From 22adb2486cb71c970433fcf685d6e1ea9005ffa2 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Wed, 21 Aug 2024 04:31:51 +0000
Subject: [PATCH] Deployed e9b1522 with MkDocs version: 1.6.0

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+    </a>
+  
+    
+    
+    
+    
+      
+      
+    
+    <a href="https://twitter.com/k_koide3" target="_blank" rel="noopener" title="twitter.com" class="md-social__link">
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.6.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M459.37 151.716c.325 4.548.325 9.097.325 13.645 0 138.72-105.583 298.558-298.558 298.558-59.452 0-114.68-17.219-161.137-47.106 8.447.974 16.568 1.299 25.34 1.299 49.055 0 94.213-16.568 130.274-44.832-46.132-.975-84.792-31.188-98.112-72.772 6.498.974 12.995 1.624 19.818 1.624 9.421 0 18.843-1.3 27.614-3.573-48.081-9.747-84.143-51.98-84.143-102.985v-1.299c13.969 7.797 30.214 12.67 47.431 13.319-28.264-18.843-46.781-51.005-46.781-87.391 0-19.492 5.197-37.36 14.294-52.954 51.655 63.675 129.3 105.258 216.365 109.807-1.624-7.797-2.599-15.918-2.599-24.04 0-57.828 46.782-104.934 104.934-104.934 30.213 0 57.502 12.67 76.67 33.137 23.715-4.548 46.456-13.32 66.599-25.34-7.798 24.366-24.366 44.833-46.132 57.827 21.117-2.273 41.584-8.122 60.426-16.243-14.292 20.791-32.161 39.308-52.628 54.253z"/></svg>
+    </a>
+  
+</div>
+      
+    </div>
+  </div>
+</footer>
+      
+    </div>
+    <div class="md-dialog" data-md-component="dialog">
+      <div class="md-dialog__inner md-typeset"></div>
+    </div>
+    
+    
+    <script id="__config" type="application/json">{"base": "/koide3/gtsam_points/", "features": [], "search": "/koide3/gtsam_points/assets/javascripts/workers/search.b8dbb3d2.min.js", "translations": {"clipboard.copied": "Copied to clipboard", "clipboard.copy": "Copy to clipboard", "search.result.more.one": "1 more on this page", "search.result.more.other": "# more on this page", "search.result.none": "No matching documents", "search.result.one": "1 matching document", "search.result.other": "# matching documents", "search.result.placeholder": "Type to start searching", "search.result.term.missing": "Missing", "select.version": "Select version"}}</script>
+    
+    
+      <script src="/koide3/gtsam_points/assets/javascripts/bundle.471ce7a9.min.js"></script>
+      
+    
+  </body>
+</html>
\ No newline at end of file
diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 00000000..bc987c20
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,2579 @@
+# Doxyfile 1.8.17
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "gtsam_points"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          =
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       =
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all generated output in the proper direction.
+# Possible values are: None, LTR, RTL and Context.
+# The default value is: None.
+
+OUTPUT_TEXT_DIRECTION  = None
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:\n"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.
+# When you need a literal { or } or , in the value part of an alias you have to
+# escape them by means of a backslash (\), this can lead to conflicts with the
+# commands \{ and \} for these it is advised to use the version @{ and @} or use
+# a double escape (\\{ and \\})
+
+ALIASES                =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
+# will allow you to use the command class in the itcl::class meaning.
+
+TCL_SUBST              =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice,
+# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files), VHDL, tcl. For instance to make doxygen treat
+# .inc files as Fortran files (default is PHP), and .f files as C (default is
+# Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# (including Cygwin) ands Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation. If
+# EXTRACT_ALL is set to YES then this flag will automatically be disabled.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = ../README.md ../include
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
+# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen
+# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f, *.for, *.tcl, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.doc \
+                         *.txt \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = ../include/gtsam_points/factors/experimental ../include/gtsam_points/optimizers
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE = README.md
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+# If clang assisted parsing is enabled you can provide the clang parser with the
+# path to the compilation database (see:
+# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) used when the files
+# were built. This is equivalent to specifying the "-p" option to a clang tool,
+# such as clang-check. These options will then be passed to the parser.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+
+CLANG_DATABASE_PATH    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = doc_cpp
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: https://developer.apple.com/xcode/), introduced with OSX
+# 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT    = YES
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.5/
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: https://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS         = YES
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: YES.
+
+HAVE_DOT               = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# When you want a differently looking font in the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME           = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE           = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd,
+# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo,
+# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS           =
+
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file. If left blank, it is assumed
+# PlantUML is not used or called during a preprocessing step. Doxygen will
+# generate a warning when it encounters a \startuml command in this case and
+# will not generate output for the diagram.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
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+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_TRANSPARENT        = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
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+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS      = NO
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+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
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+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
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diff --git a/Makefile b/Makefile
new file mode 100644
index 00000000..32ea0cdd
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,22 @@
+.PHONY: help
+help:
+	@echo "make cpp|all"
+
+.PHONY: cpp
+cpp:
+	@echo "Building C++ documentation..."
+	doxygen Doxyfile doc_cpp
+
+.PHONY: mkdocs
+mkdocs:
+	@echo "Building MkDocs documentation..."
+	cd .. && mkdocs build
+
+.PHONY: all
+all: cpp mkdocs
+	@echo "All documentation built."
+
+.PHONY: deploy
+deploy:
+	@echo "Deploying documentation..."
+	cd .. && mkdocs gh-deploy --force
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diff --git a/assets/javascripts/bundle.471ce7a9.min.js b/assets/javascripts/bundle.471ce7a9.min.js
new file mode 100644
index 00000000..90d2d95a
--- /dev/null
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circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead 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l=R(`label[for="${c.id}"]`);l.replaceChildren(x("a",{href:`#${l.htmlFor}`,tabIndex:-1},...Array.from(l.childNodes))),d(l.firstElementChild,"click").pipe(U(p),b(f=>!(f.metaKey||f.ctrlKey)),E(f=>{f.preventDefault(),f.stopPropagation()})).subscribe(()=>{history.replaceState({},"",`#${l.htmlFor}`),l.click()})}return B("content.tabs.link")&&s.pipe(Ce(1),ee(t)).subscribe(([{active:c},{offset:l}])=>{let f=c.innerText.trim();if(c.hasAttribute("data-md-switching"))c.removeAttribute("data-md-switching");else{let u=e.offsetTop-l.y;for(let w of P("[data-tabs]"))for(let A of P(":scope > input",w)){let te=R(`label[for="${A.id}"]`);if(te!==c&&te.innerText.trim()===f){te.setAttribute("data-md-switching",""),A.click();break}}window.scrollTo({top:e.offsetTop-u});let h=__md_get("__tabs")||[];__md_set("__tabs",[...new Set([f,...h])])}}),s.pipe(U(p)).subscribe(()=>{for(let c of P("audio, video",e))c.pause()}),Qa(n).pipe(E(c=>s.next(c)),L(()=>s.complete()),m(c=>$({ref:e},c)))}).pipe(Ke(se))}function Nn(e,{viewport$:t,target$:r,print$:o}){return O(...P(".annotate:not(.highlight)",e).map(n=>$n(n,{target$:r,print$:o})),...P("pre:not(.mermaid) > code",e).map(n=>In(n,{target$:r,print$:o})),...P("pre.mermaid",e).map(n=>Wn(n)),...P("table:not([class])",e).map(n=>Dn(n)),...P("details",e).map(n=>Fn(n,{target$:r,print$:o})),...P("[data-tabs]",e).map(n=>Vn(n,{viewport$:t,target$:r})),...P("[title]",e).filter(()=>B("content.tooltips")).map(n=>mt(n,{viewport$:t})))}function Ka(e,{alert$:t}){return t.pipe(v(r=>O(I(!0),I(!1).pipe(Ge(2e3))).pipe(m(o=>({message:r,active:o})))))}function zn(e,t){let r=R(".md-typeset",e);return C(()=>{let o=new g;return o.subscribe(({message:n,active:i})=>{e.classList.toggle("md-dialog--active",i),r.textContent=n}),Ka(e,t).pipe(E(n=>o.next(n)),L(()=>o.complete()),m(n=>$({ref:e},n)))})}var Ya=0;function Ba(e,t){document.body.append(e);let{width:r}=ce(e);e.style.setProperty("--md-tooltip-width",`${r}px`),e.remove();let o=cr(t),n=typeof 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i.subscribe({next({offset:a}){o.style.setProperty("--md-tooltip-x",`${a.x}px`),o.style.setProperty("--md-tooltip-y",`${a.y}px`)},complete(){o.style.removeProperty("--md-tooltip-x"),o.style.removeProperty("--md-tooltip-y")}}),O(i.pipe(b(({active:a})=>a)),i.pipe(_e(250),b(({active:a})=>!a))).subscribe({next({active:a}){a?(e.insertAdjacentElement("afterend",o),e.setAttribute("aria-describedby",r),e.removeAttribute("title")):(o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t))},complete(){o.remove(),e.removeAttribute("aria-describedby"),e.setAttribute("title",t)}}),i.pipe(Le(16,me)).subscribe(({active:a})=>{o.classList.toggle("md-tooltip--active",a)}),i.pipe(pt(125,me),b(()=>!!e.offsetParent),m(()=>e.offsetParent.getBoundingClientRect()),m(({x:a})=>a)).subscribe({next(a){a?o.style.setProperty("--md-tooltip-0",`${-a}px`):o.style.removeProperty("--md-tooltip-0")},complete(){o.style.removeProperty("--md-tooltip-0")}}),Ba(o,e).pipe(E(a=>i.next(a)),L(()=>i.complete()),m(a=>$({ref:e},a)))}).pipe(Ke(se))}function 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r=new g;r.subscribe({next({active:n}){e.classList.toggle("md-header__title--active",n)},complete(){e.classList.remove("md-header__title--active")}});let o=fe(".md-content h1");return typeof o=="undefined"?S:Ja(o,t).pipe(E(n=>r.next(n)),L(()=>r.complete()),m(n=>$({ref:e},n)))})}function Bn(e,{viewport$:t,header$:r}){let o=r.pipe(m(({height:i})=>i),K()),n=o.pipe(v(()=>ge(e).pipe(m(({height:i})=>({top:e.offsetTop,bottom:e.offsetTop+i})),Z("bottom"))));return z([o,n,t]).pipe(m(([i,{top:a,bottom:s},{offset:{y:p},size:{height:c}}])=>(c=Math.max(0,c-Math.max(0,a-p,i)-Math.max(0,c+p-s)),{offset:a-i,height:c,active:a-i<=p})),K((i,a)=>i.offset===a.offset&&i.height===a.height&&i.active===a.active))}function Xa(e){let t=__md_get("__palette")||{index:e.findIndex(o=>matchMedia(o.getAttribute("data-md-color-media")).matches)},r=Math.max(0,Math.min(t.index,e.length-1));return I(...e).pipe(oe(o=>d(o,"change").pipe(m(()=>o))),Q(e[r]),m(o=>({index:e.indexOf(o),color:{media:o.getAttribute("data-md-color-media"),scheme:o.getAttribute("data-md-color-scheme"),primary:o.getAttribute("data-md-color-primary"),accent:o.getAttribute("data-md-color-accent")}})),G(1))}function Gn(e){let t=P("input",e),r=x("meta",{name:"theme-color"});document.head.appendChild(r);let o=x("meta",{name:"color-scheme"});document.head.appendChild(o);let n=Pt("(prefers-color-scheme: light)");return C(()=>{let i=new g;return i.subscribe(a=>{if(document.body.setAttribute("data-md-color-switching",""),a.color.media==="(prefers-color-scheme)"){let s=matchMedia("(prefers-color-scheme: light)"),p=document.querySelector(s.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: 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g,o=r.pipe(X(),ne(!0));z([t.pipe(Ae(Ft)),r],(i,a)=>a).pipe(Z("value")).subscribe(({value:i})=>t.next({type:2,data:i})),r.pipe(Z("focus")).subscribe(({focus:i})=>{i&&Je("search",i)}),d(e.form,"reset").pipe(U(o)).subscribe(()=>e.focus());let n=R("header [for=__search]");return d(n,"click").subscribe(()=>e.focus()),is(e,{worker$:t}).pipe(E(i=>r.next(i)),L(()=>r.complete()),m(i=>$({ref:e},i)),G(1))}function ci(e,{worker$:t,query$:r}){let o=new g,n=rn(e.parentElement).pipe(b(Boolean)),i=e.parentElement,a=R(":scope > :first-child",e),s=R(":scope > :last-child",e);ze("search").subscribe(l=>s.setAttribute("role",l?"list":"presentation")),o.pipe(ee(r),Ur(t.pipe(Ae(Ft)))).subscribe(([{items:l},{value:f}])=>{switch(l.length){case 0:a.textContent=f.length?Ee("search.result.none"):Ee("search.result.placeholder");break;case 1:a.textContent=Ee("search.result.one");break;default:let u=sr(l.length);a.textContent=Ee("search.result.other",u)}});let 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g,n=Se("search-query"),i=O(d(n,"keydown"),d(n,"focus")).pipe(ve(se),m(()=>n.value),K());return o.pipe(Ue(i),m(([{suggest:s},p])=>{let c=p.split(/([\s-]+)/);if(s!=null&&s.length&&c[c.length-1]){let l=s[s.length-1];l.startsWith(c[c.length-1])&&(c[c.length-1]=l)}else c.length=0;return c})).subscribe(s=>e.innerHTML=s.join("").replace(/\s/g,"&nbsp;")),r.pipe(b(({mode:s})=>s==="search")).subscribe(s=>{switch(s.type){case"ArrowRight":e.innerText.length&&n.selectionStart===n.value.length&&(n.value=e.innerText);break}}),t.pipe(b(dr),m(({data:s})=>s)).pipe(E(s=>o.next(s)),L(()=>o.complete()),m(()=>({ref:e})))}function mi(e,{index$:t,keyboard$:r}){let o=ye();try{let n=ii(o.search,t),i=Se("search-query",e),a=Se("search-result",e);d(e,"click").pipe(b(({target:p})=>p instanceof Element&&!!p.closest("a"))).subscribe(()=>Je("search",!1)),r.pipe(b(({mode:p})=>p==="search")).subscribe(p=>{let c=Re();switch(p.type){case"Enter":if(c===i){let l=new Map;for(let f of P(":first-child [href]",a)){let 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z([t,r.pipe(Q(xe()),b(o=>!!o.searchParams.get("h")))]).pipe(m(([o,n])=>ni(o.config)(n.searchParams.get("h"))),m(o=>{var a;let n=new Map,i=document.createNodeIterator(e,NodeFilter.SHOW_TEXT);for(let s=i.nextNode();s;s=i.nextNode())if((a=s.parentElement)!=null&&a.offsetHeight){let p=s.textContent,c=o(p);c.length>p.length&&n.set(s,c)}for(let[s,p]of n){let{childNodes:c}=x("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function ss(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Xr(e,o){var n=o,{header$:t}=n,r=ao(n,["header$"]);let i=R(".md-sidebar__scrollwrap",e),{y:a}=Ve(i);return C(()=>{let s=new g,p=s.pipe(X(),ne(!0)),c=s.pipe(Le(0,me));return c.pipe(ee(t)).subscribe({next([{height:l},{height:f}]){i.style.height=`${l-2*a}px`,e.style.top=`${f}px`},complete(){i.style.height="",e.style.top=""}}),c.pipe(Ae()).subscribe(()=>{for(let l of P(".md-nav__link--active[href]",e)){if(!l.clientHeight)continue;let f=l.closest(".md-sidebar__scrollwrap");if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:h}=ce(f);f.scrollTo({top:u-h/2})}}}),ue(P("label[tabindex]",e)).pipe(oe(l=>d(l,"click").pipe(ve(se),m(()=>l),U(p)))).subscribe(l=>{let f=R(`[id="${l.htmlFor}"]`);R(`[aria-labelledby="${l.id}"]`).setAttribute("aria-expanded",`${f.checked}`)}),ss(e,r).pipe(E(l=>s.next(l)),L(()=>s.complete()),m(l=>$({ref:e},l)))})}function ui(e,t){if(typeof t!="undefined"){let r=`https://api.github.com/repos/${e}/${t}`;return st(Ie(`${r}/releases/latest`).pipe(de(()=>S),m(o=>({version:o.tag_name})),De({})),Ie(r).pipe(de(()=>S),m(o=>({stars:o.stargazers_count,forks:o.forks_count})),De({}))).pipe(m(([o,n])=>$($({},o),n)))}else{let r=`https://api.github.com/users/${e}`;return Ie(r).pipe(m(o=>({repositories:o.public_repos})),De({}))}}function di(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return st(Ie(`${r}/releases/permalink/latest`).pipe(de(()=>S),m(({tag_name:o})=>({version:o})),De({})),Ie(r).pipe(de(()=>S),m(({star_count:o,forks_count:n})=>({stars:o,forks:n})),De({}))).pipe(m(([o,n])=>$($({},o),n)))}function hi(e){let t=e.match(/^.+github\.com\/([^/]+)\/?([^/]+)?/i);if(t){let[,r,o]=t;return ui(r,o)}if(t=e.match(/^.+?([^/]*gitlab[^/]+)\/(.+?)\/?$/i),t){let[,r,o]=t;return di(r,o)}return S}var cs;function ps(e){return cs||(cs=C(()=>{let t=__md_get("__source",sessionStorage);if(t)return I(t);if(ae("consent").length){let o=__md_get("__consent");if(!(o&&o.github))return S}return hi(e.href).pipe(E(o=>__md_set("__source",o,sessionStorage)))}).pipe(de(()=>S),b(t=>Object.keys(t).length>0),m(t=>({facts:t})),G(1)))}function bi(e){let t=R(":scope > :last-child",e);return C(()=>{let r=new g;return r.subscribe(({facts:o})=>{t.appendChild(Ln(o)),t.classList.add("md-source__repository--active")}),ps(e).pipe(E(o=>r.next(o)),L(()=>r.complete()),m(o=>$({ref:e},o)))})}function ls(e,{viewport$:t,header$:r}){return ge(document.body).pipe(v(()=>mr(e,{header$:r,viewport$:t})),m(({offset:{y:o}})=>({hidden:o>=10})),Z("hidden"))}function vi(e,t){return C(()=>{let r=new g;return r.subscribe({next({hidden:o}){e.hidden=o},complete(){e.hidden=!1}}),(B("navigation.tabs.sticky")?I({hidden:!1}):ls(e,t)).pipe(E(o=>r.next(o)),L(()=>r.complete()),m(o=>$({ref:e},o)))})}function ms(e,{viewport$:t,header$:r}){let o=new Map,n=P(".md-nav__link",e);for(let s of n){let p=decodeURIComponent(s.hash.substring(1)),c=fe(`[id="${p}"]`);typeof c!="undefined"&&o.set(s,c)}let i=r.pipe(Z("height"),m(({height:s})=>{let p=Se("main"),c=R(":scope > :first-child",p);return s+.8*(c.offsetTop-p.offsetTop)}),pe());return ge(document.body).pipe(Z("height"),v(s=>C(()=>{let p=[];return I([...o].reduce((c,[l,f])=>{for(;p.length&&o.get(p[p.length-1]).tagName>=f.tagName;)p.pop();let u=f.offsetTop;for(;!u&&f.parentElement;)f=f.parentElement,u=f.offsetTop;let h=f.offsetParent;for(;h;h=h.offsetParent)u+=h.offsetTop;return c.set([...p=[...p,l]].reverse(),u)},new Map))}).pipe(m(p=>new Map([...p].sort(([,c],[,l])=>c-l))),Ue(i),v(([p,c])=>t.pipe(jr(([l,f],{offset:{y:u},size:h})=>{let w=u+h.height>=Math.floor(s.height);for(;f.length;){let[,A]=f[0];if(A-c<u||w)l=[...l,f.shift()];else break}for(;l.length;){let[,A]=l[l.length-1];if(A-c>=u&&!w)f=[l.pop(),...f];else break}return[l,f]},[[],[...p]]),K((l,f)=>l[0]===f[0]&&l[1]===f[1])))))).pipe(m(([s,p])=>({prev:s.map(([c])=>c),next:p.map(([c])=>c)})),Q({prev:[],next:[]}),Be(2,1),m(([s,p])=>s.prev.length<p.prev.length?{prev:p.prev.slice(Math.max(0,s.prev.length-1),p.prev.length),next:[]}:{prev:p.prev.slice(-1),next:p.next.slice(0,p.next.length-s.next.length)}))}function gi(e,{viewport$:t,header$:r,main$:o,target$:n}){return C(()=>{let i=new g,a=i.pipe(X(),ne(!0));if(i.subscribe(({prev:s,next:p})=>{for(let[c]of p)c.classList.remove("md-nav__link--passed"),c.classList.remove("md-nav__link--active");for(let[c,[l]]of s.entries())l.classList.add("md-nav__link--passed"),l.classList.toggle("md-nav__link--active",c===s.length-1)}),B("toc.follow")){let s=O(t.pipe(_e(1),m(()=>{})),t.pipe(_e(250),m(()=>"smooth")));i.pipe(b(({prev:p})=>p.length>0),Ue(o.pipe(ve(se))),ee(s)).subscribe(([[{prev:p}],c])=>{let[l]=p[p.length-1];if(l.offsetHeight){let f=cr(l);if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:h}=ce(f);f.scrollTo({top:u-h/2,behavior:c})}}})}return B("navigation.tracking")&&t.pipe(U(a),Z("offset"),_e(250),Ce(1),U(n.pipe(Ce(1))),ct({delay:250}),ee(i)).subscribe(([,{prev:s}])=>{let p=xe(),c=s[s.length-1];if(c&&c.length){let[l]=c,{hash:f}=new URL(l.href);p.hash!==f&&(p.hash=f,history.replaceState({},"",`${p}`))}else p.hash="",history.replaceState({},"",`${p}`)}),ms(e,{viewport$:t,header$:r}).pipe(E(s=>i.next(s)),L(()=>i.complete()),m(s=>$({ref:e},s)))})}function fs(e,{viewport$:t,main$:r,target$:o}){let n=t.pipe(m(({offset:{y:a}})=>a),Be(2,1),m(([a,s])=>a>s&&s>0),K()),i=r.pipe(m(({active:a})=>a));return z([i,n]).pipe(m(([a,s])=>!(a&&s)),K(),U(o.pipe(Ce(1))),ne(!0),ct({delay:250}),m(a=>({hidden:a})))}function xi(e,{viewport$:t,header$:r,main$:o,target$:n}){let i=new g,a=i.pipe(X(),ne(!0));return i.subscribe({next({hidden:s}){e.hidden=s,s?(e.setAttribute("tabindex","-1"),e.blur()):e.removeAttribute("tabindex")},complete(){e.style.top="",e.hidden=!0,e.removeAttribute("tabindex")}}),r.pipe(U(a),Z("height")).subscribe(({height:s})=>{e.style.top=`${s+16}px`}),d(e,"click").subscribe(s=>{s.preventDefault(),window.scrollTo({top:0})}),fs(e,{viewport$:t,main$:o,target$:n}).pipe(E(s=>i.next(s)),L(()=>i.complete()),m(s=>$({ref:e},s)))}function yi({document$:e,viewport$:t}){e.pipe(v(()=>P(".md-ellipsis")),oe(r=>tt(r).pipe(U(e.pipe(Ce(1))),b(o=>o),m(()=>r),Te(1))),b(r=>r.offsetWidth<r.scrollWidth),oe(r=>{let o=r.innerText,n=r.closest("a")||r;return n.title=o,B("content.tooltips")?mt(n,{viewport$:t}).pipe(U(e.pipe(Ce(1))),L(()=>n.removeAttribute("title"))):S})).subscribe(),B("content.tooltips")&&e.pipe(v(()=>P(".md-status")),oe(r=>mt(r,{viewport$:t}))).subscribe()}function Ei({document$:e,tablet$:t}){e.pipe(v(()=>P(".md-toggle--indeterminate")),E(r=>{r.indeterminate=!0,r.checked=!1}),oe(r=>d(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),ee(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function us(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function wi({document$:e}){e.pipe(v(()=>P("[data-md-scrollfix]")),E(t=>t.removeAttribute("data-md-scrollfix")),b(us),oe(t=>d(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function Ti({viewport$:e,tablet$:t}){z([ze("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),ee(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof o=="string"?o=document.createTextNode(o):o.parentNode&&o.parentNode.removeChild(o),r?t.insertBefore(this.previousSibling,o):t.replaceChild(o,this)}}}));function ds(){return location.protocol==="file:"?Tt(`${new URL("search/search_index.js",Zr.base)}`).pipe(m(()=>__index),G(1)):Ie(new URL("search/search_index.json",Zr.base))}document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var ot=Bo(),Wt=an(),Mt=pn(Wt),eo=nn(),Oe=vn(),hr=Pt("(min-width: 960px)"),Oi=Pt("(min-width: 1220px)"),Mi=ln(),Zr=ye(),Li=document.forms.namedItem("search")?ds():Ye,to=new g;Xn({alert$:to});var ro=new g;B("navigation.instant")&&ri({location$:Wt,viewport$:Oe,progress$:ro}).subscribe(ot);var Si;((Si=Zr.version)==null?void 0:Si.provider)==="mike"&&ai({document$:ot});O(Wt,Mt).pipe(Ge(125)).subscribe(()=>{Je("drawer",!1),Je("search",!1)});eo.pipe(b(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("link[rel=prev]");typeof t!="undefined"&&lt(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&lt(r);break;case"Enter":let o=Re();o instanceof HTMLLabelElement&&o.click()}});yi({viewport$:Oe,document$:ot});Ei({document$:ot,tablet$:hr});wi({document$:ot});Ti({viewport$:Oe,tablet$:hr});var rt=Qn(Se("header"),{viewport$:Oe}),jt=ot.pipe(m(()=>Se("main")),v(e=>Bn(e,{viewport$:Oe,header$:rt})),G(1)),hs=O(...ae("consent").map(e=>yn(e,{target$:Mt})),...ae("dialog").map(e=>zn(e,{alert$:to})),...ae("header").map(e=>Kn(e,{viewport$:Oe,header$:rt,main$:jt})),...ae("palette").map(e=>Gn(e)),...ae("progress").map(e=>Jn(e,{progress$:ro})),...ae("search").map(e=>mi(e,{index$:Li,keyboard$:eo})),...ae("source").map(e=>bi(e))),bs=C(()=>O(...ae("announce").map(e=>xn(e)),...ae("content").map(e=>Nn(e,{viewport$:Oe,target$:Mt,print$:Mi})),...ae("content").map(e=>B("search.highlight")?fi(e,{index$:Li,location$:Wt}):S),...ae("header-title").map(e=>Yn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Oi,()=>Xr(e,{viewport$:Oe,header$:rt,main$:jt})):Nr(hr,()=>Xr(e,{viewport$:Oe,header$:rt,main$:jt}))),...ae("tabs").map(e=>vi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>gi(e,{viewport$:Oe,header$:rt,main$:jt,target$:Mt})),...ae("top").map(e=>xi(e,{viewport$:Oe,header$:rt,main$:jt,target$:Mt})))),_i=ot.pipe(v(()=>bs),Pe(hs),G(1));_i.subscribe();window.document$=ot;window.location$=Wt;window.target$=Mt;window.keyboard$=eo;window.viewport$=Oe;window.tablet$=hr;window.screen$=Oi;window.print$=Mi;window.alert$=to;window.progress$=ro;window.component$=_i;})();
