.min_max_barrier_objective.html">symforce.opt.objectives.min_max_barrier_objective module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.opt.objectives.norm_barrier_objective.html">symforce.opt.objectives.norm_barrier_objective module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.opt.objectives.prior_value_objective.html">symforce.opt.objectives.prior_value_objective module</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.barrier_functions.html">symforce.opt.barrier_functions module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.factor.html">symforce.opt.factor module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.noise_models.html">symforce.opt.noise_models module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.numeric_factor.html">symforce.opt.numeric_factor module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.objective.html">symforce.opt.objective module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.optimization_problem.html">symforce.opt.optimization_problem module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.optimizer.html">symforce.opt.optimizer module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.optimizer_params.html">symforce.opt.optimizer_params module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.residual_block.html">symforce.opt.residual_block module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.sub_problem.html">symforce.opt.sub_problem module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.opt.timestep_sub_problem.html">symforce.opt.timestep_sub_problem module</a></li>
</ul>
</li>
<li class="toctree-l2 has-children"><a class="reference internal" href="api/symforce.slam.html">symforce.slam package</a><input aria-label="Toggle navigation of symforce.slam package" class="toctree-checkbox" id="toctree-checkbox-30" name="toctree-checkbox-30" role="switch" type="checkbox"/><label for="toctree-checkbox-30"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.slam.imu_preintegration.html">symforce.slam.imu_preintegration package</a><input aria-label="Toggle navigation of symforce.slam.imu_preintegration package" class="toctree-checkbox" id="toctree-checkbox-31" name="toctree-checkbox-31" role="switch" type="checkbox"/><label for="toctree-checkbox-31"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.slam.imu_preintegration.generate.html">symforce.slam.imu_preintegration.generate module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.slam.imu_preintegration.manifold_symbolic.html">symforce.slam.imu_preintegration.manifold_symbolic module</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 has-children"><a class="reference internal" href="api/symforce.test_util.html">symforce.test_util package</a><input aria-label="Toggle navigation of symforce.test_util package" class="toctree-checkbox" id="toctree-checkbox-32" name="toctree-checkbox-32" role="switch" type="checkbox"/><label for="toctree-checkbox-32"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3 has-children"><a class="reference internal" href="api/symforce.test_util.random_expressions.html">symforce.test_util.random_expressions package</a><input aria-label="Toggle navigation of symforce.test_util.random_expressions package" class="toctree-checkbox" id="toctree-checkbox-33" name="toctree-checkbox-33" role="switch" type="checkbox"/><label for="toctree-checkbox-33"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.test_util.random_expressions.op_probabilities.html">symforce.test_util.random_expressions.op_probabilities module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api/symforce.test_util.random_expressions.unary_binary_expression_gen.html">symforce.test_util.random_expressions.unary_binary_expression_gen module</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.backend_coverage_expressions.html">symforce.test_util.backend_coverage_expressions module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.cam_cal_test_mixin.html">symforce.test_util.cam_cal_test_mixin module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.cam_test_mixin.html">symforce.test_util.cam_test_mixin module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.epsilon_handling.html">symforce.test_util.epsilon_handling module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.group_ops_test_mixin.html">symforce.test_util.group_ops_test_mixin module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.lie_group_ops_test_mixin.html">symforce.test_util.lie_group_ops_test_mixin module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.storage_ops_test_mixin.html">symforce.test_util.storage_ops_test_mixin module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.stubs_util.html">symforce.test_util.stubs_util module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.test_case.html">symforce.test_util.test_case module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.test_util.test_case_mixin.html">symforce.test_util.test_case_mixin module</a></li>
</ul>
</li>
<li class="toctree-l2 has-children"><a class="reference internal" href="api/symforce.values.html">symforce.values package</a><input aria-label="Toggle navigation of symforce.values package" class="toctree-checkbox" id="toctree-checkbox-34" name="toctree-checkbox-34" role="switch" type="checkbox"/><label for="toctree-checkbox-34"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.values.attr_accessor.html">symforce.values.attr_accessor module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.values.generated_key_selection.html">symforce.values.generated_key_selection module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.values.index_entry.html">symforce.values.index_entry module</a></li>