+//# sourceMappingURL=bundle.471ce7a9.min.js.map
+
diff --git a/assets/javascripts/bundle.471ce7a9.min.js.map b/assets/javascripts/bundle.471ce7a9.min.js.map
new file mode 100644
index 00000000..c24182b7
--- /dev/null
+++ b/assets/javascripts/bundle.471ce7a9.min.js.map
@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/escape-html/index.js", "node_modules/clipboard/dist/clipboard.js", "src/templates/assets/javascripts/bundle.ts", "node_modules/rxjs/node_modules/tslib/tslib.es6.js", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/BehaviorSubject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/QueueAction.ts", "node_modules/rxjs/src/internal/scheduler/QueueScheduler.ts", "node_modules/rxjs/src/internal/scheduler/queue.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", "node_modules/rxjs/src/internal/util/executeSchedule.ts", "node_modules/rxjs/src/internal/operators/observeOn.ts", "node_modules/rxjs/src/internal/operators/subscribeOn.ts", "node_modules/rxjs/src/internal/scheduled/scheduleObservable.ts", "node_modules/rxjs/src/internal/scheduled/schedulePromise.ts", "node_modules/rxjs/src/internal/scheduled/scheduleArray.ts", "node_modules/rxjs/src/internal/scheduled/scheduleIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleAsyncIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleReadableStreamLike.ts", "node_modules/rxjs/src/internal/scheduled/scheduled.ts", "node_modules/rxjs/src/internal/observable/from.ts", "node_modules/rxjs/src/internal/observable/of.ts", "node_modules/rxjs/src/internal/observable/throwError.ts", "node_modules/rxjs/src/internal/util/EmptyError.ts", "node_modules/rxjs/src/internal/util/isDate.ts", "node_modules/rxjs/src/internal/operators/map.ts", "node_modules/rxjs/src/internal/util/mapOneOrManyArgs.ts", "node_modules/rxjs/src/internal/util/argsArgArrayOrObject.ts", "node_modules/rxjs/src/internal/util/createObject.ts", "node_modules/rxjs/src/internal/observable/combineLatest.ts", "node_modules/rxjs/src/internal/operators/mergeInternals.ts", "node_modules/rxjs/src/internal/operators/mergeMap.ts", "node_modules/rxjs/src/internal/operators/mergeAll.ts", "node_modules/rxjs/src/internal/operators/concatAll.ts", "node_modules/rxjs/src/internal/observable/concat.ts", "node_modules/rxjs/src/internal/observable/defer.ts", "node_modules/rxjs/src/internal/observable/fromEvent.ts", "node_modules/rxjs/src/internal/observable/fromEventPattern.ts", "node_modules/rxjs/src/internal/observable/timer.ts", "node_modules/rxjs/src/internal/observable/merge.ts", "node_modules/rxjs/src/internal/observable/never.ts", "node_modules/rxjs/src/internal/util/argsOrArgArray.ts", "node_modules/rxjs/src/internal/operators/filter.ts", "node_modules/rxjs/src/internal/observable/zip.ts", "node_modules/rxjs/src/internal/operators/audit.ts", "node_modules/rxjs/src/internal/operators/auditTime.ts", "node_modules/rxjs/src/internal/operators/bufferCount.ts", "node_modules/rxjs/src/internal/operators/catchError.ts", "node_modules/rxjs/src/internal/operators/scanInternals.ts", "node_modules/rxjs/src/internal/operators/combineLatest.ts", "node_modules/rxjs/src/internal/operators/combineLatestWith.ts", "node_modules/rxjs/src/internal/operators/debounce.ts", "node_modules/rxjs/src/internal/operators/debounceTime.ts", "node_modules/rxjs/src/internal/operators/defaultIfEmpty.ts", "node_modules/rxjs/src/internal/operators/take.ts", "node_modules/rxjs/src/internal/operators/ignoreElements.ts", "node_modules/rxjs/src/internal/operators/mapTo.ts", "node_modules/rxjs/src/internal/operators/delayWhen.ts", "node_modules/rxjs/src/internal/operators/delay.ts", "node_modules/rxjs/src/internal/operators/distinctUntilChanged.ts", "node_modules/rxjs/src/internal/operators/distinctUntilKeyChanged.ts", "node_modules/rxjs/src/internal/operators/throwIfEmpty.ts", "node_modules/rxjs/src/internal/operators/endWith.ts", "node_modules/rxjs/src/internal/operators/finalize.ts", "node_modules/rxjs/src/internal/operators/first.ts", "node_modules/rxjs/src/internal/operators/takeLast.ts", "node_modules/rxjs/src/internal/operators/merge.ts", "node_modules/rxjs/src/internal/operators/mergeWith.ts", "node_modules/rxjs/src/internal/operators/repeat.ts", "node_modules/rxjs/src/internal/operators/scan.ts", "node_modules/rxjs/src/internal/operators/share.ts", "node_modules/rxjs/src/internal/operators/shareReplay.ts", "node_modules/rxjs/src/internal/operators/skip.ts", "node_modules/rxjs/src/internal/operators/skipUntil.ts", "node_modules/rxjs/src/internal/operators/startWith.ts", "node_modules/rxjs/src/internal/operators/switchMap.ts", "node_modules/rxjs/src/internal/operators/takeUntil.ts", "node_modules/rxjs/src/internal/operators/takeWhile.ts", "node_modules/rxjs/src/internal/operators/tap.ts", "node_modules/rxjs/src/internal/operators/throttle.ts", "node_modules/rxjs/src/internal/operators/throttleTime.ts", "node_modules/rxjs/src/internal/operators/withLatestFrom.ts", "node_modules/rxjs/src/internal/operators/zip.ts", "node_modules/rxjs/src/internal/operators/zipWith.ts", "src/templates/assets/javascripts/browser/document/index.ts", "src/templates/assets/javascripts/browser/element/_/index.ts", "src/templates/assets/javascripts/browser/element/focus/index.ts", "src/templates/assets/javascripts/browser/element/hover/index.ts", "src/templates/assets/javascripts/utilities/h/index.ts", "src/templates/assets/javascripts/utilities/round/index.ts", "src/templates/assets/javascripts/browser/script/index.ts", "src/templates/assets/javascripts/browser/element/size/_/index.ts", "src/templates/assets/javascripts/browser/element/size/content/index.ts", "src/templates/assets/javascripts/browser/element/offset/_/index.ts", "src/templates/assets/javascripts/browser/element/offset/content/index.ts", "src/templates/assets/javascripts/browser/element/visibility/index.ts", "src/templates/assets/javascripts/browser/toggle/index.ts", "src/templates/assets/javascripts/browser/keyboard/index.ts", "src/templates/assets/javascripts/browser/location/_/index.ts", "src/templates/assets/javascripts/browser/location/hash/index.ts", "src/templates/assets/javascripts/browser/media/index.ts", "src/templates/assets/javascripts/browser/request/index.ts", "src/templates/assets/javascripts/browser/viewport/offset/index.ts", "src/templates/assets/javascripts/browser/viewport/size/index.ts", "src/templates/assets/javascripts/browser/viewport/_/index.ts", "src/templates/assets/javascripts/browser/viewport/at/index.ts", "src/templates/assets/javascripts/browser/worker/index.ts", "src/templates/assets/javascripts/_/index.ts", "src/templates/assets/javascripts/components/_/index.ts", "src/templates/assets/javascripts/components/announce/index.ts", "src/templates/assets/javascripts/components/consent/index.ts", "src/templates/assets/javascripts/templates/tooltip/index.tsx", "src/templates/assets/javascripts/templates/annotation/index.tsx", "src/templates/assets/javascripts/templates/clipboard/index.tsx", "src/templates/assets/javascripts/templates/search/index.tsx", "src/templates/assets/javascripts/templates/source/index.tsx", "src/templates/assets/javascripts/templates/tabbed/index.tsx", "src/templates/assets/javascripts/templates/table/index.tsx", "src/templates/assets/javascripts/templates/version/index.tsx", "src/templates/assets/javascripts/components/tooltip2/index.ts", "src/templates/assets/javascripts/components/content/annotation/_/index.ts", "src/templates/assets/javascripts/components/content/annotation/list/index.ts", "src/templates/assets/javascripts/components/content/annotation/block/index.ts", "src/templates/assets/javascripts/components/content/code/_/index.ts", "src/templates/assets/javascripts/components/content/details/index.ts", "src/templates/assets/javascripts/components/content/mermaid/index.css", "src/templates/assets/javascripts/components/content/mermaid/index.ts", "src/templates/assets/javascripts/components/content/table/index.ts", "src/templates/assets/javascripts/components/content/tabs/index.ts", "src/templates/assets/javascripts/components/content/_/index.ts", "src/templates/assets/javascripts/components/dialog/index.ts", "src/templates/assets/javascripts/components/tooltip/index.ts", "src/templates/assets/javascripts/components/header/_/index.ts", "src/templates/assets/javascripts/components/header/title/index.ts", "src/templates/assets/javascripts/components/main/index.ts", "src/templates/assets/javascripts/components/palette/index.ts", "src/templates/assets/javascripts/components/progress/index.ts", "src/templates/assets/javascripts/integrations/clipboard/index.ts", "src/templates/assets/javascripts/integrations/sitemap/index.ts", "src/templates/assets/javascripts/integrations/instant/index.ts", "src/templates/assets/javascripts/integrations/search/highlighter/index.ts", "src/templates/assets/javascripts/integrations/search/worker/message/index.ts", "src/templates/assets/javascripts/integrations/search/worker/_/index.ts", "src/templates/assets/javascripts/integrations/version/index.ts", "src/templates/assets/javascripts/components/search/query/index.ts", "src/templates/assets/javascripts/components/search/result/index.ts", "src/templates/assets/javascripts/components/search/share/index.ts", "src/templates/assets/javascripts/components/search/suggest/index.ts", "src/templates/assets/javascripts/components/search/_/index.ts", "src/templates/assets/javascripts/components/search/highlight/index.ts", "src/templates/assets/javascripts/components/sidebar/index.ts", "src/templates/assets/javascripts/components/source/facts/github/index.ts", "src/templates/assets/javascripts/components/source/facts/gitlab/index.ts", "src/templates/assets/javascripts/components/source/facts/_/index.ts", "src/templates/assets/javascripts/components/source/_/index.ts", "src/templates/assets/javascripts/components/tabs/index.ts", "src/templates/assets/javascripts/components/toc/index.ts", "src/templates/assets/javascripts/components/top/index.ts", "src/templates/assets/javascripts/patches/ellipsis/index.ts", "src/templates/assets/javascripts/patches/indeterminate/index.ts", "src/templates/assets/javascripts/patches/scrollfix/index.ts", "src/templates/assets/javascripts/patches/scrolllock/index.ts", "src/templates/assets/javascripts/polyfills/index.ts"],
+  "sourcesContent": ["(function (global, factory) {\n  typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n  typeof define === 'function' && define.amd ? define(factory) :\n  (factory());\n}(this, (function () { 'use strict';\n\n  /**\n   * Applies the :focus-visible polyfill at the given scope.\n   * A scope in this case is either the top-level Document or a Shadow Root.\n   *\n   * @param {(Document|ShadowRoot)} scope\n   * @see https://github.com/WICG/focus-visible\n   */\n  function applyFocusVisiblePolyfill(scope) {\n    var hadKeyboardEvent = true;\n    var hadFocusVisibleRecently = false;\n    var hadFocusVisibleRecentlyTimeout = null;\n\n    var inputTypesAllowlist = {\n      text: true,\n      search: true,\n      url: true,\n      tel: true,\n      email: true,\n      password: true,\n      number: true,\n      date: true,\n      month: true,\n      week: true,\n      time: true,\n      datetime: true,\n      'datetime-local': true\n    };\n\n    /**\n     * Helper function for legacy browsers and iframes which sometimes focus\n     * elements like document, body, and non-interactive SVG.\n     * @param {Element} el\n     */\n    function isValidFocusTarget(el) {\n      if (\n        el &&\n        el !== document &&\n        el.nodeName !== 'HTML' &&\n        el.nodeName !== 'BODY' &&\n        'classList' in el &&\n        'contains' in el.classList\n      ) {\n        return true;\n      }\n      return false;\n    }\n\n    /**\n     * Computes whether the given element should automatically trigger the\n     * `focus-visible` class being added, i.e. whether it should always match\n     * `:focus-visible` when focused.\n     * @param {Element} el\n     * @return {boolean}\n     */\n    function focusTriggersKeyboardModality(el) {\n      var type = el.type;\n      var tagName = el.tagName;\n\n      if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n        return true;\n      }\n\n      if (tagName === 'TEXTAREA' && !el.readOnly) {\n        return true;\n      }\n\n      if (el.isContentEditable) {\n        return true;\n      }\n\n      return false;\n    }\n\n    /**\n     * Add the `focus-visible` class to the given element if it was not added by\n     * the author.\n     * @param {Element} el\n     */\n    function addFocusVisibleClass(el) {\n      if (el.classList.contains('focus-visible')) {\n        return;\n      }\n      el.classList.add('focus-visible');\n      el.setAttribute('data-focus-visible-added', '');\n    }\n\n    /**\n     * Remove the `focus-visible` class from the given element if it was not\n     * originally added by the author.\n     * @param {Element} el\n     */\n    function removeFocusVisibleClass(el) {\n      if (!el.hasAttribute('data-focus-visible-added')) {\n        return;\n      }\n      el.classList.remove('focus-visible');\n      el.removeAttribute('data-focus-visible-added');\n    }\n\n    /**\n     * If the most recent user interaction was via the keyboard;\n     * and the key press did not include a meta, alt/option, or control key;\n     * then the modality is keyboard. Otherwise, the modality is not keyboard.\n     * Apply `focus-visible` to any current active element and keep track\n     * of our keyboard modality state with `hadKeyboardEvent`.\n     * @param {KeyboardEvent} e\n     */\n    function onKeyDown(e) {\n      if (e.metaKey || e.altKey || e.ctrlKey) {\n        return;\n      }\n\n      if (isValidFocusTarget(scope.activeElement)) {\n        addFocusVisibleClass(scope.activeElement);\n      }\n\n      hadKeyboardEvent = true;\n    }\n\n    /**\n     * If at any point a user clicks with a pointing device, ensure that we change\n     * the modality away from keyboard.\n     * This avoids the situation where a user presses a key on an already focused\n     * element, and then clicks on a different element, focusing it with a\n     * pointing device, while we still think we're in keyboard modality.\n     * @param {Event} e\n     */\n    function onPointerDown(e) {\n      hadKeyboardEvent = false;\n    }\n\n    /**\n     * On `focus`, add the `focus-visible` class to the target if:\n     * - the target received focus as a result of keyboard navigation, or\n     * - the event target is an element that will likely require interaction\n     *   via the keyboard (e.g. a text box)\n     * @param {Event} e\n     */\n    function onFocus(e) {\n      // Prevent IE from focusing the document or HTML element.\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n        addFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * On `blur`, remove the `focus-visible` class from the target.\n     * @param {Event} e\n     */\n    function onBlur(e) {\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (\n        e.target.classList.contains('focus-visible') ||\n        e.target.hasAttribute('data-focus-visible-added')\n      ) {\n        // To detect a tab/window switch, we look for a blur event followed\n        // rapidly by a visibility change.\n        // If we don't see a visibility change within 100ms, it's probably a\n        // regular focus change.\n        hadFocusVisibleRecently = true;\n        window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n        hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n          hadFocusVisibleRecently = false;\n        }, 100);\n        removeFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * If the user changes tabs, keep track of whether or not the previously\n     * focused element had .focus-visible.\n     * @param {Event} e\n     */\n    function onVisibilityChange(e) {\n      if (document.visibilityState === 'hidden') {\n        // If the tab becomes active again, the browser will handle calling focus\n        // on the element (Safari actually calls it twice).\n        // If this tab change caused a blur on an element with focus-visible,\n        // re-apply the class when the user switches back to the tab.\n        if (hadFocusVisibleRecently) {\n          hadKeyboardEvent = true;\n        }\n        addInitialPointerMoveListeners();\n      }\n    }\n\n    /**\n     * Add a group of listeners to detect usage of any pointing devices.\n     * These listeners will be added when the polyfill first loads, and anytime\n     * the window is blurred, so that they are active when the window regains\n     * focus.\n     */\n    function addInitialPointerMoveListeners() {\n      document.addEventListener('mousemove', onInitialPointerMove);\n      document.addEventListener('mousedown', onInitialPointerMove);\n      document.addEventListener('mouseup', onInitialPointerMove);\n      document.addEventListener('pointermove', onInitialPointerMove);\n      document.addEventListener('pointerdown', onInitialPointerMove);\n      document.addEventListener('pointerup', onInitialPointerMove);\n      document.addEventListener('touchmove', onInitialPointerMove);\n      document.addEventListener('touchstart', onInitialPointerMove);\n      document.addEventListener('touchend', onInitialPointerMove);\n    }\n\n    function removeInitialPointerMoveListeners() {\n      document.removeEventListener('mousemove', onInitialPointerMove);\n      document.removeEventListener('mousedown', onInitialPointerMove);\n      document.removeEventListener('mouseup', onInitialPointerMove);\n      document.removeEventListener('pointermove', onInitialPointerMove);\n      document.removeEventListener('pointerdown', onInitialPointerMove);\n      document.removeEventListener('pointerup', onInitialPointerMove);\n      document.removeEventListener('touchmove', onInitialPointerMove);\n      document.removeEventListener('touchstart', onInitialPointerMove);\n      document.removeEventListener('touchend', onInitialPointerMove);\n    }\n\n    /**\n     * When the polfyill first loads, assume the user is in keyboard modality.\n     * If any event is received from a pointing device (e.g. mouse, pointer,\n     * touch), turn off keyboard modality.\n     * This accounts for situations where focus enters the page from the URL bar.\n     * @param {Event} e\n     */\n    function onInitialPointerMove(e) {\n      // Work around a Safari quirk that fires a mousemove on <html> whenever the\n      // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n      if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n        return;\n      }\n\n      hadKeyboardEvent = false;\n      removeInitialPointerMoveListeners();\n    }\n\n    // For some kinds of state, we are interested in changes at the global scope\n    // only. For example, global pointer input, global key presses and global\n    // visibility change should affect the state at every scope:\n    document.addEventListener('keydown', onKeyDown, true);\n    document.addEventListener('mousedown', onPointerDown, true);\n    document.addEventListener('pointerdown', onPointerDown, true);\n    document.addEventListener('touchstart', onPointerDown, true);\n    document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n    addInitialPointerMoveListeners();\n\n    // For focus and blur, we specifically care about state changes in the local\n    // scope. This is because focus / blur events that originate from within a\n    // shadow root are not re-dispatched from the host element if it was already\n    // the active element in its own scope:\n    scope.addEventListener('focus', onFocus, true);\n    scope.addEventListener('blur', onBlur, true);\n\n    // We detect that a node is a ShadowRoot by ensuring that it is a\n    // DocumentFragment and also has a host property. This check covers native\n    // implementation and polyfill implementation transparently. If we only cared\n    // about the native implementation, we could just check if the scope was\n    // an instance of a ShadowRoot.\n    if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n      // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n      // have a root element to add a class to. So, we add this attribute to the\n      // host element instead:\n      scope.host.setAttribute('data-js-focus-visible', '');\n    } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n      document.documentElement.classList.add('js-focus-visible');\n      document.documentElement.setAttribute('data-js-focus-visible', '');\n    }\n  }\n\n  // It is important to wrap all references to global window and document in\n  // these checks to support server-side rendering use cases\n  // @see https://github.com/WICG/focus-visible/issues/199\n  if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n    // Make the polyfill helper globally available. This can be used as a signal\n    // to interested libraries that wish to coordinate with the polyfill for e.g.,\n    // applying the polyfill to a shadow root:\n    window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n    // Notify interested libraries of the polyfill's presence, in case the\n    // polyfill was loaded lazily:\n    var event;\n\n    try {\n      event = new CustomEvent('focus-visible-polyfill-ready');\n    } catch (error) {\n      // IE11 does not support using CustomEvent as a constructor directly:\n      event = document.createEvent('CustomEvent');\n      event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n    }\n\n    window.dispatchEvent(event);\n  }\n\n  if (typeof document !== 'undefined') {\n    // Apply the polyfill to the global document, so that no JavaScript\n    // coordination is required to use the polyfill in the top-level document:\n    applyFocusVisiblePolyfill(document);\n  }\n\n})));\n", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n  \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n  try {\n    return document.execCommand(type);\n  } catch (err) {\n    return false;\n  }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n  var selectedText = select_default()(target);\n  command('cut');\n  return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n  var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n  var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n  fakeElement.style.fontSize = '12pt'; // Reset box model\n\n  fakeElement.style.border = '0';\n  fakeElement.style.padding = '0';\n  fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n  fakeElement.style.position = 'absolute';\n  fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n  var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n  fakeElement.style.top = \"\".concat(yPosition, \"px\");\n  fakeElement.setAttribute('readonly', '');\n  fakeElement.value = value;\n  return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n  var fakeElement = createFakeElement(value);\n  options.container.appendChild(fakeElement);\n  var selectedText = select_default()(fakeElement);\n  command('copy');\n  fakeElement.remove();\n  return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n  var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n    container: document.body\n  };\n  var selectedText = '';\n\n  if (typeof target === 'string') {\n    selectedText = fakeCopyAction(target, options);\n  } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n    // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n    selectedText = fakeCopyAction(target.value, options);\n  } else {\n    selectedText = select_default()(target);\n    command('copy');\n  }\n\n  return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n  var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n  // Defines base properties passed from constructor.\n  var _options$action = options.action,\n      action = _options$action === void 0 ? 'copy' : _options$action,\n      container = options.container,\n      target = options.target,\n      text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n  if (action !== 'copy' && action !== 'cut') {\n    throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n  } // Sets the `target` property using an element that will be have its content copied.\n\n\n  if (target !== undefined) {\n    if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n      if (action === 'copy' && target.hasAttribute('disabled')) {\n        throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n      }\n\n      if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n        throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n      }\n    } else {\n      throw new Error('Invalid \"target\" value, use a valid Element');\n    }\n  } // Define selection strategy based on `text` property.\n\n\n  if (text) {\n    return actions_copy(text, {\n      container: container\n    });\n  } // Defines which selection strategy based on `target` property.\n\n\n  if (target) {\n    return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n      container: container\n    });\n  }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n  var attribute = \"data-clipboard-\".concat(suffix);\n\n  if (!element.hasAttribute(attribute)) {\n    return;\n  }\n\n  return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n  _inherits(Clipboard, _Emitter);\n\n  var _super = _createSuper(Clipboard);\n\n  /**\n   * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n   * @param {Object} options\n   */\n  function Clipboard(trigger, options) {\n    var _this;\n\n    _classCallCheck(this, Clipboard);\n\n    _this = _super.call(this);\n\n    _this.resolveOptions(options);\n\n    _this.listenClick(trigger);\n\n    return _this;\n  }\n  /**\n   * Defines if attributes would be resolved using internal setter functions\n   * or custom functions that were passed in the constructor.\n   * @param {Object} options\n   */\n\n\n  _createClass(Clipboard, [{\n    key: \"resolveOptions\",\n    value: function resolveOptions() {\n      var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n      this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n      this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n      this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n      this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n    }\n    /**\n     * Adds a click event listener to the passed trigger.\n     * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n     */\n\n  }, {\n    key: \"listenClick\",\n    value: function listenClick(trigger) {\n      var _this2 = this;\n\n      this.listener = listen_default()(trigger, 'click', function (e) {\n        return _this2.onClick(e);\n      });\n    }\n    /**\n     * Defines a new `ClipboardAction` on each click event.\n     * @param {Event} e\n     */\n\n  }, {\n    key: \"onClick\",\n    value: function onClick(e) {\n      var trigger = e.delegateTarget || e.currentTarget;\n      var action = this.action(trigger) || 'copy';\n      var text = actions_default({\n        action: action,\n        container: this.container,\n        target: this.target(trigger),\n        text: this.text(trigger)\n      }); // Fires an event based on the copy operation result.\n\n      this.emit(text ? 'success' : 'error', {\n        action: action,\n        text: text,\n        trigger: trigger,\n        clearSelection: function clearSelection() {\n          if (trigger) {\n            trigger.focus();\n          }\n\n          window.getSelection().removeAllRanges();\n        }\n      });\n    }\n    /**\n     * Default `action` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultAction\",\n    value: function defaultAction(trigger) {\n      return getAttributeValue('action', trigger);\n    }\n    /**\n     * Default `target` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultTarget\",\n    value: function defaultTarget(trigger) {\n      var selector = getAttributeValue('target', trigger);\n\n      if (selector) {\n        return document.querySelector(selector);\n      }\n    }\n    /**\n     * Allow fire programmatically a copy action\n     * @param {String|HTMLElement} target\n     * @param {Object} options\n     * @returns Text copied.\n     */\n\n  }, {\n    key: \"defaultText\",\n\n    /**\n     * Default `text` lookup function.\n     * @param {Element} trigger\n     */\n    value: function defaultText(trigger) {\n      return getAttributeValue('text', trigger);\n    }\n    /**\n     * Destroy lifecycle.\n     */\n\n  }, {\n    key: \"destroy\",\n    value: function destroy() {\n      this.listener.destroy();\n    }\n  }], [{\n    key: \"copy\",\n    value: function copy(target) {\n      var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n        container: document.body\n      };\n      return actions_copy(target, options);\n    }\n    /**\n     * Allow fire programmatically a cut action\n     * @param {String|HTMLElement} target\n     * @returns Text cutted.\n     */\n\n  }, {\n    key: \"cut\",\n    value: function cut(target) {\n      return actions_cut(target);\n    }\n    /**\n     * Returns the support of the given action, or all actions if no action is\n     * given.\n     * @param {String} [action]\n     */\n\n  }, {\n    key: \"isSupported\",\n    value: function isSupported() {\n      var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n      var actions = typeof action === 'string' ? [action] : action;\n      var support = !!document.queryCommandSupported;\n      actions.forEach(function (action) {\n        support = support && !!document.queryCommandSupported(action);\n      });\n      return support;\n    }\n  }]);\n\n  return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n    var proto = Element.prototype;\n\n    proto.matches = proto.matchesSelector ||\n                    proto.mozMatchesSelector ||\n                    proto.msMatchesSelector ||\n                    proto.oMatchesSelector ||\n                    proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n    while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n        if (typeof element.matches === 'function' &&\n            element.matches(selector)) {\n          return element;\n        }\n        element = element.parentNode;\n    }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n    var listenerFn = listener.apply(this, arguments);\n\n    element.addEventListener(type, listenerFn, useCapture);\n\n    return {\n        destroy: function() {\n            element.removeEventListener(type, listenerFn, useCapture);\n        }\n    }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n    // Handle the regular Element usage\n    if (typeof elements.addEventListener === 'function') {\n        return _delegate.apply(null, arguments);\n    }\n\n    // Handle Element-less usage, it defaults to global delegation\n    if (typeof type === 'function') {\n        // Use `document` as the first parameter, then apply arguments\n        // This is a short way to .unshift `arguments` without running into deoptimizations\n        return _delegate.bind(null, document).apply(null, arguments);\n    }\n\n    // Handle Selector-based usage\n    if (typeof elements === 'string') {\n        elements = document.querySelectorAll(elements);\n    }\n\n    // Handle Array-like based usage\n    return Array.prototype.map.call(elements, function (element) {\n        return _delegate(element, selector, type, callback, useCapture);\n    });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n    return function(e) {\n        e.delegateTarget = closest(e.target, selector);\n\n        if (e.delegateTarget) {\n            callback.call(element, e);\n        }\n    }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n    return value !== undefined\n        && value instanceof HTMLElement\n        && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return value !== undefined\n        && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n        && ('length' in value)\n        && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n    return typeof value === 'string'\n        || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n    if (!target && !type && !callback) {\n        throw new Error('Missing required arguments');\n    }\n\n    if (!is.string(type)) {\n        throw new TypeError('Second argument must be a String');\n    }\n\n    if (!is.fn(callback)) {\n        throw new TypeError('Third argument must be a Function');\n    }\n\n    if (is.node(target)) {\n        return listenNode(target, type, callback);\n    }\n    else if (is.nodeList(target)) {\n        return listenNodeList(target, type, callback);\n    }\n    else if (is.string(target)) {\n        return listenSelector(target, type, callback);\n    }\n    else {\n        throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n    }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n    node.addEventListener(type, callback);\n\n    return {\n        destroy: function() {\n            node.removeEventListener(type, callback);\n        }\n    }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n    Array.prototype.forEach.call(nodeList, function(node) {\n        node.addEventListener(type, callback);\n    });\n\n    return {\n        destroy: function() {\n            Array.prototype.forEach.call(nodeList, function(node) {\n                node.removeEventListener(type, callback);\n            });\n        }\n    }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n    return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n    var selectedText;\n\n    if (element.nodeName === 'SELECT') {\n        element.focus();\n\n        selectedText = element.value;\n    }\n    else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n        var isReadOnly = element.hasAttribute('readonly');\n\n        if (!isReadOnly) {\n            element.setAttribute('readonly', '');\n        }\n\n        element.select();\n        element.setSelectionRange(0, element.value.length);\n\n        if (!isReadOnly) {\n            element.removeAttribute('readonly');\n        }\n\n        selectedText = element.value;\n    }\n    else {\n        if (element.hasAttribute('contenteditable')) {\n            element.focus();\n        }\n\n        var selection = window.getSelection();\n        var range = document.createRange();\n\n        range.selectNodeContents(element);\n        selection.removeAllRanges();\n        selection.addRange(range);\n\n        selectedText = selection.toString();\n    }\n\n    return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n  // Keep this empty so it's easier to inherit from\n  // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n  on: function (name, callback, ctx) {\n    var e = this.e || (this.e = {});\n\n    (e[name] || (e[name] = [])).push({\n      fn: callback,\n      ctx: ctx\n    });\n\n    return this;\n  },\n\n  once: function (name, callback, ctx) {\n    var self = this;\n    function listener () {\n      self.off(name, listener);\n      callback.apply(ctx, arguments);\n    };\n\n    listener._ = callback\n    return this.on(name, listener, ctx);\n  },\n\n  emit: function (name) {\n    var data = [].slice.call(arguments, 1);\n    var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n    var i = 0;\n    var len = evtArr.length;\n\n    for (i; i < len; i++) {\n      evtArr[i].fn.apply(evtArr[i].ctx, data);\n    }\n\n    return this;\n  },\n\n  off: function (name, callback) {\n    var e = this.e || (this.e = {});\n    var evts = e[name];\n    var liveEvents = [];\n\n    if (evts && callback) {\n      for (var i = 0, len = evts.length; i < len; i++) {\n        if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n          liveEvents.push(evts[i]);\n      }\n    }\n\n    // Remove event from queue to prevent memory leak\n    // Suggested by https://github.com/lazd\n    // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n    (liveEvents.length)\n      ? e[name] = liveEvents\n      : delete e[name];\n\n    return this;\n  }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n  EMPTY,\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  delay,\n  filter,\n  map,\n  merge,\n  mergeWith,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n  at,\n  getActiveElement,\n  getOptionalElement,\n  requestJSON,\n  setLocation,\n  setToggle,\n  watchDocument,\n  watchKeyboard,\n  watchLocation,\n  watchLocationTarget,\n  watchMedia,\n  watchPrint,\n  watchScript,\n  watchViewport\n} from \"./browser\"\nimport {\n  getComponentElement,\n  getComponentElements,\n  mountAnnounce,\n  mountBackToTop,\n  mountConsent,\n  mountContent,\n  mountDialog,\n  mountHeader,\n  mountHeaderTitle,\n  mountPalette,\n  mountProgress,\n  mountSearch,\n  mountSearchHiglight,\n  mountSidebar,\n  mountSource,\n  mountTableOfContents,\n  mountTabs,\n  watchHeader,\n  watchMain\n} from \"./components\"\nimport {\n  SearchIndex,\n  setupClipboardJS,\n  setupInstantNavigation,\n  setupVersionSelector\n} from \"./integrations\"\nimport {\n  patchEllipsis,\n  patchIndeterminate,\n  patchScrollfix,\n  patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable<SearchIndex> {\n  if (location.protocol === \"file:\") {\n    return watchScript(\n      `${new URL(\"search/search_index.js\", config.base)}`\n    )\n      .pipe(\n        // @ts-ignore - @todo fix typings\n        map(() => __index),\n        shareReplay(1)\n      )\n  } else {\n    return requestJSON<SearchIndex>(\n      new URL(\"search/search_index.json\", config.base)\n    )\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$   = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$   = watchMedia(\"(min-width: 960px)\")\nconst screen$   = watchMedia(\"(min-width: 1220px)\")\nconst print$    = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n  ? fetchSearchIndex()\n  : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject<string>()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject<number>()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n  setupInstantNavigation({ location$, viewport$, progress$ })\n    .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n  setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n  .pipe(\n    delay(125)\n  )\n    .subscribe(() => {\n      setToggle(\"drawer\", false)\n      setToggle(\"search\", false)\n    })\n\n/* Set up global keyboard handlers */\nkeyboard$\n  .pipe(\n    filter(({ mode }) => mode === \"global\")\n  )\n    .subscribe(key => {\n      switch (key.type) {\n\n        /* Go to previous page */\n        case \"p\":\n        case \",\":\n          const prev = getOptionalElement<HTMLLinkElement>(\"link[rel=prev]\")\n          if (typeof prev !== \"undefined\")\n            setLocation(prev)\n          break\n\n        /* Go to next page */\n        case \"n\":\n        case \".\":\n          const next = getOptionalElement<HTMLLinkElement>(\"link[rel=next]\")\n          if (typeof next !== \"undefined\")\n            setLocation(next)\n          break\n\n        /* Expand navigation, see https://bit.ly/3ZjG5io */\n        case \"Enter\":\n          const active = getActiveElement()\n          if (active instanceof HTMLLabelElement)\n            active.click()\n      }\n    })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n  .pipe(\n    map(() => getComponentElement(\"main\")),\n    switchMap(el => watchMain(el, { viewport$, header$ })),\n    shareReplay(1)\n  )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n  /* Consent */\n  ...getComponentElements(\"consent\")\n    .map(el => mountConsent(el, { target$ })),\n\n  /* Dialog */\n  ...getComponentElements(\"dialog\")\n    .map(el => mountDialog(el, { alert$ })),\n\n  /* Header */\n  ...getComponentElements(\"header\")\n    .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n  /* Color palette */\n  ...getComponentElements(\"palette\")\n    .map(el => mountPalette(el)),\n\n  /* Progress bar */\n  ...getComponentElements(\"progress\")\n    .map(el => mountProgress(el, { progress$ })),\n\n  /* Search */\n  ...getComponentElements(\"search\")\n    .map(el => mountSearch(el, { index$, keyboard$ })),\n\n  /* Repository information */\n  ...getComponentElements(\"source\")\n    .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n  /* Announcement bar */\n  ...getComponentElements(\"announce\")\n    .map(el => mountAnnounce(el)),\n\n  /* Content */\n  ...getComponentElements(\"content\")\n    .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n  /* Search highlighting */\n  ...getComponentElements(\"content\")\n    .map(el => feature(\"search.highlight\")\n      ? mountSearchHiglight(el, { index$, location$ })\n      : EMPTY\n    ),\n\n  /* Header title */\n  ...getComponentElements(\"header-title\")\n    .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n  /* Sidebar */\n  ...getComponentElements(\"sidebar\")\n    .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n      ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n      : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n    ),\n\n  /* Navigation tabs */\n  ...getComponentElements(\"tabs\")\n    .map(el => mountTabs(el, { viewport$, header$ })),\n\n  /* Table of contents */\n  ...getComponentElements(\"toc\")\n    .map(el => mountTableOfContents(el, {\n      viewport$, header$, main$, target$\n    })),\n\n  /* Back-to-top button */\n  ...getComponentElements(\"top\")\n    .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n  .pipe(\n    switchMap(() => content$),\n    mergeWith(control$),\n    shareReplay(1)\n  )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$  = document$          /* Document observable */\nwindow.location$  = location$          /* Location subject */\nwindow.target$    = target$            /* Location target observable */\nwindow.keyboard$  = keyboard$          /* Keyboard observable */\nwindow.viewport$  = viewport$          /* Viewport observable */\nwindow.tablet$    = tablet$            /* Media tablet observable */\nwindow.screen$    = screen$            /* Media screen observable */\nwindow.print$     = print$             /* Media print observable */\nwindow.alert$     = alert$             /* Alert subject */\nwindow.progress$  = progress$          /* Progress indicator subject */\nwindow.component$ = component$         /* Component observable */\n", "/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation.\r\n\r\nPermission to use, copy, modify, and/or distribute this software for any\r\npurpose with or without fee is hereby granted.\r\n\r\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\r\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\r\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\r\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\r\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\r\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\r\nPERFORMANCE OF THIS SOFTWARE.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n    extendStatics = Object.setPrototypeOf ||\r\n        ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n        function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\r\n    return extendStatics(d, b);\r\n};\r\n\r\nexport function __extends(d, b) {\r\n    if (typeof b !== \"function\" && b !== null)\r\n        throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\r\n    extendStatics(d, b);\r\n    function __() { this.constructor = d; }\r\n    d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nexport var __assign = function() {\r\n    __assign = Object.assign || function __assign(t) {\r\n        for (var s, i = 1, n = arguments.length; i < n; i++) {\r\n            s = arguments[i];\r\n            for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\r\n        }\r\n        return t;\r\n    }\r\n    return __assign.apply(this, arguments);\r\n}\r\n\r\nexport function __rest(s, e) {\r\n    var t = {};\r\n    for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\r\n        t[p] = s[p];\r\n    if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\r\n        for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\r\n            if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\r\n                t[p[i]] = s[p[i]];\r\n        }\r\n    return t;\r\n}\r\n\r\nexport function __decorate(decorators, target, key, desc) {\r\n    var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\r\n    if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\r\n    else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\r\n    return c > 3 && r && Object.defineProperty(target, key, r), r;\r\n}\r\n\r\nexport function __param(paramIndex, decorator) {\r\n    return function (target, key) { decorator(target, key, paramIndex); }\r\n}\r\n\r\nexport function __metadata(metadataKey, metadataValue) {\r\n    if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\r\n}\r\n\r\nexport function __awaiter(thisArg, _arguments, P, generator) {\r\n    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\r\n    return new (P || (P = Promise))(function (resolve, reject) {\r\n        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\r\n        function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\r\n        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\r\n        step((generator = generator.apply(thisArg, _arguments || [])).next());\r\n    });\r\n}\r\n\r\nexport function __generator(thisArg, body) {\r\n    var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;\r\n    return g = { next: verb(0), \"throw\": verb(1), \"return\": verb(2) }, typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\r\n    function verb(n) { return function (v) { return step([n, v]); }; }\r\n    function step(op) {\r\n        if (f) throw new TypeError(\"Generator is already executing.