<li class="toctree-l3"><a class="reference internal" href="api/symforce.values.values.html">symforce.values.values module</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.cc_sym.html">symforce.cc_sym module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.databuffer.html">symforce.databuffer module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.jacobian_helpers.html">symforce.jacobian_helpers module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.logic.html">symforce.logic module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.notebook_util.html">symforce.notebook_util module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.path_util.html">symforce.path_util module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.python_util.html">symforce.python_util module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.symbolic.html">symforce.symbolic module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.type_helpers.html">symforce.type_helpers module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.typing.html">symforce.typing module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.typing_util.html">symforce.typing_util module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api/symforce.util.html">symforce.util module</a></li>
</ul>
</li>
</ul>
<p class="caption" role="heading"><span class="caption-text">sym Python Reference</span></p>
<ul>
<li class="toctree-l1 has-children"><a class="reference internal" href="api-gen-py/sym.html">sym package</a><input aria-label="Toggle navigation of sym package" class="toctree-checkbox" id="toctree-checkbox-35" name="toctree-checkbox-35" role="switch" type="checkbox"/><label for="toctree-checkbox-35"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l2 has-children"><a class="reference internal" href="api-gen-py/sym.ops.html">sym.ops package</a><input aria-label="Toggle navigation of sym.ops package" class="toctree-checkbox" id="toctree-checkbox-36" name="toctree-checkbox-36" role="switch" type="checkbox"/><label for="toctree-checkbox-36"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.atan_camera_cal.html">sym.ops.atan_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.atan_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-37" name="toctree-checkbox-37" role="switch" type="checkbox"/><label for="toctree-checkbox-37"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.atan_camera_cal.camera_ops.html">sym.ops.atan_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.atan_camera_cal.group_ops.html">sym.ops.atan_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.atan_camera_cal.lie_group_ops.html">sym.ops.atan_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.html">sym.ops.double_sphere_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.double_sphere_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-38" name="toctree-checkbox-38" role="switch" type="checkbox"/><label for="toctree-checkbox-38"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.camera_ops.html">sym.ops.double_sphere_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.group_ops.html">sym.ops.double_sphere_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.lie_group_ops.html">sym.ops.double_sphere_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.equirectangular_camera_cal.html">sym.ops.equirectangular_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.equirectangular_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-39" name="toctree-checkbox-39" role="switch" type="checkbox"/><label for="toctree-checkbox-39"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.equirectangular_camera_cal.camera_ops.html">sym.ops.equirectangular_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.equirectangular_camera_cal.group_ops.html">sym.ops.equirectangular_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.equirectangular_camera_cal.lie_group_ops.html">sym.ops.equirectangular_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.linear_camera_cal.html">sym.ops.linear_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.linear_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-40" name="toctree-checkbox-40" role="switch" type="checkbox"/><label for="toctree-checkbox-40"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.linear_camera_cal.camera_ops.html">sym.ops.linear_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.linear_camera_cal.group_ops.html">sym.ops.linear_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.linear_camera_cal.lie_group_ops.html">sym.ops.linear_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.orthographic_camera_cal.html">sym.ops.orthographic_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.orthographic_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-41" name="toctree-checkbox-41" role="switch" type="checkbox"/><label