\");\r\n        while (_) try {\r\n            if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\r\n            if (y = 0, t) op = [op[0] & 2, t.value];\r\n            switch (op[0]) {\r\n                case 0: case 1: t = op; break;\r\n                case 4: _.label++; return { value: op[1], done: false };\r\n                case 5: _.label++; y = op[1]; op = [0]; continue;\r\n                case 7: op = _.ops.pop(); _.trys.pop(); continue;\r\n                default:\r\n                    if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\r\n                    if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\r\n                    if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\r\n                    if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\r\n                    if (t[2]) _.ops.pop();\r\n                    _.trys.pop(); continue;\r\n            }\r\n            op = body.call(thisArg, _);\r\n        } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\r\n        if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\r\n    }\r\n}\r\n\r\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\r\n    if (k2 === undefined) k2 = k;\r\n    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });\r\n}) : (function(o, m, k, k2) {\r\n    if (k2 === undefined) k2 = k;\r\n    o[k2] = m[k];\r\n});\r\n\r\nexport function __exportStar(m, o) {\r\n    for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\r\n}\r\n\r\nexport function __values(o) {\r\n    var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\r\n    if (m) return m.call(o);\r\n    if (o && typeof o.length === \"number\") return {\r\n        next: function () {\r\n            if (o && i >= o.length) o = void 0;\r\n            return { value: o && o[i++], done: !o };\r\n        }\r\n    };\r\n    throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\r\n}\r\n\r\nexport function __read(o, n) {\r\n    var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n    if (!m) return o;\r\n    var i = m.call(o), r, ar = [], e;\r\n    try {\r\n        while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n    }\r\n    catch (error) { e = { error: error }; }\r\n    finally {\r\n        try {\r\n            if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n        }\r\n        finally { if (e) throw e.error; }\r\n    }\r\n    return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spread() {\r\n    for (var ar = [], i = 0; i < arguments.length; i++)\r\n        ar = ar.concat(__read(arguments[i]));\r\n    return ar;\r\n}\r\n\r\n/** @deprecated */\r\nexport function __spreadArrays() {\r\n    for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\r\n    for (var r = Array(s), k = 0, i = 0; i < il; i++)\r\n        for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\r\n            r[k] = a[j];\r\n    return r;\r\n}\r\n\r\nexport function __spreadArray(to, from, pack) {\r\n    if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\r\n        if (ar || !(i in from)) {\r\n            if (!ar) ar = Array.prototype.slice.call(from, 0, i);\r\n            ar[i] = from[i];\r\n        }\r\n    }\r\n    return to.concat(ar || Array.prototype.slice.call(from));\r\n}\r\n\r\nexport function __await(v) {\r\n    return this instanceof __await ? (this.v = v, this) : new __await(v);\r\n}\r\n\r\nexport function __asyncGenerator(thisArg, _arguments, generator) {\r\n    if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n    var g = generator.apply(thisArg, _arguments || []), i, q = [];\r\n    return i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i;\r\n    function verb(n) { if (g[n]) i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; }\r\n    function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\r\n    function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\r\n    function fulfill(value) { resume(\"next\", value); }\r\n    function reject(value) { resume(\"throw\", value); }\r\n    function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\r\n}\r\n\r\nexport function __asyncDelegator(o) {\r\n    var i, p;\r\n    return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\r\n    function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: n === \"return\" } : f ? f(v) : v; } : f; }\r\n}\r\n\r\nexport function __asyncValues(o) {\r\n    if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\r\n    var m = o[Symbol.asyncIterator], i;\r\n    return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\r\n    function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\r\n    function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\r\n}\r\n\r\nexport function __makeTemplateObject(cooked, raw) {\r\n    if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\r\n    return cooked;\r\n};\r\n\r\nvar __setModuleDefault = Object.create ? (function(o, v) {\r\n    Object.defineProperty(o, \"default\", { enumerable: true, value: v });\r\n}) : function(o, v) {\r\n    o[\"default\"] = v;\r\n};\r\n\r\nexport function __importStar(mod) {\r\n    if (mod && mod.__esModule) return mod;\r\n    var result = {};\r\n    if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\r\n    __setModuleDefault(result, mod);\r\n    return result;\r\n}\r\n\r\nexport function __importDefault(mod) {\r\n    return (mod && mod.__esModule) ? mod : { default: mod };\r\n}\r\n\r\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\r\n    if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\r\n    if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\r\n    return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\r\n}\r\n\r\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\r\n    if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\r\n    if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\r\n    if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\r\n    return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\r\n}\r\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n  return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass<T>(createImpl: (_super: any) => any): T {\n  const _super = (instance: any) => {\n    Error.call(instance);\n    instance.stack = new Error().stack;\n  };\n\n  const ctorFunc = createImpl(_super);\n  ctorFunc.prototype = Object.create(Error.prototype);\n  ctorFunc.prototype.constructor = ctorFunc;\n  return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n  readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n  (_super) =>\n    function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n      _super(this);\n      this.message = errors\n        ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n  ')}`\n        : '';\n      this.name = 'UnsubscriptionError';\n      this.errors = errors;\n    }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove<T>(arr: T[] | undefined | null, item: T) {\n  if (arr) {\n    const index = arr.indexOf(item);\n    0 <= index && arr.splice(index, 1);\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n  /** @nocollapse */\n  public static EMPTY = (() => {\n    const empty = new Subscription();\n    empty.closed = true;\n    return empty;\n  })();\n\n  /**\n   * A flag to indicate whether this Subscription has already been unsubscribed.\n   */\n  public closed = false;\n\n  private _parentage: Subscription[] | Subscription | null = null;\n\n  /**\n   * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n   * list occurs in the {@link #add} and {@link #remove} methods.\n   */\n  private _finalizers: Exclude<TeardownLogic, void>[] | null = null;\n\n  /**\n   * @param initialTeardown A function executed first as part of the finalization\n   * process that is kicked off when {@link #unsubscribe} is called.\n   */\n  constructor(private initialTeardown?: () => void) {}\n\n  /**\n   * Disposes the resources held by the subscription. May, for instance, cancel\n   * an ongoing Observable execution or cancel any other type of work that\n   * started when the Subscription was created.\n   * @return {void}\n   */\n  unsubscribe(): void {\n    let errors: any[] | undefined;\n\n    if (!this.closed) {\n      this.closed = true;\n\n      // Remove this from it's parents.\n      const { _parentage } = this;\n      if (_parentage) {\n        this._parentage = null;\n        if (Array.isArray(_parentage)) {\n          for (const parent of _parentage) {\n            parent.remove(this);\n          }\n        } else {\n          _parentage.remove(this);\n        }\n      }\n\n      const { initialTeardown: initialFinalizer } = this;\n      if (isFunction(initialFinalizer)) {\n        try {\n          initialFinalizer();\n        } catch (e) {\n          errors = e instanceof UnsubscriptionError ? e.errors : [e];\n        }\n      }\n\n      const { _finalizers } = this;\n      if (_finalizers) {\n        this._finalizers = null;\n        for (const finalizer of _finalizers) {\n          try {\n            execFinalizer(finalizer);\n          } catch (err) {\n            errors = errors ?? [];\n            if (err instanceof UnsubscriptionError) {\n              errors = [...errors, ...err.errors];\n            } else {\n              errors.push(err);\n            }\n          }\n        }\n      }\n\n      if (errors) {\n        throw new UnsubscriptionError(errors);\n      }\n    }\n  }\n\n  /**\n   * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n   * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n   * because it has already been unsubscribed, then whatever finalizer is passed to it\n   * will automatically be executed (unless the finalizer itself is also a closed subscription).\n   *\n   * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n   * subscription to a any subscription will result in no operation. (A noop).\n   *\n   * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n   * operation at all. (A noop).\n   *\n   * `Subscription` instances that are added to this instance will automatically remove themselves\n   * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n   * will need to be removed manually with {@link #remove}\n   *\n   * @param teardown The finalization logic to add to this subscription.\n   */\n  add(teardown: TeardownLogic): void {\n    // Only add the finalizer if it's not undefined\n    // and don't add a subscription to itself.\n    if (teardown && teardown !== this) {\n      if (this.closed) {\n        // If this subscription is already closed,\n        // execute whatever finalizer is handed to it automatically.\n        execFinalizer(teardown);\n      } else {\n        if (teardown instanceof Subscription) {\n          // We don't add closed subscriptions, and we don't add the same subscription\n          // twice. Subscription unsubscribe is idempotent.\n          if (teardown.closed || teardown._hasParent(this)) {\n            return;\n          }\n          teardown._addParent(this);\n        }\n        (this._finalizers = this._finalizers ?? []).push(teardown);\n      }\n    }\n  }\n\n  /**\n   * Checks to see if a this subscription already has a particular parent.\n   * This will signal that this subscription has already been added to the parent in question.\n   * @param parent the parent to check for\n   */\n  private _hasParent(parent: Subscription) {\n    const { _parentage } = this;\n    return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n  }\n\n  /**\n   * Adds a parent to this subscription so it can be removed from the parent if it\n   * unsubscribes on it's own.\n   *\n   * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n   * @param parent The parent subscription to add\n   */\n  private _addParent(parent: Subscription) {\n    const { _parentage } = this;\n    this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n  }\n\n  /**\n   * Called on a child when it is removed via {@link #remove}.\n   * @param parent The parent to remove\n   */\n  private _removeParent(parent: Subscription) {\n    const { _parentage } = this;\n    if (_parentage === parent) {\n      this._parentage = null;\n    } else if (Array.isArray(_parentage)) {\n      arrRemove(_parentage, parent);\n    }\n  }\n\n  /**\n   * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n   *\n   * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n   * from every other `Subscription` they have been added to. This means that using the `remove` method\n   * is not a common thing and should be used thoughtfully.\n   *\n   * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n   * more than once, you will need to call `remove` the same number of times to remove all instances.\n   *\n   * All finalizer instances are removed to free up memory upon unsubscription.\n   *\n   * @param teardown The finalizer to remove from this subscription\n   */\n  remove(teardown: Exclude<TeardownLogic, void>): void {\n    const { _finalizers } = this;\n    _finalizers && arrRemove(_finalizers, teardown);\n\n    if (teardown instanceof Subscription) {\n      teardown._removeParent(this);\n    }\n  }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n  return (\n    value instanceof Subscription ||\n    (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n  );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n  if (isFunction(finalizer)) {\n    finalizer();\n  } else {\n    finalizer.unsubscribe();\n  }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n  onUnhandledError: null,\n  onStoppedNotification: null,\n  Promise: undefined,\n  useDeprecatedSynchronousErrorHandling: false,\n  useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n  /**\n   * A registration point for unhandled errors from RxJS. These are errors that\n   * cannot were not handled by consuming code in the usual subscription path. For\n   * example, if you have this configured, and you subscribe to an observable without\n   * providing an error handler, errors from that subscription will end up here. This\n   * will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onUnhandledError: ((err: any) => void) | null;\n\n  /**\n   * A registration point for notifications that cannot be sent to subscribers because they\n   * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n   * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n   * might want a different behavior. For example, with sources that attempt to report errors\n   * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n   * This will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onStoppedNotification: ((notification: ObservableNotification<any>, subscriber: Subscriber<any>) => void) | null;\n\n  /**\n   * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n   * methods.\n   *\n   * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n   * Promise constructor. If you need a Promise implementation other than native promises,\n   * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n   */\n  Promise?: PromiseConstructorLike;\n\n  /**\n   * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n   * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n   * call in a try/catch block. It also enables producer interference, a nasty bug\n   * where a multicast can be broken for all observers by a downstream consumer with\n   * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n   * FOR MIGRATION REASONS.\n   *\n   * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n   * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n   * behaviors described above. Will be removed in v8.\n   */\n  useDeprecatedSynchronousErrorHandling: boolean;\n\n  /**\n   * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n   * `unsubscribe()` via `this` context in `next` functions created in observers passed\n   * to `subscribe`.\n   *\n   * This is being removed because the performance was severely problematic, and it could also cause\n   * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n   * their `this` context overwritten.\n   *\n   * @deprecated As of version 8, RxJS will no longer support altering the\n   * context of next functions provided as part of an observer to Subscribe. Instead,\n   * you will have access to a subscription or a signal or token that will allow you to do things like\n   * unsubscribe and test closed status. Will be removed in v8.\n   */\n  useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n  setTimeout: SetTimeoutFunction;\n  clearTimeout: ClearTimeoutFunction;\n  delegate:\n    | {\n        setTimeout: SetTimeoutFunction;\n        clearTimeout: ClearTimeoutFunction;\n      }\n    | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setTimeout(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = timeoutProvider;\n    if (delegate?.setTimeout) {\n      return delegate.setTimeout(handler, timeout, ...args);\n    }\n    return setTimeout(handler, timeout, ...args);\n  },\n  clearTimeout(handle) {\n    const { delegate } = timeoutProvider;\n    return (delegate?.clearTimeout || clearTimeout)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n  timeoutProvider.setTimeout(() => {\n    const { onUnhandledError } = config;\n    if (onUnhandledError) {\n      // Execute the user-configured error handler.\n      onUnhandledError(err);\n    } else {\n      // Throw so it is picked up by the runtime's uncaught error mechanism.\n      throw err;\n    }\n  });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n  return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification<T>(value: T) {\n  return createNotification('N', value, undefined) as NextNotification<T>;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n  return {\n    kind,\n    value,\n    error,\n  };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    const isRoot = !context;\n    if (isRoot) {\n      context = { errorThrown: false, error: null };\n    }\n    cb();\n    if (isRoot) {\n      const { errorThrown, error } = context!;\n      context = null;\n      if (errorThrown) {\n        throw error;\n      }\n    }\n  } else {\n    // This is the general non-deprecated path for everyone that\n    // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n    cb();\n  }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n  if (config.useDeprecatedSynchronousErrorHandling && context) {\n    context.errorThrown = true;\n    context.error = err;\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber<T>\n */\nexport class Subscriber<T> extends Subscription implements Observer<T> {\n  /**\n   * A static factory for a Subscriber, given a (potentially partial) definition\n   * of an Observer.\n   * @param next The `next` callback of an Observer.\n   * @param error The `error` callback of an\n   * Observer.\n   * @param complete The `complete` callback of an\n   * Observer.\n   * @return A Subscriber wrapping the (partially defined)\n   * Observer represented by the given arguments.\n   * @nocollapse\n   * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n   * method, and there is no reason to be creating instances of `Subscriber` directly.\n   * If you have a specific use case, please file an issue.\n   */\n  static create<T>(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber<T> {\n    return new SafeSubscriber(next, error, complete);\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected isStopped: boolean = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected destination: Subscriber<any> | Observer<any>; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n   */\n  constructor(destination?: Subscriber<any> | Observer<any>) {\n    super();\n    if (destination) {\n      this.destination = destination;\n      // Automatically chain subscriptions together here.\n      // if destination is a Subscription, then it is a Subscriber.\n      if (isSubscription(destination)) {\n        destination.add(this);\n      }\n    } else {\n      this.destination = EMPTY_OBSERVER;\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `next` from\n   * the Observable, with a value. The Observable may call this method 0 or more\n   * times.\n   * @param {T} [value] The `next` value.\n   * @return {void}\n   */\n  next(value?: T): void {\n    if (this.isStopped) {\n      handleStoppedNotification(nextNotification(value), this);\n    } else {\n      this._next(value!);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `error` from\n   * the Observable, with an attached `Error`. Notifies the Observer that\n   * the Observable has experienced an error condition.\n   * @param {any} [err] The `error` exception.\n   * @return {void}\n   */\n  error(err?: any): void {\n    if (this.isStopped) {\n      handleStoppedNotification(errorNotification(err), this);\n    } else {\n      this.isStopped = true;\n      this._error(err);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive a valueless notification of type\n   * `complete` from the Observable. Notifies the Observer that the Observable\n   * has finished sending push-based notifications.\n   * @return {void}\n   */\n  complete(): void {\n    if (this.isStopped) {\n      handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n    } else {\n      this.isStopped = true;\n      this._complete();\n    }\n  }\n\n  unsubscribe(): void {\n    if (!this.closed) {\n      this.isStopped = true;\n      super.unsubscribe();\n      this.destination = null!;\n    }\n  }\n\n  protected _next(value: T): void {\n    this.destination.next(value);\n  }\n\n  protected _error(err: any): void {\n    try {\n      this.destination.error(err);\n    } finally {\n      this.unsubscribe();\n    }\n  }\n\n  protected _complete(): void {\n    try {\n      this.destination.complete();\n    } finally {\n      this.unsubscribe();\n    }\n  }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind<Fn extends (...args: any[]) => any>(fn: Fn, thisArg: any): Fn {\n  return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver<T> implements Observer<T> {\n  constructor(private partialObserver: Partial<Observer<T>>) {}\n\n  next(value: T): void {\n    const { partialObserver } = this;\n    if (partialObserver.next) {\n      try {\n        partialObserver.next(value);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n\n  error(err: any): void {\n    const { partialObserver } = this;\n    if (partialObserver.error) {\n      try {\n        partialObserver.error(err);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    } else {\n      handleUnhandledError(err);\n    }\n  }\n\n  complete(): void {\n    const { partialObserver } = this;\n    if (partialObserver.complete) {\n      try {\n        partialObserver.complete();\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n}\n\nexport class SafeSubscriber<T> extends Subscriber<T> {\n  constructor(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((e?: any) => void) | null,\n    complete?: (() => void) | null\n  ) {\n    super();\n\n    let partialObserver: Partial<Observer<T>>;\n    if (isFunction(observerOrNext) || !observerOrNext) {\n      // The first argument is a function, not an observer. The next\n      // two arguments *could* be observers, or they could be empty.\n      partialObserver = {\n        next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n        error: error ?? undefined,\n        complete: complete ?? undefined,\n      };\n    } else {\n      // The first argument is a partial observer.\n      let context: any;\n      if (this && config.useDeprecatedNextContext) {\n        // This is a deprecated path that made `this.unsubscribe()` available in\n        // next handler functions passed to subscribe. This only exists behind a flag\n        // now, as it is *very* slow.\n        context = Object.create(observerOrNext);\n        context.unsubscribe = () => this.unsubscribe();\n        partialObserver = {\n          next: observerOrNext.next && bind(observerOrNext.next, context),\n          error: observerOrNext.error && bind(observerOrNext.error, context),\n          complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n        };\n      } else {\n        // The \"normal\" path. Just use the partial observer directly.\n        partialObserver = observerOrNext;\n      }\n    }\n\n    // Wrap the partial observer to ensure it's a full observer, and\n    // make sure proper error handling is accounted for.\n    this.destination = new ConsumerObserver(partialObserver);\n  }\n}\n\nfunction handleUnhandledError(error: any) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    captureError(error);\n  } else {\n    // Ideal path, we report this as an unhandled error,\n    // which is thrown on a new call stack.\n    reportUnhandledError(error);\n  }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n  throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification<any>, subscriber: Subscriber<any>) {\n  const { onStoppedNotification } = config;\n  onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly<Observer<any>> & { closed: true } = {\n  closed: true,\n  next: noop,\n  error: defaultErrorHandler,\n  complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `<T>(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n *   map(i => range(i)),\n *   mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity<T>(x: T): T {\n  return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe<T, A>(fn1: UnaryFunction<T, A>): UnaryFunction<T, A>;\nexport function pipe<T, A, B>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>): UnaryFunction<T, B>;\nexport function pipe<T, A, B, C>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>, fn3: UnaryFunction<B, C>): UnaryFunction<T, C>;\nexport function pipe<T, A, B, C, D>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>\n): UnaryFunction<T, D>;\nexport function pipe<T, A, B, C, D, E>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>\n): UnaryFunction<T, E>;\nexport function pipe<T, A, B, C, D, E, F>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>\n): UnaryFunction<T, F>;\nexport function pipe<T, A, B, C, D, E, F, G>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>\n): UnaryFunction<T, G>;\nexport function pipe<T, A, B, C, D, E, F, G, H>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>\n): UnaryFunction<T, H>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>\n): UnaryFunction<T, I>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>,\n  ...fns: UnaryFunction<any, any>[]\n): UnaryFunction<T, unknown>;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on.  \n */\nexport function pipe(...fns: Array<UnaryFunction<any, any>>): UnaryFunction<any, any> {\n  return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray<T, R>(fns: Array<UnaryFunction<T, R>>): UnaryFunction<T, R> {\n  if (fns.length === 0) {\n    return identity as UnaryFunction<any, any>;\n  }\n\n  if (fns.length === 1) {\n    return fns[0];\n  }\n\n  return function piped(input: T): R {\n    return fns.reduce((prev: any, fn: UnaryFunction<T, R>) => fn(prev), input as any);\n  };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable<T>\n */\nexport class Observable<T> implements Subscribable<T> {\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  source: Observable<any> | undefined;\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  operator: Operator<any, T> | undefined;\n\n  /**\n   * @constructor\n   * @param {Function} subscribe the function that is called when the Observable is\n   * initially subscribed to. This function is given a Subscriber, to which new values\n   * can be `next`ed, or an `error` method can be called to raise an error, or\n   * `complete` can be called to notify of a successful completion.\n   */\n  constructor(subscribe?: (this: Observable<T>, subscriber: Subscriber<T>) => TeardownLogic) {\n    if (subscribe) {\n      this._subscribe = subscribe;\n    }\n  }\n\n  // HACK: Since TypeScript inherits static properties too, we have to\n  // fight against TypeScript here so Subject can have a different static create signature\n  /**\n   * Creates a new Observable by calling the Observable constructor\n   * @owner Observable\n   * @method create\n   * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n   * @return {Observable} a new observable\n   * @nocollapse\n   * @deprecated Use `new Observable()` instead. Will be removed in v8.\n   */\n  static create: (...args: any[]) => any = <T>(subscribe?: (subscriber: Subscriber<T>) => TeardownLogic) => {\n    return new Observable<T>(subscribe);\n  };\n\n  /**\n   * Creates a new Observable, with this Observable instance as the source, and the passed\n   * operator defined as the new observable's operator.\n   * @method lift\n   * @param operator the operator defining the operation to take on the observable\n   * @return a new observable with the Operator applied\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * If you have implemented an operator using `lift`, it is recommended that you create an\n   * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n   * scratch\" section here: https://rxjs.dev/guide/operators\n   */\n  lift<R>(operator?: Operator<T, R>): Observable<R> {\n    const observable = new Observable<R>();\n    observable.source = this;\n    observable.operator = operator;\n    return observable;\n  }\n\n  subscribe(observerOrNext?: Partial<Observer<T>> | ((value: T) => void)): Subscription;\n  /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n  subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n  /**\n   * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n   *\n   * <span class=\"informal\">Use it when you have all these Observables, but still nothing is happening.</span>\n   *\n   * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n   * might be for example a function that you passed to Observable's constructor, but most of the time it is\n   * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n   * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n   * the thought.\n   *\n   * Apart from starting the execution of an Observable, this method allows you to listen for values\n   * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n   * of the following ways.\n   *\n   * The first way is creating an object that implements {@link Observer} interface. It should have methods\n   * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n   * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n   * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n   * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n   * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n   * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n   * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n   * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n   * an `error` method to avoid missing thrown errors.\n   *\n   * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n   * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n   * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n   * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n   * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n   * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n   *\n   * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n   * and you also handled emissions internally by using operators (e.g. using `tap`).\n   *\n   * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n   * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n   * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n   * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n   *\n   * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n   * It is an Observable itself that decides when these functions will be called. For example {@link of}\n   * by default emits all its values synchronously. Always check documentation for how given Observable\n   * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n   *\n   * #### Examples\n   *\n   * Subscribe with an {@link guide/observer Observer}\n   *\n   * ```ts\n   * import { of } from 'rxjs';\n   *\n   * const sumObserver = {\n   *   sum: 0,\n   *   next(value) {\n   *     console.log('Adding: ' + value);\n   *     this.sum = this.sum + value;\n   *   },\n   *   error() {\n   *     // We actually could just remove this method,\n   *     // since we do not really care about errors right now.\n   *   },\n   *   complete() {\n   *     console.log('Sum equals: ' + this.sum);\n   *   }\n   * };\n   *\n   * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n   *   .subscribe(sumObserver);\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n   *\n   * ```ts\n   * import { of } from 'rxjs'\n   *\n   * let sum = 0;\n   *\n   * of(1, 2, 3).subscribe(\n   *   value => {\n   *     console.log('Adding: ' + value);\n   *     sum = sum + value;\n   *   },\n   *   undefined,\n   *   () => console.log('Sum equals: ' + sum)\n   * );\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Cancel a subscription\n   *\n   * ```ts\n   * import { interval } from 'rxjs';\n   *\n   * const subscription = interval(1000).subscribe({\n   *   next(num) {\n   *     console.log(num)\n   *   },\n   *   complete() {\n   *     // Will not be called, even when cancelling subscription.\n   *     console.log('completed!');\n   *   }\n   * });\n   *\n   * setTimeout(() => {\n   *   subscription.unsubscribe();\n   *   console.log('unsubscribed!');\n   * }, 2500);\n   *\n   * // Logs:\n   * // 0 after 1s\n   * // 1 after 2s\n   * // 'unsubscribed!' after 2.5s\n   * ```\n   *\n   * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n   * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n   * Observable.\n   * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n   * the error will be thrown asynchronously as unhandled.\n   * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n   * @return {Subscription} a subscription reference to the registered handlers\n   * @method subscribe\n   */\n  subscribe(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((error: any) => void) | null,\n    complete?: (() => void) | null\n  ): Subscription {\n    const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n    errorContext(() => {\n      const { operator, source } = this;\n      subscriber.add(\n        operator\n          ? // We're dealing with a subscription in the\n            // operator chain to one of our lifted operators.\n            operator.call(subscriber, source)\n          : source\n          ? // If `source` has a value, but `operator` does not, something that\n            // had intimate knowledge of our API, like our `Subject`, must have\n            // set it. We're going to just call `_subscribe` directly.\n            this._subscribe(subscriber)\n          : // In all other cases, we're likely wrapping a user-provided initializer\n            // function, so we need to catch errors and handle them appropriately.\n            this._trySubscribe(subscriber)\n      );\n    });\n\n    return subscriber;\n  }\n\n  /** @internal */\n  protected _trySubscribe(sink: Subscriber<T>): TeardownLogic {\n    try {\n      return this._subscribe(sink);\n    } catch (err) {\n      // We don't need to return anything in this case,\n      // because it's just going to try to `add()` to a subscription\n      // above.\n      sink.error(err);\n    }\n  }\n\n  /**\n   * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n   * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * #### Example\n   *\n   * ```ts\n   * import { interval, take } from 'rxjs';\n   *\n   * const source$ = interval(1000).pipe(take(4));\n   *\n   * async function getTotal() {\n   *   let total = 0;\n   *\n   *   await source$.forEach(value => {\n   *     total += value;\n   *     console.log('observable -> ' + value);\n   *   });\n   *\n   *   return total;\n   * }\n   *\n   * getTotal().then(\n   *   total => console.log('Total: ' + total)\n   * );\n   *\n   * // Expected:\n   * // 'observable -> 0'\n   * // 'observable -> 1'\n   * // 'observable -> 2'\n   * // 'observable -> 3'\n   * // 'Total: 6'\n   * ```\n   *\n   * @param next a handler for each value emitted by the observable\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   */\n  forEach(next: (value: T) => void): Promise<void>;\n\n  /**\n   * @param next a handler for each value emitted by the observable\n   * @param promiseCtor a constructor function used to instantiate the Promise\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   * @deprecated Passing a Promise constructor will no longer be available\n   * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n   * little benefit. If you need this functionality, it is recommended that you either\n   * polyfill Promise, or you create an adapter to convert the returned native promise\n   * to whatever promise implementation you wanted. Will be removed in v8.\n   */\n  forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise<void>;\n\n  forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise<void> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor<void>((resolve, reject) => {\n      const subscriber = new SafeSubscriber<T>({\n        next: (value) => {\n          try {\n            next(value);\n          } catch (err) {\n            reject(err);\n            subscriber.unsubscribe();\n          }\n        },\n        error: reject,\n        complete: resolve,\n      });\n      this.subscribe(subscriber);\n    }) as Promise<void>;\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<any>): TeardownLogic {\n    return this.source?.subscribe(subscriber);\n  }\n\n  /**\n   * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n   * @method Symbol.observable\n   * @return {Observable} this instance of the observable\n   */\n  [Symbol_observable]() {\n    return this;\n  }\n\n  /* tslint:disable:max-line-length */\n  pipe(): Observable<T>;\n  pipe<A>(op1: OperatorFunction<T, A>): Observable<A>;\n  pipe<A, B>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>): Observable<B>;\n  pipe<A, B, C>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>, op3: OperatorFunction<B, C>): Observable<C>;\n  pipe<A, B, C, D>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>\n  ): Observable<D>;\n  pipe<A, B, C, D, E>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>\n  ): Observable<E>;\n  pipe<A, B, C, D, E, F>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>\n  ): Observable<F>;\n  pipe<A, B, C, D, E, F, G>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>\n  ): Observable<G>;\n  pipe<A, B, C, D, E, F, G, H>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>\n  ): Observable<H>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>\n  ): Observable<I>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>,\n    ...operations: OperatorFunction<any, any>[]\n  ): Observable<unknown>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Used to stitch together functional operators into a chain.\n   * @method pipe\n   * @return {Observable} the Observable result of all of the operators having\n   * been called in the order they were passed in.\n   *\n   * ## Example\n   *\n   * ```ts\n   * import { interval, filter, map, scan } from 'rxjs';\n   *\n   * interval(1000)\n   *   .pipe(\n   *     filter(x => x % 2 === 0),\n   *     map(x => x + x),\n   *     scan((acc, x) => acc + x)\n   *   )\n   *   .subscribe(x => console.log(x));\n   * ```\n   */\n  pipe(...operations: OperatorFunction<any, any>[]): Observable<any> {\n    return pipeFromArray(operations)(this);\n  }\n\n  /* tslint:disable:max-line-length */\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: typeof Promise): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: PromiseConstructorLike): Promise<T | undefined>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Subscribe to this Observable and get a Promise resolving on\n   * `complete` with the last emission (if any).\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * @method toPromise\n   * @param [promiseCtor] a constructor function used to instantiate\n   * the Promise\n   * @return A Promise that resolves with the last value emit, or\n   * rejects on an error. If there were no emissions, Promise\n   * resolves with undefined.\n   * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n   */\n  toPromise(promiseCtor?: PromiseConstructorLike): Promise<T | undefined> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor((resolve, reject) => {\n      let value: T | undefined;\n      this.subscribe(\n        (x: T) => (value = x),\n        (err: any) => reject(err),\n        () => resolve(value)\n      );\n    }) as Promise<T | undefined>;\n  }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n  return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver<T>(value: any): value is Observer<T> {\n  return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber<T>(value: any): value is Subscriber<T> {\n  return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType<typeof Observable>['lift'] } {\n  return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate<T, R>(\n  init: (liftedSource: Observable<T>, subscriber: Subscriber<R>) => (() => void) | void\n): OperatorFunction<T, R> {\n  return (source: Observable<T>) => {\n    if (hasLift(source)) {\n      return source.lift(function (this: Subscriber<R>, liftedSource: Observable<T>) {\n        try {\n          return init(liftedSource, this);\n        } catch (err) {\n          this.error(err);\n        }\n      });\n    }\n    throw new TypeError('Unable to lift unknown Observable type');\n  };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber<T>(\n  destination: Subscriber<any>,\n  onNext?: (value: T) => void,\n  onComplete?: () => void,\n  onError?: (err: any) => void,\n  onFinalize?: () => void\n): Subscriber<T> {\n  return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber<T> extends Subscriber<T> {\n  /**\n   * Creates an instance of an `OperatorSubscriber`.\n   * @param destination The downstream subscriber.\n   * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n   * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n   * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n   * and send to the `destination` error handler.\n   * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n   * this handler are sent to the `destination` error handler.\n   * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n   * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n   * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n   * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n   * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n   * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n   */\n  constructor(\n    destination: Subscriber<any>,\n    onNext?: (value: T) => void,\n    onComplete?: () => void,\n    onError?: (err: any) => void,\n    private onFinalize?: () => void,\n    private shouldUnsubscribe?: () => boolean\n  ) {\n    // It's important - for performance reasons - that all of this class's\n    // members are initialized and that they are always initialized in the same\n    // order. This will ensure that all OperatorSubscriber instances have the\n    // same hidden class in V8. This, in turn, will help keep the number of\n    // hidden classes involved in property accesses within the base class as\n    // low as possible. If the number of hidden classes involved exceeds four,\n    // the property accesses will become megamorphic and performance penalties\n    // will be incurred - i.e. inline caches won't be used.\n    //\n    // The reasons for ensuring all instances have the same hidden class are\n    // further discussed in this blog post from Benedikt Meurer:\n    // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n    super(destination);\n    this._next = onNext\n      ? function (this: OperatorSubscriber<T>, value: T) {\n          try {\n            onNext(value);\n          } catch (err) {\n            destination.error(err);\n          }\n        }\n      : super._next;\n    this._error = onError\n      ? function (this: OperatorSubscriber<T>, err: any) {\n          try {\n            onError(err);\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._error;\n    this._complete = onComplete\n      ? function (this: OperatorSubscriber<T>) {\n          try {\n            onComplete();\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._complete;\n  }\n\n  unsubscribe() {\n    if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n      const { closed } = this;\n      super.unsubscribe();\n      // Execute additional teardown if we have any and we didn't already do so.\n      !closed && this.onFinalize?.();\n    }\n  }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n  schedule(callback: FrameRequestCallback): Subscription;\n  requestAnimationFrame: typeof requestAnimationFrame;\n  cancelAnimationFrame: typeof cancelAnimationFrame;\n  delegate:\n    | {\n        requestAnimationFrame: typeof requestAnimationFrame;\n        cancelAnimationFrame: typeof cancelAnimationFrame;\n      }\n    | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  schedule(callback) {\n    let request = requestAnimationFrame;\n    let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n    const { delegate } = animationFrameProvider;\n    if (delegate) {\n      request = delegate.requestAnimationFrame;\n      cancel = delegate.cancelAnimationFrame;\n    }\n    const handle = request((timestamp) => {\n      // Clear the cancel function. The request has been fulfilled, so\n      // attempting to cancel the request upon unsubscription would be\n      // pointless.\n      cancel = undefined;\n      callback(timestamp);\n    });\n    return new Subscription(() => cancel?.(handle));\n  },\n  requestAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n  },\n  cancelAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n  },\n  delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n  (_super) =>\n    function ObjectUnsubscribedErrorImpl(this: any) {\n      _super(this);\n      this.name = 'ObjectUnsubscribedError';\n      this.message = 'object unsubscribed';\n    }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject<T> extends Observable<T> implements SubscriptionLike {\n  closed = false;\n\n  private currentObservers: Observer<T>[] | null = null;\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  observers: Observer<T>[] = [];\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  isStopped = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  hasError = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  thrownError: any = null;\n\n  /**\n   * Creates a \"subject\" by basically gluing an observer to an observable.\n   *\n   * @nocollapse\n   * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n   */\n  static create: (...args: any[]) => any = <T>(destination: Observer<T>, source: Observable<T>): AnonymousSubject<T> => {\n    return new AnonymousSubject<T>(destination, source);\n  };\n\n  constructor() {\n    // NOTE: This must be here to obscure Observable's constructor.