for="toctree-checkbox-41"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.orthographic_camera_cal.camera_ops.html">sym.ops.orthographic_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.orthographic_camera_cal.group_ops.html">sym.ops.orthographic_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.orthographic_camera_cal.lie_group_ops.html">sym.ops.orthographic_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.polynomial_camera_cal.html">sym.ops.polynomial_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.polynomial_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-42" name="toctree-checkbox-42" role="switch" type="checkbox"/><label for="toctree-checkbox-42"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.polynomial_camera_cal.camera_ops.html">sym.ops.polynomial_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.polynomial_camera_cal.group_ops.html">sym.ops.polynomial_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.polynomial_camera_cal.lie_group_ops.html">sym.ops.polynomial_camera_cal.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.pose2.html">sym.ops.pose2 package</a><input aria-label="Toggle navigation of sym.ops.pose2 package" class="toctree-checkbox" id="toctree-checkbox-43" name="toctree-checkbox-43" role="switch" type="checkbox"/><label for="toctree-checkbox-43"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.pose2.group_ops.html">sym.ops.pose2.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.pose2.lie_group_ops.html">sym.ops.pose2.lie_group_ops module</a></li>
</ul>
</li>
<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.pose3.html">sym.ops.pose3 package</a><input aria-label="Toggle navigation of sym.ops.pose3 package" class="toctree-checkbox" id="toctree-checkbox-44" name="toctree-checkbox-44" role="switch" type="checkbox"/><label for="toctree-checkbox-44"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.pose3.group_ops.html">sym.ops.pose3.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.pose3.lie_group_ops.html">sym.ops.pose3.lie_group_ops module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.rot2.html">sym.ops.rot2 package</a><input aria-label="Toggle navigation of sym.ops.rot2 package" class="toctree-checkbox" id="toctree-checkbox-45" name="toctree-checkbox-45" role="switch" type="checkbox"/><label for="toctree-checkbox-45"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.rot2.group_ops.html">sym.ops.rot2.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.rot2.lie_group_ops.html">sym.ops.rot2.lie_group_ops module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.rot3.html">sym.ops.rot3 package</a><input aria-label="Toggle navigation of sym.ops.rot3 package" class="toctree-checkbox" id="toctree-checkbox-46" name="toctree-checkbox-46" role="switch" type="checkbox"/><label for="toctree-checkbox-46"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.rot3.group_ops.html">sym.ops.rot3.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.rot3.lie_group_ops.html">sym.ops.rot3.lie_group_ops module</a></li>
</ul>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.spherical_camera_cal.html">sym.ops.spherical_camera_cal package</a><input aria-label="Toggle navigation of sym.ops.spherical_camera_cal package" class="toctree-checkbox" id="toctree-checkbox-47" name="toctree-checkbox-47" role="switch" type="checkbox"/><label for="toctree-checkbox-47"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.spherical_camera_cal.camera_ops.html">sym.ops.spherical_camera_cal.camera_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.spherical_camera_cal.group_ops.html">sym.ops.spherical_camera_cal.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.spherical_camera_cal.lie_group_ops.html">sym.ops.spherical_camera_cal.lie_group_ops module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.unit3.html">sym.ops.unit3 package</a><input aria-label="Toggle navigation of sym.ops.unit3 package" class="toctree-checkbox" id="toctree-checkbox-48" name="toctree-checkbox-48" role="switch" type="checkbox"/><label for="toctree-checkbox-48"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.unit3.group_ops.html">sym.ops.unit3.group_ops module</a></li>
<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.unit3.lie_group_ops.html">sym.ops.unit3.lie_group_ops module</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.atan_camera_cal.html">sym.atan_camera_cal module</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.equirectangular_camera_cal.html">sym.equirectangular_camera_cal module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.linear_camera_cal.html">sym.linear_camera_cal module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.orthographic_camera_cal.html">sym.orthographic_camera_cal module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.polynomial_camera_cal.html">sym.polynomial_camera_cal module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.pose2.html">sym.pose2 module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.pose3.html">sym.pose3 module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.rot2.html">sym.rot2 module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.rot3.html">sym.rot3 module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.spherical_camera_cal.html">sym.spherical_camera_cal module</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.unit3.html">sym.unit3 module</a></li>
</ul>
</li>
</ul>
<p class="caption" role="heading"><span class="caption-text">sym C++ Reference</span></p>
<ul>