\n    super();\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  lift<R>(operator: Operator<T, R>): Observable<R> {\n    const subject = new AnonymousSubject(this, this);\n    subject.operator = operator as any;\n    return subject as any;\n  }\n\n  /** @internal */\n  protected _throwIfClosed() {\n    if (this.closed) {\n      throw new ObjectUnsubscribedError();\n    }\n  }\n\n  next(value: T) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        if (!this.currentObservers) {\n          this.currentObservers = Array.from(this.observers);\n        }\n        for (const observer of this.currentObservers) {\n          observer.next(value);\n        }\n      }\n    });\n  }\n\n  error(err: any) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.hasError = this.isStopped = true;\n        this.thrownError = err;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.error(err);\n        }\n      }\n    });\n  }\n\n  complete() {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.isStopped = true;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.complete();\n        }\n      }\n    });\n  }\n\n  unsubscribe() {\n    this.isStopped = this.closed = true;\n    this.observers = this.currentObservers = null!;\n  }\n\n  get observed() {\n    return this.observers?.length > 0;\n  }\n\n  /** @internal */\n  protected _trySubscribe(subscriber: Subscriber<T>): TeardownLogic {\n    this._throwIfClosed();\n    return super._trySubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._checkFinalizedStatuses(subscriber);\n    return this._innerSubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _innerSubscribe(subscriber: Subscriber<any>) {\n    const { hasError, isStopped, observers } = this;\n    if (hasError || isStopped) {\n      return EMPTY_SUBSCRIPTION;\n    }\n    this.currentObservers = null;\n    observers.push(subscriber);\n    return new Subscription(() => {\n      this.currentObservers = null;\n      arrRemove(observers, subscriber);\n    });\n  }\n\n  /** @internal */\n  protected _checkFinalizedStatuses(subscriber: Subscriber<any>) {\n    const { hasError, thrownError, isStopped } = this;\n    if (hasError) {\n      subscriber.error(thrownError);\n    } else if (isStopped) {\n      subscriber.complete();\n    }\n  }\n\n  /**\n   * Creates a new Observable with this Subject as the source. You can do this\n   * to create custom Observer-side logic of the Subject and conceal it from\n   * code that uses the Observable.\n   * @return {Observable} Observable that the Subject casts to\n   */\n  asObservable(): Observable<T> {\n    const observable: any = new Observable<T>();\n    observable.source = this;\n    return observable;\n  }\n}\n\n/**\n * @class AnonymousSubject<T>\n */\nexport class AnonymousSubject<T> extends Subject<T> {\n  constructor(\n    /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n    public destination?: Observer<T>,\n    source?: Observable<T>\n  ) {\n    super();\n    this.source = source;\n  }\n\n  next(value: T) {\n    this.destination?.next?.(value);\n  }\n\n  error(err: any) {\n    this.destination?.error?.(err);\n  }\n\n  complete() {\n    this.destination?.complete?.();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n  }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject<T>\n */\nexport class BehaviorSubject<T> extends Subject<T> {\n  constructor(private _value: T) {\n    super();\n  }\n\n  get value(): T {\n    return this.getValue();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    const subscription = super._subscribe(subscriber);\n    !subscription.closed && subscriber.next(this._value);\n    return subscription;\n  }\n\n  getValue(): T {\n    const { hasError, thrownError, _value } = this;\n    if (hasError) {\n      throw thrownError;\n    }\n    this._throwIfClosed();\n    return _value;\n  }\n\n  next(value: T): void {\n    super.next((this._value = value));\n  }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n  delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n  now() {\n    // Use the variable rather than `this` so that the function can be called\n    // without being bound to the provider.\n    return (dateTimestampProvider.delegate || Date).now();\n  },\n  delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject<T> extends Subject<T> {\n  private _buffer: (T | number)[] = [];\n  private _infiniteTimeWindow = true;\n\n  /**\n   * @param bufferSize The size of the buffer to replay on subscription\n   * @param windowTime The amount of time the buffered items will stay buffered\n   * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n   * calculate the amount of time something has been buffered.\n   */\n  constructor(\n    private _bufferSize = Infinity,\n    private _windowTime = Infinity,\n    private _timestampProvider: TimestampProvider = dateTimestampProvider\n  ) {\n    super();\n    this._infiniteTimeWindow = _windowTime === Infinity;\n    this._bufferSize = Math.max(1, _bufferSize);\n    this._windowTime = Math.max(1, _windowTime);\n  }\n\n  next(value: T): void {\n    const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n    if (!isStopped) {\n      _buffer.push(value);\n      !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n    }\n    this._trimBuffer();\n    super.next(value);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._trimBuffer();\n\n    const subscription = this._innerSubscribe(subscriber);\n\n    const { _infiniteTimeWindow, _buffer } = this;\n    // We use a copy here, so reentrant code does not mutate our array while we're\n    // emitting it to a new subscriber.\n    const copy = _buffer.slice();\n    for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n      subscriber.next(copy[i] as T);\n    }\n\n    this._checkFinalizedStatuses(subscriber);\n\n    return subscription;\n  }\n\n  private _trimBuffer() {\n    const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n    // If we don't have an infinite buffer size, and we're over the length,\n    // use splice to truncate the old buffer values off. Note that we have to\n    // double the size for instances where we're not using an infinite time window\n    // because we're storing the values and the timestamps in the same array.\n    const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n    _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n    // Now, if we're not in an infinite time window, remove all values where the time is\n    // older than what is allowed.\n    if (!_infiniteTimeWindow) {\n      const now = _timestampProvider.now();\n      let last = 0;\n      // Search the array for the first timestamp that isn't expired and\n      // truncate the buffer up to that point.\n      for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n        last = i;\n      }\n      last && _buffer.splice(0, last + 1);\n    }\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action<T> extends Subscription {\n *   new (scheduler: Scheduler, work: (state?: T) => void);\n *   schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action<T>\n */\nexport class Action<T> extends Subscription {\n  constructor(scheduler: Scheduler, work: (this: SchedulerAction<T>, state?: T) => void) {\n    super();\n  }\n  /**\n   * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n   * some context object, `state`. May happen at some point in the future,\n   * according to the `delay` parameter, if specified.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler.\n   * @return {void}\n   */\n  public schedule(state?: T, delay: number = 0): Subscription {\n    return this;\n  }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n  setInterval: SetIntervalFunction;\n  clearInterval: ClearIntervalFunction;\n  delegate:\n    | {\n        setInterval: SetIntervalFunction;\n        clearInterval: ClearIntervalFunction;\n      }\n    | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setInterval(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = intervalProvider;\n    if (delegate?.setInterval) {\n      return delegate.setInterval(handler, timeout, ...args);\n    }\n    return setInterval(handler, timeout, ...args);\n  },\n  clearInterval(handle) {\n    const { delegate } = intervalProvider;\n    return (delegate?.clearInterval || clearInterval)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction<T> extends Action<T> {\n  public id: TimerHandle | undefined;\n  public state?: T;\n  // @ts-ignore: Property has no initializer and is not definitely assigned\n  public delay: number;\n  protected pending: boolean = false;\n\n  constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (this.closed) {\n      return this;\n    }\n\n    // Always replace the current state with the new state.\n    this.state = state;\n\n    const id = this.id;\n    const scheduler = this.scheduler;\n\n    //\n    // Important implementation note:\n    //\n    // Actions only execute once by default, unless rescheduled from within the\n    // scheduled callback. This allows us to implement single and repeat\n    // actions via the same code path, without adding API surface area, as well\n    // as mimic traditional recursion but across asynchronous boundaries.\n    //\n    // However, JS runtimes and timers distinguish between intervals achieved by\n    // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n    // serial `setTimeout` calls can be individually delayed, which delays\n    // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n    // guarantee the interval callback will be invoked more precisely to the\n    // interval period, regardless of load.\n    //\n    // Therefore, we use `setInterval` to schedule single and repeat actions.\n    // If the action reschedules itself with the same delay, the interval is not\n    // canceled. If the action doesn't reschedule, or reschedules with a\n    // different delay, the interval will be canceled after scheduled callback\n    // execution.\n    //\n    if (id != null) {\n      this.id = this.recycleAsyncId(scheduler, id, delay);\n    }\n\n    // Set the pending flag indicating that this action has been scheduled, or\n    // has recursively rescheduled itself.\n    this.pending = true;\n\n    this.delay = delay;\n    // If this action has already an async Id, don't request a new one.\n    this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n    return this;\n  }\n\n  protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n    return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n  }\n\n  protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n    // If this action is rescheduled with the same delay time, don't clear the interval id.\n    if (delay != null && this.delay === delay && this.pending === false) {\n      return id;\n    }\n    // Otherwise, if the action's delay time is different from the current delay,\n    // or the action has been rescheduled before it's executed, clear the interval id\n    if (id != null) {\n      intervalProvider.clearInterval(id);\n    }\n\n    return undefined;\n  }\n\n  /**\n   * Immediately executes this action and the `work` it contains.\n   * @return {any}\n   */\n  public execute(state: T, delay: number): any {\n    if (this.closed) {\n      return new Error('executing a cancelled action');\n    }\n\n    this.pending = false;\n    const error = this._execute(state, delay);\n    if (error) {\n      return error;\n    } else if (this.pending === false && this.id != null) {\n      // Dequeue if the action didn't reschedule itself. Don't call\n      // unsubscribe(), because the action could reschedule later.\n      // For example:\n      // ```\n      // scheduler.schedule(function doWork(counter) {\n      //   /* ... I'm a busy worker bee ... */\n      //   var originalAction = this;\n      //   /* wait 100ms before rescheduling the action */\n      //   setTimeout(function () {\n      //     originalAction.schedule(counter + 1);\n      //   }, 100);\n      // }, 1000);\n      // ```\n      this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n    }\n  }\n\n  protected _execute(state: T, _delay: number): any {\n    let errored: boolean = false;\n    let errorValue: any;\n    try {\n      this.work(state);\n    } catch (e) {\n      errored = true;\n      // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n      // return here, we can't have it return \"\" or 0 or false.\n      // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n      errorValue = e ? e : new Error('Scheduled action threw falsy error');\n    }\n    if (errored) {\n      this.unsubscribe();\n      return errorValue;\n    }\n  }\n\n  unsubscribe() {\n    if (!this.closed) {\n      const { id, scheduler } = this;\n      const { actions } = scheduler;\n\n      this.work = this.state = this.scheduler = null!;\n      this.pending = false;\n\n      arrRemove(actions, this);\n      if (id != null) {\n        this.id = this.recycleAsyncId(scheduler, id, null);\n      }\n\n      this.delay = null!;\n      super.unsubscribe();\n    }\n  }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n *   now(): number;\n *   schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n  public static now: () => number = dateTimestampProvider.now;\n\n  constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n    this.now = now;\n  }\n\n  /**\n   * A getter method that returns a number representing the current time\n   * (at the time this function was called) according to the scheduler's own\n   * internal clock.\n   * @return {number} A number that represents the current time. May or may not\n   * have a relation to wall-clock time. May or may not refer to a time unit\n   * (e.g. milliseconds).\n   */\n  public now: () => number;\n\n  /**\n   * Schedules a function, `work`, for execution. May happen at some point in\n   * the future, according to the `delay` parameter, if specified. May be passed\n   * some context object, `state`, which will be passed to the `work` function.\n   *\n   * The given arguments will be processed an stored as an Action object in a\n   * queue of actions.\n   *\n   * @param {function(state: ?T): ?Subscription} work A function representing a\n   * task, or some unit of work to be executed by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler itself.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @return {Subscription} A subscription in order to be able to unsubscribe\n   * the scheduled work.\n   */\n  public schedule<T>(work: (this: SchedulerAction<T>, state?: T) => void, delay: number = 0, state?: T): Subscription {\n    return new this.schedulerActionCtor<T>(this, work).schedule(state, delay);\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n  public actions: Array<AsyncAction<any>> = [];\n  /**\n   * A flag to indicate whether the Scheduler is currently executing a batch of\n   * queued actions.\n   * @type {boolean}\n   * @internal\n   */\n  public _active: boolean = false;\n  /**\n   * An internal ID used to track the latest asynchronous task such as those\n   * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n   * others.\n   * @type {any}\n   * @internal\n   */\n  public _scheduled: TimerHandle | undefined;\n\n  constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n    super(SchedulerAction, now);\n  }\n\n  public flush(action: AsyncAction<any>): void {\n    const { actions } = this;\n\n    if (this._active) {\n      actions.push(action);\n      return;\n    }\n\n    let error: any;\n    this._active = true;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions.shift()!)) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * <span class=\"informal\">Schedule task as if you used setTimeout(task, duration)</span>\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n *   console.log(state);\n *   this.schedule(state + 1, 1000); // `this` references currently executing Action,\n *                                   // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (delay > 0) {\n      return super.schedule(state, delay);\n    }\n    this.delay = delay;\n    this.state = state;\n    this.scheduler.flush(this);\n    return this;\n  }\n\n  public execute(state: T, delay: number): any {\n    return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n  }\n\n  protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n\n    if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n\n    // Otherwise flush the scheduler starting with this action.\n    scheduler.flush(this);\n\n    // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n    // `TimerHandle`, and generally the return value here isn't really used. So the\n    // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n    // as opposed to refactoring every other instanceo of `requestAsyncId`.\n    return 0;\n  }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * <span class=\"informal\">Put every next task on a queue, instead of executing it immediately</span>\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n *   queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n *   console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n *   if (state !== 0) {\n *     console.log('before', state);\n *     this.schedule(state - 1); // `this` references currently executing Action,\n *                               // which we reschedule with new state\n *     console.log('after', state);\n *   }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay is greater than 0, request as an async action.\n    if (delay !== null && delay > 0) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n    // Push the action to the end of the scheduler queue.\n    scheduler.actions.push(this);\n    // If an animation frame has already been requested, don't request another\n    // one. If an animation frame hasn't been requested yet, request one. Return\n    // the current animation frame request id.\n    return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n  }\n\n  protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n    if (delay != null ? delay > 0 : this.delay > 0) {\n      return super.recycleAsyncId(scheduler, id, delay);\n    }\n    // If the scheduler queue has no remaining actions with the same async id,\n    // cancel the requested animation frame and set the scheduled flag to\n    // undefined so the next AnimationFrameAction will request its own.\n    const { actions } = scheduler;\n    if (id != null && actions[actions.length - 1]?.id !== id) {\n      animationFrameProvider.cancelAnimationFrame(id as number);\n      scheduler._scheduled = undefined;\n    }\n    // Return undefined so the action knows to request a new async id if it's rescheduled.\n    return undefined;\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n  public flush(action?: AsyncAction<any>): void {\n    this._active = true;\n    // The async id that effects a call to flush is stored in _scheduled.\n    // Before executing an action, it's necessary to check the action's async\n    // id to determine whether it's supposed to be executed in the current\n    // flush.\n    // Previous implementations of this method used a count to determine this,\n    // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n    // are removed from the actions array and that can shift actions that are\n    // scheduled to be executed in a subsequent flush into positions at which\n    // they are executed within the current flush.\n    const flushId = this._scheduled;\n    this._scheduled = undefined;\n\n    const { actions } = this;\n    let error: any;\n    action = action || actions.shift()!;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * <span class=\"informal\">Perform task when `window.requestAnimationFrame` would fire</span>\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html: <div style=\"background: #0ff;\"></div>\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n *   div.style.height = height + \"px\";\n *\n *   this.schedule(height + 1);  // `this` references currently executing Action,\n *                               // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * <span class=\"informal\">Just emits 'complete', and nothing else.</span>\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n *   next: () => console.log('Next'),\n *   complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n *   mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable<never>((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n  return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n  return new Observable<never>((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n  return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last<T>(arr: T[]): T | undefined {\n  return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n  return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n  return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n  return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = (<T>(x: any): x is ArrayLike<T> => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike<any> {\n  return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable<any> {\n  return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable<T>(obj: any): obj is AsyncIterable<T> {\n  return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n  // TODO: We should create error codes that can be looked up, so this can be less verbose.\n  return new TypeError(\n    `You provided ${\n      input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n    } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n  );\n}\n", "export function getSymbolIterator(): symbol {\n  if (typeof Symbol !== 'function' || !Symbol.iterator) {\n    return '@@iterator' as any;\n  }\n\n  return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable<any> {\n  return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator<T>(readableStream: ReadableStreamLike<T>): AsyncGenerator<T> {\n  const reader = readableStream.getReader();\n  try {\n    while (true) {\n      const { value, done } = await reader.read();\n      if (done) {\n        return;\n      }\n      yield value!;\n    }\n  } finally {\n    reader.releaseLock();\n  }\n}\n\nexport function isReadableStreamLike<T>(obj: any): obj is ReadableStreamLike<T> {\n  // We don't want to use instanceof checks because they would return\n  // false for instances from another Realm, like an <iframe>.\n  return isFunction(obj?.getReader);\n}\n", "import { isArrayLike } from '../util/isArrayLike';\nimport { isPromise } from '../util/isPromise';\nimport { Observable } from '../Observable';\nimport { ObservableInput, ObservedValueOf, ReadableStreamLike } from '../types';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isIterable } from '../util/isIterable';\nimport { isReadableStreamLike, readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\nimport { Subscriber } from '../Subscriber';\nimport { isFunction } from '../util/isFunction';\nimport { reportUnhandledError } from '../util/reportUnhandledError';\nimport { observable as Symbol_observable } from '../symbol/observable';\n\nexport function innerFrom<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\nexport function innerFrom<T>(input: ObservableInput<T>): Observable<T> {\n  if (input instanceof Observable) {\n    return input;\n  }\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return fromInteropObservable(input);\n    }\n    if (isArrayLike(input)) {\n      return fromArrayLike(input);\n    }\n    if (isPromise(input)) {\n      return fromPromise(input);\n    }\n    if (isAsyncIterable(input)) {\n      return fromAsyncIterable(input);\n    }\n    if (isIterable(input)) {\n      return fromIterable(input);\n    }\n    if (isReadableStreamLike(input)) {\n      return fromReadableStreamLike(input);\n    }\n  }\n\n  throw createInvalidObservableTypeError(input);\n}\n\n/**\n * Creates an RxJS Observable from an object that implements `Symbol.observable`.\n * @param obj An object that properly implements `Symbol.observable`.\n */\nexport function fromInteropObservable<T>(obj: any) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    const obs = obj[Symbol_observable]();\n    if (isFunction(obs.subscribe)) {\n      return obs.subscribe(subscriber);\n    }\n    // Should be caught by observable subscribe function error handling.\n    throw new TypeError('Provided object does not correctly implement Symbol.observable');\n  });\n}\n\n/**\n * Synchronously emits the values of an array like and completes.\n * This is exported because there are creation functions and operators that need to\n * make direct use of the same logic, and there's no reason to make them run through\n * `from` conditionals because we *know* they're dealing with an array.\n * @param array The array to emit values from\n */\nexport function fromArrayLike<T>(array: ArrayLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    // Loop over the array and emit each value. Note two things here:\n    // 1. We're making sure that the subscriber is not closed on each loop.\n    //    This is so we don't continue looping over a very large array after\n    //    something like a `take`, `takeWhile`, or other synchronous unsubscription\n    //    has already unsubscribed.\n    // 2. In this form, reentrant code can alter that array we're looping over.\n    //    This is a known issue, but considered an edge case. The alternative would\n    //    be to copy the array before executing the loop, but this has\n    //    performance implications.\n    for (let i = 0; i < array.length && !subscriber.closed; i++) {\n      subscriber.next(array[i]);\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromPromise<T>(promise: PromiseLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    promise\n      .then(\n        (value) => {\n          if (!subscriber.closed) {\n            subscriber.next(value);\n            subscriber.complete();\n          }\n        },\n        (err: any) => subscriber.error(err)\n      )\n      .then(null, reportUnhandledError);\n  });\n}\n\nexport function fromIterable<T>(iterable: Iterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    for (const value of iterable) {\n      subscriber.next(value);\n      if (subscriber.closed) {\n        return;\n      }\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromAsyncIterable<T>(asyncIterable: AsyncIterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    process(asyncIterable, subscriber).catch((err) => subscriber.error(err));\n  });\n}\n\nexport function fromReadableStreamLike<T>(readableStream: ReadableStreamLike<T>) {\n  return fromAsyncIterable(readableStreamLikeToAsyncGenerator(readableStream));\n}\n\nasync function process<T>(asyncIterable: AsyncIterable<T>, subscriber: Subscriber<T>) {\n  for await (const value of asyncIterable) {\n    subscriber.next(value);\n    // A side-effect may have closed our subscriber,\n    // check before the next iteration.\n    if (subscriber.closed) {\n      return;\n    }\n  }\n  subscriber.complete();\n}\n", "import { Subscription } from '../Subscription';\nimport { SchedulerAction, SchedulerLike } from '../types';\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay: number,\n  repeat: true\n): void;\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay?: number,\n  repeat?: false\n): Subscription;\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay = 0,\n  repeat = false\n): Subscription | void {\n  const scheduleSubscription = scheduler.schedule(function (this: SchedulerAction<any>) {\n    work();\n    if (repeat) {\n      parentSubscription.add(this.schedule(null, delay));\n    } else {\n      this.unsubscribe();\n    }\n  }, delay);\n\n  parentSubscription.add(scheduleSubscription);\n\n  if (!repeat) {\n    // Because user-land scheduler implementations are unlikely to properly reuse\n    // Actions for repeat scheduling, we can't trust that the returned subscription\n    // will control repeat subscription scenarios. So we're trying to avoid using them\n    // incorrectly within this library.\n    return scheduleSubscription;\n  }\n}\n", "/** @prettier */\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Re-emits all notifications from source Observable with specified scheduler.\n *\n * <span class=\"informal\">Ensure a specific scheduler is used, from outside of an Observable.</span>\n *\n * `observeOn` is an operator that accepts a scheduler as a first parameter, which will be used to reschedule\n * notifications emitted by the source Observable. It might be useful, if you do not have control over\n * internal scheduler of a given Observable, but want to control when its values are emitted nevertheless.\n *\n * Returned Observable emits the same notifications (nexted values, complete and error events) as the source Observable,\n * but rescheduled with provided scheduler. Note that this doesn't mean that source Observables internal\n * scheduler will be replaced in any way. Original scheduler still will be used, but when the source Observable emits\n * notification, it will be immediately scheduled again - this time with scheduler passed to `observeOn`.\n * An anti-pattern would be calling `observeOn` on Observable that emits lots of values synchronously, to split\n * that emissions into asynchronous chunks. For this to happen, scheduler would have to be passed into the source\n * Observable directly (usually into the operator that creates it). `observeOn` simply delays notifications a\n * little bit more, to ensure that they are emitted at expected moments.\n *\n * As a matter of fact, `observeOn` accepts second parameter, which specifies in milliseconds with what delay notifications\n * will be emitted. The main difference between {@link delay} operator and `observeOn` is that `observeOn`\n * will delay all notifications - including error notifications - while `delay` will pass through error\n * from source Observable immediately when it is emitted. In general it is highly recommended to use `delay` operator\n * for any kind of delaying of values in the stream, while using `observeOn` to specify which scheduler should be used\n * for notification emissions in general.\n *\n * ## Example\n *\n * Ensure values in subscribe are called just before browser repaint\n *\n * ```ts\n * import { interval, observeOn, animationFrameScheduler } from 'rxjs';\n *\n * const someDiv = document.createElement('div');\n * someDiv.style.cssText = 'width: 200px;background: #09c';\n * document.body.appendChild(someDiv);\n * const intervals = interval(10);      // Intervals are scheduled\n *                                      // with async scheduler by default...\n * intervals.pipe(\n *   observeOn(animationFrameScheduler) // ...but we will observe on animationFrame\n * )                                    // scheduler to ensure smooth animation.\n * .subscribe(val => {\n *   someDiv.style.height = val + 'px';\n * });\n * ```\n *\n * @see {@link delay}\n *\n * @param scheduler Scheduler that will be used to reschedule notifications from source Observable.\n * @param delay Number of milliseconds that states with what delay every notification should be rescheduled.\n * @return A function that returns an Observable that emits the same\n * notifications as the source Observable, but with provided scheduler.\n */\nexport function observeOn<T>(scheduler: SchedulerLike, delay = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => executeSchedule(subscriber, scheduler, () => subscriber.next(value), delay),\n        () => executeSchedule(subscriber, scheduler, () => subscriber.complete(), delay),\n        (err) => executeSchedule(subscriber, scheduler, () => subscriber.error(err), delay)\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Asynchronously subscribes Observers to this Observable on the specified {@link SchedulerLike}.\n *\n * With `subscribeOn` you can decide what type of scheduler a specific Observable will be using when it is subscribed to.\n *\n * Schedulers control the speed and order of emissions to observers from an Observable stream.\n *\n * ![](subscribeOn.png)\n *\n * ## Example\n *\n * Given the following code:\n *\n * ```ts\n * import { of, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3);\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 1\n * // 2\n * // 3\n * // 4\n * // 5\n * // 6\n * ```\n *\n * Both Observable `a` and `b` will emit their values directly and synchronously once they are subscribed to.\n *\n * If we instead use the `subscribeOn` operator declaring that we want to use the {@link asyncScheduler} for values emitted by Observable `a`:\n *\n * ```ts\n * import { of, subscribeOn, asyncScheduler, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3).pipe(subscribeOn(asyncScheduler));\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 4\n * // 5\n * // 6\n * // 1\n * // 2\n * // 3\n * ```\n *\n * The reason for this is that Observable `b` emits its values directly and synchronously like before\n * but the emissions from `a` are scheduled on the event loop because we are now using the {@link asyncScheduler} for that specific Observable.\n *\n * @param scheduler The {@link SchedulerLike} to perform subscription actions on.\n * @param delay A delay to pass to the scheduler to delay subscriptions\n * @return A function that returns an Observable modified so that its\n * subscriptions happen on the specified {@link SchedulerLike}.\n */\nexport function subscribeOn<T>(scheduler: SchedulerLike, delay: number = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    subscriber.add(scheduler.schedule(() => source.subscribe(subscriber), delay));\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { InteropObservable, SchedulerLike } from '../types';\n\nexport function scheduleObservable<T>(input: InteropObservable<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { SchedulerLike } from '../types';\n\nexport function schedulePromise<T>(input: PromiseLike<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\nexport function scheduleArray<T>(input: ArrayLike<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    // The current array index.\n    let i = 0;\n    // Start iterating over the array like on a schedule.\n    return scheduler.schedule(function () {\n      if (i === input.length) {\n        // If we have hit the end of the array like in the\n        // previous job, we can complete.\n        subscriber.complete();\n      } else {\n        // Otherwise let's next the value at the current index,\n        // then increment our index.\n        subscriber.next(input[i++]);\n        // If the last emission didn't cause us to close the subscriber\n        // (via take or some side effect), reschedule the job and we'll\n        // make another pass.\n        if (!subscriber.closed) {\n          this.schedule();\n        }\n      }\n    });\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from '../util/isFunction';\nimport { executeSchedule } from '../util/executeSchedule';\n\n/**\n * Used in {@link scheduled} to create an observable from an Iterable.\n * @param input The iterable to create an observable from\n * @param scheduler The scheduler to use\n */\nexport function scheduleIterable<T>(input: Iterable<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    let iterator: Iterator<T, T>;\n\n    // Schedule the initial creation of the iterator from\n    // the iterable. This is so the code in the iterable is\n    // not called until the scheduled job fires.\n    executeSchedule(subscriber, scheduler, () => {\n      // Create the iterator.\n      iterator = (input as any)[Symbol_iterator]();\n\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          let value: T;\n          let done: boolean | undefined;\n          try {\n            // Pull the value out of the iterator\n            ({ value, done } = iterator.next());\n          } catch (err) {\n            // We got an error while pulling from the iterator\n            subscriber.error(err);\n            return;\n          }\n\n          if (done) {\n            // If it is \"done\" we just complete. This mimics the\n            // behavior of JavaScript's `for..of` consumption of\n            // iterables, which will not emit the value from an iterator\n            // result of `{ done: true: value: 'here' }`.\n            subscriber.complete();\n          } else {\n            // The iterable is not done, emit the value.\n            subscriber.next(value);\n          }\n        },\n        0,\n        true\n      );\n    });\n\n    // During finalization, if we see this iterator has a `return` method,\n    // then we know it is a Generator, and not just an Iterator. So we call\n    // the `return()` function. This will ensure that any `finally { }` blocks\n    // inside of the generator we can hit will be hit properly.\n    return () => isFunction(iterator?.return) && iterator.return();\n  });\n}\n", "import { SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { executeSchedule } from '../util/executeSchedule';\n\nexport function scheduleAsyncIterable<T>(input: AsyncIterable<T>, scheduler: SchedulerLike) {\n  if (!input) {\n    throw new Error('Iterable cannot be null');\n  }\n  return new Observable<T>((subscriber) => {\n    executeSchedule(subscriber, scheduler, () => {\n      const iterator = input[Symbol.asyncIterator]();\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          iterator.next().then((result) => {\n            if (result.done) {\n              // This will remove the subscriptions from\n              // the parent subscription.\n              subscriber.complete();\n            } else {\n              subscriber.next(result.value);\n            }\n          });\n        },\n        0,\n        true\n      );\n    });\n  });\n}\n", "import { SchedulerLike, ReadableStreamLike } from '../types';\nimport { Observable } from '../Observable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\n\nexport function scheduleReadableStreamLike<T>(input: ReadableStreamLike<T>, scheduler: SchedulerLike): Observable<T> {\n  return scheduleAsyncIterable(readableStreamLikeToAsyncGenerator(input), scheduler);\n}\n", "import { scheduleObservable } from './scheduleObservable';\nimport { schedulePromise } from './schedulePromise';\nimport { scheduleArray } from './scheduleArray';\nimport { scheduleIterable } from './scheduleIterable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isPromise } from '../util/isPromise';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isIterable } from '../util/isIterable';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isReadableStreamLike } from '../util/isReadableStreamLike';\nimport { scheduleReadableStreamLike } from './scheduleReadableStreamLike';\n\n/**\n * Converts from a common {@link ObservableInput} type to an observable where subscription and emissions\n * are scheduled on the provided scheduler.\n *\n * @see {@link from}\n * @see {@link of}\n *\n * @param input The observable, array, promise, iterable, etc you would like to schedule\n * @param scheduler The scheduler to use to schedule the subscription and emissions from\n * the returned observable.\n */\nexport function scheduled<T>(input: ObservableInput<T>, scheduler: SchedulerLike): Observable<T> {\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return scheduleObservable(input, scheduler);\n    }\n    if (isArrayLike(input)) {\n      return scheduleArray(input, scheduler);\n    }\n    if (isPromise(input)) {\n      return schedulePromise(input, scheduler);\n    }\n    if (isAsyncIterable(input)) {\n      return scheduleAsyncIterable(input, scheduler);\n    }\n    if (isIterable(input)) {\n      return scheduleIterable(input, scheduler);\n    }\n    if (isReadableStreamLike(input)) {\n      return scheduleReadableStreamLike(input, scheduler);\n    }\n  }\n  throw createInvalidObservableTypeError(input);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf } from '../types';\nimport { scheduled } from '../scheduled/scheduled';\nimport { innerFrom } from './innerFrom';\n\nexport function from<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function from<O extends ObservableInput<any>>(input: O, scheduler: SchedulerLike | undefined): Observable<ObservedValueOf<O>>;\n\n/**\n * Creates an Observable from an Array, an array-like object, a Promise, an iterable object, or an Observable-like object.\n *\n * <span class=\"informal\">Converts almost anything to an Observable.</span>\n *\n * ![](from.png)\n *\n * `from` converts various other objects and data types into Observables. It also converts a Promise, an array-like, or an\n * <a href=\"https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Iteration_protocols#iterable\" target=\"_blank\">iterable</a>\n * object into an Observable that emits the items in that promise, array, or iterable. A String, in this context, is treated\n * as an array of characters. Observable-like objects (contains a function named with the ES2015 Symbol for Observable) can also be\n * converted through this operator.\n *\n * ## Examples\n *\n * Converts an array to an Observable\n *\n * ```ts\n * import { from } from 'rxjs';\n *\n * const array = [10, 20, 30];\n * const result = from(array);\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 10\n * // 20\n * // 30\n * ```\n *\n * Convert an infinite iterable (from a generator) to an Observable\n *\n * ```ts\n * import { from, take } from 'rxjs';\n *\n * function* generateDoubles(seed) {\n *    let i = seed;\n *    while (true) {\n *      yield i;\n *      i = 2 * i; // double it\n *    }\n * }\n *\n * const iterator = generateDoubles(3);\n * const result = from(iterator).pipe(take(10));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 3\n * // 6\n * // 12\n * // 24\n * // 48\n * // 96\n * // 192\n * // 384\n * // 768\n * // 1536\n * ```\n *\n * With `asyncScheduler`\n *\n * ```ts\n * import { from, asyncScheduler } from 'rxjs';\n *\n * console.log('start');\n *\n * const array = [10, 20, 30];\n * const result = from(array, asyncScheduler);\n *\n * result.subscribe(x => console.log(x));\n *\n * console.log('end');\n *\n * // Logs:\n * // 'start'\n * // 'end'\n * // 10\n * // 20\n * // 30\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link fromEventPattern}\n *\n * @param {ObservableInput<T>} A subscription object, a Promise, an Observable-like,\n * an Array, an iterable, or an array-like object to be converted.\n * @param {SchedulerLike} An optional {@link SchedulerLike} on which to schedule the emission of values.\n * @return {Observable<T>}\n */\nexport function from<T>(input: ObservableInput<T>, scheduler?: SchedulerLike): Observable<T> {\n  return scheduler ? scheduled(input, scheduler) : innerFrom(input);\n}\n", "import { SchedulerLike, ValueFromArray } from '../types';\nimport { Observable } from '../Observable';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function of(value: null): Observable<null>;\nexport function of(value: undefined): Observable<undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of(scheduler: SchedulerLike): Observable<never>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of<A extends readonly unknown[]>(...valuesAndScheduler: [...A, SchedulerLike]): Observable<ValueFromArray<A>>;\n\nexport function of(): Observable<never>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function of<T>(): Observable<T>;\nexport function of<T>(value: T): Observable<T>;\nexport function of<A extends readonly unknown[]>(...values: A): Observable<ValueFromArray<A>>;\n\n/**\n * Converts the arguments to an observable sequence.\n *\n * <span class=\"informal\">Each argument becomes a `next` notification.</span>\n *\n * ![](of.png)\n *\n * Unlike {@link from}, it does not do any flattening and emits each argument in whole\n * as a separate `next` notification.\n *\n * ## Examples\n *\n * Emit the values `10, 20, 30`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of(10, 20, 30)\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: 10\n * // next: 20\n * // next: 30\n * // the end\n * ```\n *\n * Emit the array `[1, 2, 3]`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of([1, 2, 3])\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: [1, 2, 3]\n * // the end\n * ```\n *\n * @see {@link from}\n * @see {@link range}\n *\n * @param {...T} values A comma separated list of arguments you want to be emitted\n * @return {Observable} An Observable that emits the arguments\n * described above and then completes.\n */\nexport function of<T>(...args: Array<T | SchedulerLike>): Observable<T> {\n  const scheduler = popScheduler(args);\n  return from(args as T[], scheduler);\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { SchedulerLike } from '../types';\nimport { isFunction } from '../util/isFunction';\n\n/**\n * Creates an observable that will create an error instance and push it to the consumer as an error\n * immediately upon subscription.\n *\n * <span class=\"informal\">Just errors and does nothing else</span>\n *\n * ![](throw.png)\n *\n * This creation function is useful for creating an observable that will create an error and error every\n * time it is subscribed to. Generally, inside of most operators when you might want to return an errored\n * observable, this is unnecessary. In most cases, such as in the inner return of {@link concatMap},\n * {@link mergeMap}, {@link defer}, and many others, you can simply throw the error, and RxJS will pick\n * that up and notify the consumer of the error.\n *\n * ## Example\n *\n * Create a simple observable that will create a new error with a timestamp and log it\n * and the message every time you subscribe to it\n *\n * ```ts\n * import { throwError } from 'rxjs';\n *\n * let errorCount = 0;\n *\n * const errorWithTimestamp$ = throwError(() => {\n *   const error: any = new Error(`This is error number ${ ++errorCount }`);\n *   error.timestamp = Date.now();\n *   return error;\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * // Logs the timestamp and a new error message for each subscription\n * ```\n *\n * ### Unnecessary usage\n *\n * Using `throwError` inside of an operator or creation function\n * with a callback, is usually not necessary\n *\n * ```ts\n * import { of, concatMap, timer, throwError } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // This is probably overkill.\n *       return throwError(() => new Error(`Invalid time ${ ms }`));\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * You can just throw the error instead\n *\n * ```ts\n * import { of, concatMap, timer } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // Cleaner and easier to read for most folks.