<li class="toctree-l1 has-children"><a class="reference internal" href="api-gen-cpp/classlist.html">Class list</a><input aria-label="Toggle navigation of Class list" class="toctree-checkbox" id="toctree-checkbox-49" name="toctree-checkbox-49" role="switch" type="checkbox"/><label for="toctree-checkbox-49"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1ATANCameraCal.html">Class sym::ATANCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Camera.html">Class sym::Camera</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1DoubleSphereCameraCal.html">Class sym::DoubleSphereCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1EquirectangularCameraCal.html">Class sym::EquirectangularCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1LinearCameraCal.html">Class sym::LinearCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1OrthographicCameraCal.html">Class sym::OrthographicCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1PolynomialCameraCal.html">Class sym::PolynomialCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Pose2.html">Class sym::Pose2</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Pose3.html">Class sym::Pose3</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1PosedCamera.html">Class sym::PosedCamera</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Rot2.html">Class sym::Rot2</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Rot3.html">Class sym::Rot3</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1SphericalCameraCal.html">Class sym::SphericalCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Unit3.html">Class sym::Unit3</a></li>
</ul>
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<li class="toctree-l1 has-children"><a class="reference internal" href="api-gen-cpp/filelist.html">File list</a><input aria-label="Toggle navigation of File list" class="toctree-checkbox" id="toctree-checkbox-50" name="toctree-checkbox-50" role="switch" type="checkbox"/><label for="toctree-checkbox-50"><span class="icon"><svg><use href="#svg-arrow-right"></use></svg></span></label><ul>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/all__cam__types_8h.html">File all_cam_types.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/all__geo__types_8h.html">File all_geo_types.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_8cc.html">File atan_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__camera__cal_8h.html">File atan_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/atan__reprojection__delta_8h.html">File atan_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__atan__camera__cal_8h.html">File between_factor_atan_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__double__sphere__camera__cal_8h.html">File between_factor_double_sphere_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__equirectangular__camera__cal_8h.html">File between_factor_equirectangular_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__linear__camera__cal_8h.html">File between_factor_linear_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__matrix31_8h.html">File between_factor_matrix31.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__orthographic__camera__cal_8h.html">File between_factor_orthographic_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__polynomial__camera__cal_8h.html">File between_factor_polynomial_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__pose2_8h.html">File between_factor_pose2.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__pose3_8h.html">File between_factor_pose3.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__pose3__position_8h.html">File between_factor_pose3_position.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__pose3__rotation_8h.html">File between_factor_pose3_rotation.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__pose3__translation__norm_8h.html">File between_factor_pose3_translation_norm.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__rot2_8h.html">File between_factor_rot2.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__rot3_8h.html">File between_factor_rot3.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/between__factor__spherical__camera__cal_8h.html">File between_factor_spherical_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/camera_8h.html">File camera.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_8cc.html">File double_sphere_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_8h.html">File double_sphere_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__reprojection__delta_8h.html">File double_sphere_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/epsilon_8cc.html">File epsilon.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/epsilon_8h.html">File epsilon.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_8cc.html">File equirectangular_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_8h.html">File equirectangular_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__reprojection__delta_8h.html">File equirectangular_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/imu__manifold__preintegration__update_8h.html">File imu_manifold_preintegration_update.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/imu__manifold__preintegration__update__auto__derivative_8h.html">File imu_manifold_preintegration_update_auto_derivative.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/internal__imu__factor_8h.html">File internal_imu_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/internal__imu__unit__gravity__factor_8h.html">File internal_imu_unit_gravity_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/internal__imu__with__gravity__factor_8h.html">File internal_imu_with_gravity_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__atan__gnc__factor_8h.html">File inverse_range_landmark_atan_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__double__sphere__gnc__factor_8h.html">File inverse_range_landmark_double_sphere_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__equirectangular__gnc__factor_8h.html">File inverse_range_landmark_equirectangular_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html">File inverse_range_landmark_linear_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__orthographic__gnc__factor_8h.html">File inverse_range_landmark_orthographic_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html">File inverse_range_landmark_polynomial_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__prior__factor_8h.html">File inverse_range_landmark_prior_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__spherical__gnc__factor_8h.html">File inverse_range_landmark_spherical_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_8cc.html">File linear_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_8h.html">File linear_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__reprojection__delta_8h.html">File linear_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_8cc.html">File orthographic_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_8h.html">File orthographic_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__reprojection__delta_8h.html">File orthographic_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
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<p class="caption" role="heading"><span class="caption-text">opt C++ Reference</span></p>
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<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classEigen_1_1DenseBase.html">Class Eigen::DenseBase</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1SparseSchurSolver.html">Class sym::SparseSchurSolver</a></li>
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<section id="symforce-cc-sym-module">
<h1>symforce.cc_sym module<a class="headerlink" href="#symforce-cc-sym-module" title="Link to this heading">¶</a></h1>
<p id="module-cc_sym">This module wraps many of the C++ optimization classes.</p>
<dl class="py class">
<dt class="sig sig-object py" id="cc_sym.Factor">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Factor</span></span><a class="headerlink" href="#cc_sym.Factor" title="Link to this definition">¶</a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">pybind11_object</span></code></p>
<p>A residual term for optimization.</p>
<p>Created from a function and a set of Keys that act as inputs. Given a Values as an evaluation
point, generates a linear approximation to the residual function.</p>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.all_keys">
<span class="sig-name descname"><span class="pre">all_keys</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Factor" title="cc_sym.Factor"><span class="pre">cc_sym.Factor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/builtins/stdtypes.html#list" title="(in Python v3.14)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#cc_sym.Key" title="cc_sym.Key"><span class="pre">cc_sym.Key</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#cc_sym.Factor.all_keys" title="Link to this definition">¶</a></dt>
<dd><p>Get all keys required to evaluate this factor.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.is_sparse">
<span class="sig-name descname"><span class="pre">is_sparse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Factor" title="cc_sym.Factor"><span class="pre">cc_sym.Factor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/builtins/functions.html#bool" title="(in Python v3.14)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#cc_sym.Factor.is_sparse" title="Link to this definition">¶</a></dt>
<dd><p>Does this factor use a sparse jacobian/hessian matrix?</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.jacobian">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">jacobian</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#cc_sym.Factor.jacobian" title="Link to this definition">¶</a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>jacobian(jacobian_func: collections.abc.Callable[[cc_sym.Values, collections.abc.Sequence[lcmtypes.sym._index_entry_t.index_entry_t]], tuple], keys: collections.abc.Sequence[cc_sym.Key], sparse: bool = False) -> cc_sym.Factor</p>
<blockquote>
<div><p>Create from a function that computes the jacobian. The hessian will be computed using the
Gauss Newton approximation:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">H</span> <span class="o">=</span> <span class="n">J</span><span class="o">.</span><span class="n">T</span> <span class="o">*</span> <span class="n">J</span>
<span class="n">rhs</span> <span class="o">=</span> <span class="n">J</span><span class="o">.</span><span class="n">T</span> <span class="o">*</span> <span class="n">b</span>
</pre></div>
</div>
<dl class="simple">
<dt>Args:</dt><dd><p>keys: The set of input arguments, in order, accepted by func.
sparse: Create a sparse factor if True, dense factor if false. Defaults to dense.</p>
</dd>
<dt>Precondition:</dt><dd><p>The jacobian returned by jacobian_func has type scipy.sparse.csc_matrix if and only if sparse = True.</p>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>jacobian(jacobian_func: collections.abc.Callable[[cc_sym.Values, collections.abc.Sequence[lcmtypes.sym._index_entry_t.index_entry_t]], tuple], keys_to_func: collections.abc.Sequence[cc_sym.Key], keys_to_optimize: collections.abc.Sequence[cc_sym.Key], sparse: bool = False) -> cc_sym.Factor</p>
<blockquote>
<div><p>Create from a function that computes the jacobian. The hessian will be computed using the
Gauss Newton approximation:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">H</span> <span class="o">=</span> <span class="n">J</span><span class="o">.</span><span class="n">T</span> <span class="o">*</span> <span class="n">J</span>
<span class="n">rhs</span> <span class="o">=</span> <span class="n">J</span><span class="o">.</span><span class="n">T</span> <span class="o">*</span> <span class="n">b</span>
</pre></div>
</div>
<dl>
<dt>Args:</dt><dd><p>keys_to_func: The set of input arguments, in order, accepted by func.
keys_to_optimize: The set of input arguments that correspond to the derivative in func. Must be a subset of keys_to_func.
sparse: Create a sparse factor if True, dense factor if false. Defaults to dense.</p>
<dl class="simple">
<dt>Precondition:</dt><dd><p>The jacobian returned by jacobian_func has type scipy.sparse.csc_matrix if and only if sparse = True.</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.linearize">
<span class="sig-name descname"><span class="pre">linearize</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Factor" title="cc_sym.Factor"><span class="pre">cc_sym.Factor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Values" title="cc_sym.Values"><span class="pre">cc_sym.Values</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/builtins/stdtypes.html#tuple" title="(in Python v3.14)"><span class="pre">tuple</span></a></span></span><a class="headerlink" href="#cc_sym.Factor.linearize" title="Link to this definition">¶</a></dt>
<dd><p>Evaluate the factor at the given linearization point and output just the numerical values of the residual and jacobian.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.linearized_factor">
<span class="sig-name descname"><span class="pre">linearized_factor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Factor" title="cc_sym.Factor"><span class="pre">cc_sym.Factor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">values</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Values" title="cc_sym.Values"><span class="pre">cc_sym.Values</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">lcmtypes.sym._linearized_dense_factor_t.linearized_dense_factor_t</span></span></span><a class="headerlink" href="#cc_sym.Factor.linearized_factor" title="Link to this definition">¶</a></dt>
<dd><p>Evaluate the factor at the given linearization point and output a LinearizedDenseFactor that
contains the numerical values of the residual, jacobian, hessian, and right-hand-side.</p>
<p>This can only be called if is_sparse is false; otherwise, it will throw.</p>
</dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Factor.optimized_keys">
<span class="sig-name descname"><span class="pre">optimized_keys</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.Factor" title="cc_sym.Factor"><span class="pre">cc_sym.Factor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/builtins/stdtypes.html#list" title="(in Python v3.14)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#cc_sym.Key" title="cc_sym.Key"><span class="pre">cc_sym.Key</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#cc_sym.Factor.optimized_keys" title="Link to this definition">¶</a></dt>
<dd><p>Get the optimized keys for this factor.</p>
</dd></dl>
</dd></dl>
<dl class="py class">
<dt class="sig sig-object py" id="cc_sym.ImuPreintegrator">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">ImuPreintegrator</span></span><a class="headerlink" href="#cc_sym.ImuPreintegrator" title="Link to this definition">¶</a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">pybind11_object</span></code></p>
<p>Class to on-manifold preintegrate IMU measurements for usage in a SymForce optimization problem.</p>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.ImuPreintegrator.covariance">
<span class="sig-name descname"><span class="pre">covariance</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.ImuPreintegrator" title="cc_sym.ImuPreintegrator"><span class="pre">cc_sym.ImuPreintegrator</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Annotated" title="(in Python v3.14)"><span class="pre">Annotated</span></a><span class="p"><span class="pre">[</span></span><span class="pre">numpy.typing.NDArray</span><span class="p"><span class="pre">[</span></span><span class="pre">numpy.float64</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'[9,</span> <span class="pre">9]'</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#cc_sym.ImuPreintegrator.covariance" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.ImuPreintegrator.integrate_measurement">
<span class="sig-name descname"><span class="pre">integrate_measurement</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.ImuPreintegrator" title="cc_sym.ImuPreintegrator"><span class="pre">cc_sym.ImuPreintegrator</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">measured_accel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Annotated" title="(in Python v3.14)"><span class="pre">Annotated</span></a><span class="p"><span class="pre">[</span></span><span class="pre">numpy.typing.ArrayLike</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.float64</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'[3,</span> <span class="pre">1]'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">measured_gyro</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Annotated" title="(in Python v3.14)"><span class="pre">Annotated</span></a><span class="p"><span class="pre">[</span></span><span class="pre">numpy.typing.ArrayLike</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.float64</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'[3,</span> <span class="pre">1]'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">accel_cov</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Annotated" title="(in Python v3.14)"><span class="pre">Annotated</span></a><span class="p"><span class="pre">[</span></span><span class="pre">numpy.typing.ArrayLike</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.float64</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'[3,</span> <span class="pre">1]'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gyro_cov</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Annotated" title="(in Python v3.14)"><span class="pre">Annotated</span></a><span class="p"><span class="pre">[</span></span><span class="pre">numpy.typing.ArrayLike</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.float64</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'[3,</span> <span class="pre">1]'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.SupportsFloat" title="(in Python v3.14)"><span class="pre">SupportsFloat</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">epsilon</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.SupportsFloat" title="(in Python v3.14)"><span class="pre">SupportsFloat</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">2.220446049250313e-15</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/builtins/constants.html#None" title="(in Python v3.14)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#cc_sym.ImuPreintegrator.integrate_measurement" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.ImuPreintegrator.preintegrated_measurements">
<span class="sig-name descname"><span class="pre">preintegrated_measurements</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#cc_sym.ImuPreintegrator" title="cc_sym.ImuPreintegrator"><span class="pre">cc_sym.ImuPreintegrator</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><a class="reference internal" href="#cc_sym.PreintegratedImuMeasurements" title="cc_sym.PreintegratedImuMeasurements"><span class="pre">cc_sym.PreintegratedImuMeasurements</span></a></span></span><a class="headerlink" href="#cc_sym.ImuPreintegrator.preintegrated_measurements" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
</dd></dl>
<dl class="py class">
<dt class="sig sig-object py" id="cc_sym.Key">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Key</span></span><a class="headerlink" href="#cc_sym.Key" title="Link to this definition">¶</a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">pybind11_object</span></code></p>
<p>Key type for Values. Contains a letter plus an integral subscript and superscript. Can construct with a letter, a letter + sub, or a letter + sub + super, but not a letter + super.</p>
<dl class="py attribute">
<dt class="sig sig-object py" id="cc_sym.Key.INVALID_LETTER">
<span class="sig-name descname"><span class="pre">INVALID_LETTER</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'\x00'</span></em><a class="headerlink" href="#cc_sym.Key.INVALID_LETTER" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py attribute">
<dt class="sig sig-object py" id="cc_sym.Key.INVALID_SUB">
<span class="sig-name descname"><span class="pre">INVALID_SUB</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">-9223372036854775808</span></em><a class="headerlink" href="#cc_sym.Key.INVALID_SUB" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py attribute">
<dt class="sig sig-object py" id="cc_sym.Key.INVALID_SUPER">
<span class="sig-name descname"><span class="pre">INVALID_SUPER</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">-9223372036854775808</span></em><a class="headerlink" href="#cc_sym.Key.INVALID_SUPER" title="Link to this definition">¶</a></dt>
<dd></dd></dl>
<dl class="py method">
<dt class="sig sig-object py" id="cc_sym.Key.get_lcm_type">