\n *       throw new Error(`Invalid time ${ ms }`);\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * @param errorFactory A factory function that will create the error instance that is pushed.\n */\nexport function throwError(errorFactory: () => any): Observable<never>;\n\n/**\n * Returns an observable that will error with the specified error immediately upon subscription.\n *\n * @param error The error instance to emit\n * @deprecated Support for passing an error value will be removed in v8. Instead, pass a factory function to `throwError(() => new Error('test'))`. This is\n * because it will create the error at the moment it should be created and capture a more appropriate stack trace. If\n * for some reason you need to create the error ahead of time, you can still do that: `const err = new Error('test'); throwError(() => err);`.\n */\nexport function throwError(error: any): Observable<never>;\n\n/**\n * Notifies the consumer of an error using a given scheduler by scheduling it at delay `0` upon subscription.\n *\n * @param errorOrErrorFactory An error instance or error factory\n * @param scheduler A scheduler to use to schedule the error notification\n * @deprecated The `scheduler` parameter will be removed in v8.\n * Use `throwError` in combination with {@link observeOn}: `throwError(() => new Error('test')).pipe(observeOn(scheduler));`.\n * Details: https://rxjs.dev/deprecations/scheduler-argument\n */\nexport function throwError(errorOrErrorFactory: any, scheduler: SchedulerLike): Observable<never>;\n\nexport function throwError(errorOrErrorFactory: any, scheduler?: SchedulerLike): Observable<never> {\n  const errorFactory = isFunction(errorOrErrorFactory) ? errorOrErrorFactory : () => errorOrErrorFactory;\n  const init = (subscriber: Subscriber<never>) => subscriber.error(errorFactory());\n  return new Observable(scheduler ? (subscriber) => scheduler.schedule(init as any, 0, subscriber) : init);\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface EmptyError extends Error {}\n\nexport interface EmptyErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): EmptyError;\n}\n\n/**\n * An error thrown when an Observable or a sequence was queried but has no\n * elements.\n *\n * @see {@link first}\n * @see {@link last}\n * @see {@link single}\n * @see {@link firstValueFrom}\n * @see {@link lastValueFrom}\n *\n * @class EmptyError\n */\nexport const EmptyError: EmptyErrorCtor = createErrorClass((_super) => function EmptyErrorImpl(this: any) {\n  _super(this);\n  this.name = 'EmptyError';\n  this.message = 'no elements in sequence';\n});\n", "/**\n * Checks to see if a value is not only a `Date` object,\n * but a *valid* `Date` object that can be converted to a\n * number. For example, `new Date('blah')` is indeed an\n * `instanceof Date`, however it cannot be converted to a\n * number.\n */\nexport function isValidDate(value: any): value is Date {\n  return value instanceof Date && !isNaN(value as any);\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function map<T, R>(project: (value: T, index: number) => R): OperatorFunction<T, R>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function map<T, R, A>(project: (this: A, value: T, index: number) => R, thisArg: A): OperatorFunction<T, R>;\n\n/**\n * Applies a given `project` function to each value emitted by the source\n * Observable, and emits the resulting values as an Observable.\n *\n * <span class=\"informal\">Like [Array.prototype.map()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/map),\n * it passes each source value through a transformation function to get\n * corresponding output values.</span>\n *\n * ![](map.png)\n *\n * Similar to the well known `Array.prototype.map` function, this operator\n * applies a projection to each value and emits that projection in the output\n * Observable.\n *\n * ## Example\n *\n * Map every click to the `clientX` position of that click\n *\n * ```ts\n * import { fromEvent, map } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const positions = clicks.pipe(map(ev => ev.clientX));\n *\n * positions.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link mapTo}\n * @see {@link pluck}\n *\n * @param {function(value: T, index: number): R} project The function to apply\n * to each `value` emitted by the source Observable. The `index` parameter is\n * the number `i` for the i-th emission that has happened since the\n * subscription, starting from the number `0`.\n * @param {any} [thisArg] An optional argument to define what `this` is in the\n * `project` function.\n * @return A function that returns an Observable that emits the values from the\n * source Observable transformed by the given `project` function.\n */\nexport function map<T, R>(project: (value: T, index: number) => R, thisArg?: any): OperatorFunction<T, R> {\n  return operate((source, subscriber) => {\n    // The index of the value from the source. Used with projection.\n    let index = 0;\n    // Subscribe to the source, all errors and completions are sent along\n    // to the consumer.\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value: T) => {\n        // Call the projection function with the appropriate this context,\n        // and send the resulting value to the consumer.\n        subscriber.next(project.call(thisArg, value, index++));\n      })\n    );\n  });\n}\n", "import { OperatorFunction } from \"../types\";\nimport { map } from \"../operators/map\";\n\nconst { isArray } = Array;\n\nfunction callOrApply<T, R>(fn: ((...values: T[]) => R), args: T|T[]): R {\n    return isArray(args) ? fn(...args) : fn(args);\n}\n\n/**\n * Used in several -- mostly deprecated -- situations where we need to \n * apply a list of arguments or a single argument to a result selector.\n */\nexport function mapOneOrManyArgs<T, R>(fn: ((...values: T[]) => R)): OperatorFunction<T|T[], R> {\n    return map(args => callOrApply(fn, args))\n}", "const { isArray } = Array;\nconst { getPrototypeOf, prototype: objectProto, keys: getKeys } = Object;\n\n/**\n * Used in functions where either a list of arguments, a single array of arguments, or a\n * dictionary of arguments can be returned. Returns an object with an `args` property with\n * the arguments in an array, if it is a dictionary, it will also return the `keys` in another\n * property.\n */\nexport function argsArgArrayOrObject<T, O extends Record<string, T>>(args: T[] | [O] | [T[]]): { args: T[]; keys: string[] | null } {\n  if (args.length === 1) {\n    const first = args[0];\n    if (isArray(first)) {\n      return { args: first, keys: null };\n    }\n    if (isPOJO(first)) {\n      const keys = getKeys(first);\n      return {\n        args: keys.map((key) => first[key]),\n        keys,\n      };\n    }\n  }\n\n  return { args: args as T[], keys: null };\n}\n\nfunction isPOJO(obj: any): obj is object {\n  return obj && typeof obj === 'object' && getPrototypeOf(obj) === objectProto;\n}\n", "export function createObject(keys: string[], values: any[]) {\n  return keys.reduce((result, key, i) => ((result[key] = values[i]), result), {} as any);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf, ObservableInputTuple } from '../types';\nimport { argsArgArrayOrObject } from '../util/argsArgArrayOrObject';\nimport { Subscriber } from '../Subscriber';\nimport { from } from './from';\nimport { identity } from '../util/identity';\nimport { Subscription } from '../Subscription';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { popResultSelector, popScheduler } from '../util/args';\nimport { createObject } from '../util/createObject';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { AnyCatcher } from '../AnyCatcher';\nimport { executeSchedule } from '../util/executeSchedule';\n\n// combineLatest(any)\n// We put this first because we need to catch cases where the user has supplied\n// _exactly `any`_ as the argument. Since `any` literally matches _anything_,\n// we don't want it to randomly hit one of the other type signatures below,\n// as we have no idea at build-time what type we should be returning when given an any.\n\n/**\n * You have passed `any` here, we can't figure out if it is\n * an array or an object, so you're getting `unknown`. Use better types.\n * @param arg Something typed as `any`\n */\nexport function combineLatest<T extends AnyCatcher>(arg: T): Observable<unknown>;\n\n// combineLatest([a, b, c])\nexport function combineLatest(sources: []): Observable<never>;\nexport function combineLatest<A extends readonly unknown[]>(sources: readonly [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R,\n  scheduler: SchedulerLike\n): Observable<R>;\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  sources: readonly [...ObservableInputTuple<A>],\n  scheduler: SchedulerLike\n): Observable<A>;\n\n// combineLatest(a, b, c)\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelectorAndScheduler: [...ObservableInputTuple<A>, (...values: A) => R, SchedulerLike]\n): Observable<R>;\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): Observable<A>;\n\n// combineLatest({a, b, c})\nexport function combineLatest(sourcesObject: { [K in any]: never }): Observable<never>;\nexport function combineLatest<T extends Record<string, ObservableInput<any>>>(\n  sourcesObject: T\n): Observable<{ [K in keyof T]: ObservedValueOf<T[K]> }>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are\n * calculated from the latest values of each of its input Observables.\n *\n * <span class=\"informal\">Whenever any input Observable emits a value, it\n * computes a formula using the latest values from all the inputs, then emits\n * the output of that formula.</span>\n *\n * ![](combineLatest.png)\n *\n * `combineLatest` combines the values from all the Observables passed in the\n * observables array. This is done by subscribing to each Observable in order and,\n * whenever any Observable emits, collecting an array of the most recent\n * values from each Observable. So if you pass `n` Observables to this operator,\n * the returned Observable will always emit an array of `n` values, in an order\n * corresponding to the order of the passed Observables (the value from the first Observable\n * will be at index 0 of the array and so on).\n *\n * Static version of `combineLatest` accepts an array of Observables. Note that an array of\n * Observables is a good choice, if you don't know beforehand how many Observables\n * you will combine. Passing an empty array will result in an Observable that\n * completes immediately.\n *\n * To ensure the output array always has the same length, `combineLatest` will\n * actually wait for all input Observables to emit at least once,\n * before it starts emitting results. This means if some Observable emits\n * values before other Observables started emitting, all these values but the last\n * will be lost. On the other hand, if some Observable does not emit a value but\n * completes, resulting Observable will complete at the same moment without\n * emitting anything, since it will now be impossible to include a value from the\n * completed Observable in the resulting array. Also, if some input Observable does\n * not emit any value and never completes, `combineLatest` will also never emit\n * and never complete, since, again, it will wait for all streams to emit some\n * value.\n *\n * If at least one Observable was passed to `combineLatest` and all passed Observables\n * emitted something, the resulting Observable will complete when all combined\n * streams complete. So even if some Observable completes, the result of\n * `combineLatest` will still emit values when other Observables do. In case\n * of a completed Observable, its value from now on will always be the last\n * emitted value. On the other hand, if any Observable errors, `combineLatest`\n * will error immediately as well, and all other Observables will be unsubscribed.\n *\n * ## Examples\n *\n * Combine two timer Observables\n *\n * ```ts\n * import { timer, combineLatest } from 'rxjs';\n *\n * const firstTimer = timer(0, 1000); // emit 0, 1, 2... after every second, starting from now\n * const secondTimer = timer(500, 1000); // emit 0, 1, 2... after every second, starting 0,5s from now\n * const combinedTimers = combineLatest([firstTimer, secondTimer]);\n * combinedTimers.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0] after 0.5s\n * // [1, 0] after 1s\n * // [1, 1] after 1.5s\n * // [2, 1] after 2s\n * ```\n *\n * Combine a dictionary of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = {\n *   a: of(1).pipe(delay(1000), startWith(0)),\n *   b: of(5).pipe(delay(5000), startWith(0)),\n *   c: of(10).pipe(delay(10000), startWith(0))\n * };\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // { a: 0, b: 0, c: 0 } immediately\n * // { a: 1, b: 0, c: 0 } after 1s\n * // { a: 1, b: 5, c: 0 } after 5s\n * // { a: 1, b: 5, c: 10 } after 10s\n * ```\n *\n * Combine an array of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = [1, 5, 10].map(\n *   n => of(n).pipe(\n *     delay(n * 1000), // emit 0 and then emit n after n seconds\n *     startWith(0)\n *   )\n * );\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0, 0] immediately\n * // [1, 0, 0] after 1s\n * // [1, 5, 0] after 5s\n * // [1, 5, 10] after 10s\n * ```\n *\n * Use map operator to dynamically calculate the Body-Mass Index\n *\n * ```ts\n * import { of, combineLatest, map } from 'rxjs';\n *\n * const weight = of(70, 72, 76, 79, 75);\n * const height = of(1.76, 1.77, 1.78);\n * const bmi = combineLatest([weight, height]).pipe(\n *   map(([w, h]) => w / (h * h)),\n * );\n * bmi.subscribe(x => console.log('BMI is ' + x));\n *\n * // With output to console:\n * // BMI is 24.212293388429753\n * // BMI is 23.93948099205209\n * // BMI is 23.671253629592222\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link merge}\n * @see {@link withLatestFrom}\n *\n * @param {ObservableInput} [observables] An array of input Observables to combine with each other.\n * An array of Observables must be given as the first argument.\n * @param {function} [project] An optional function to project the values from\n * the combined latest values into a new value on the output Observable.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for subscribing to\n * each input Observable.\n * @return {Observable} An Observable of projected values from the most recent\n * values from each input Observable, or an array of the most recent values from\n * each input Observable.\n */\nexport function combineLatest<O extends ObservableInput<any>, R>(...args: any[]): Observable<R> | Observable<ObservedValueOf<O>[]> {\n  const scheduler = popScheduler(args);\n  const resultSelector = popResultSelector(args);\n\n  const { args: observables, keys } = argsArgArrayOrObject(args);\n\n  if (observables.length === 0) {\n    // If no observables are passed, or someone has passed an empty array\n    // of observables, or even an empty object POJO, we need to just\n    // complete (EMPTY), but we have to honor the scheduler provided if any.\n    return from([], scheduler as any);\n  }\n\n  const result = new Observable<ObservedValueOf<O>[]>(\n    combineLatestInit(\n      observables as ObservableInput<ObservedValueOf<O>>[],\n      scheduler,\n      keys\n        ? // A handler for scrubbing the array of args into a dictionary.\n          (values) => createObject(keys, values)\n        : // A passthrough to just return the array\n          identity\n    )\n  );\n\n  return resultSelector ? (result.pipe(mapOneOrManyArgs(resultSelector)) as Observable<R>) : result;\n}\n\nexport function combineLatestInit(\n  observables: ObservableInput<any>[],\n  scheduler?: SchedulerLike,\n  valueTransform: (values: any[]) => any = identity\n) {\n  return (subscriber: Subscriber<any>) => {\n    // The outer subscription. We're capturing this in a function\n    // because we may have to schedule it.\n    maybeSchedule(\n      scheduler,\n      () => {\n        const { length } = observables;\n        // A store for the values each observable has emitted so far. We match observable to value on index.\n        const values = new Array(length);\n        // The number of currently active subscriptions, as they complete, we decrement this number to see if\n        // we are all done combining values, so we can complete the result.\n        let active = length;\n        // The number of inner sources that still haven't emitted the first value\n        // We need to track this because all sources need to emit one value in order\n        // to start emitting values.\n        let remainingFirstValues = length;\n        // The loop to kick off subscription. We're keying everything on index `i` to relate the observables passed\n        // in to the slot in the output array or the key in the array of keys in the output dictionary.\n        for (let i = 0; i < length; i++) {\n          maybeSchedule(\n            scheduler,\n            () => {\n              const source = from(observables[i], scheduler as any);\n              let hasFirstValue = false;\n              source.subscribe(\n                createOperatorSubscriber(\n                  subscriber,\n                  (value) => {\n                    // When we get a value, record it in our set of values.\n                    values[i] = value;\n                    if (!hasFirstValue) {\n                      // If this is our first value, record that.\n                      hasFirstValue = true;\n                      remainingFirstValues--;\n                    }\n                    if (!remainingFirstValues) {\n                      // We're not waiting for any more\n                      // first values, so we can emit!\n                      subscriber.next(valueTransform(values.slice()));\n                    }\n                  },\n                  () => {\n                    if (!--active) {\n                      // We only complete the result if we have no more active\n                      // inner observables.\n                      subscriber.complete();\n                    }\n                  }\n                )\n              );\n            },\n            subscriber\n          );\n        }\n      },\n      subscriber\n    );\n  };\n}\n\n/**\n * A small utility to handle the couple of locations where we want to schedule if a scheduler was provided,\n * but we don't if there was no scheduler.\n */\nfunction maybeSchedule(scheduler: SchedulerLike | undefined, execute: () => void, subscription: Subscription) {\n  if (scheduler) {\n    executeSchedule(subscription, scheduler, execute);\n  } else {\n    execute();\n  }\n}\n", "import { Observable } from '../Observable';\nimport { innerFrom } from '../observable/innerFrom';\nimport { Subscriber } from '../Subscriber';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A process embodying the general \"merge\" strategy. This is used in\n * `mergeMap` and `mergeScan` because the logic is otherwise nearly identical.\n * @param source The original source observable\n * @param subscriber The consumer subscriber\n * @param project The projection function to get our inner sources\n * @param concurrent The number of concurrent inner subscriptions\n * @param onBeforeNext Additional logic to apply before nexting to our consumer\n * @param expand If `true` this will perform an \"expand\" strategy, which differs only\n * in that it recurses, and the inner subscription must be schedule-able.\n * @param innerSubScheduler A scheduler to use to schedule inner subscriptions,\n * this is to support the expand strategy, mostly, and should be deprecated\n */\nexport function mergeInternals<T, R>(\n  source: Observable<T>,\n  subscriber: Subscriber<R>,\n  project: (value: T, index: number) => ObservableInput<R>,\n  concurrent: number,\n  onBeforeNext?: (innerValue: R) => void,\n  expand?: boolean,\n  innerSubScheduler?: SchedulerLike,\n  additionalFinalizer?: () => void\n) {\n  // Buffered values, in the event of going over our concurrency limit\n  const buffer: T[] = [];\n  // The number of active inner subscriptions.\n  let active = 0;\n  // An index to pass to our accumulator function\n  let index = 0;\n  // Whether or not the outer source has completed.\n  let isComplete = false;\n\n  /**\n   * Checks to see if we can complete our result or not.\n   */\n  const checkComplete = () => {\n    // If the outer has completed, and nothing is left in the buffer,\n    // and we don't have any active inner subscriptions, then we can\n    // Emit the state and complete.\n    if (isComplete && !buffer.length && !active) {\n      subscriber.complete();\n    }\n  };\n\n  // If we're under our concurrency limit, just start the inner subscription, otherwise buffer and wait.\n  const outerNext = (value: T) => (active < concurrent ? doInnerSub(value) : buffer.push(value));\n\n  const doInnerSub = (value: T) => {\n    // If we're expanding, we need to emit the outer values and the inner values\n    // as the inners will \"become outers\" in a way as they are recursively fed\n    // back to the projection mechanism.\n    expand && subscriber.next(value as any);\n\n    // Increment the number of active subscriptions so we can track it\n    // against our concurrency limit later.\n    active++;\n\n    // A flag used to show that the inner observable completed.\n    // This is checked during finalization to see if we should\n    // move to the next item in the buffer, if there is on.\n    let innerComplete = false;\n\n    // Start our inner subscription.\n    innerFrom(project(value, index++)).subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (innerValue) => {\n          // `mergeScan` has additional handling here. For example\n          // taking the inner value and updating state.\n          onBeforeNext?.(innerValue);\n\n          if (expand) {\n            // If we're expanding, then just recurse back to our outer\n            // handler. It will emit the value first thing.\n            outerNext(innerValue as any);\n          } else {\n            // Otherwise, emit the inner value.\n            subscriber.next(innerValue);\n          }\n        },\n        () => {\n          // Flag that we have completed, so we know to check the buffer\n          // during finalization.\n          innerComplete = true;\n        },\n        // Errors are passed to the destination.\n        undefined,\n        () => {\n          // During finalization, if the inner completed (it wasn't errored or\n          // cancelled), then we want to try the next item in the buffer if\n          // there is one.\n          if (innerComplete) {\n            // We have to wrap this in a try/catch because it happens during\n            // finalization, possibly asynchronously, and we want to pass\n            // any errors that happen (like in a projection function) to\n            // the outer Subscriber.\n            try {\n              // INNER SOURCE COMPLETE\n              // Decrement the active count to ensure that the next time\n              // we try to call `doInnerSub`, the number is accurate.\n              active--;\n              // If we have more values in the buffer, try to process those\n              // Note that this call will increment `active` ahead of the\n              // next conditional, if there were any more inner subscriptions\n              // to start.\n              while (buffer.length && active < concurrent) {\n                const bufferedValue = buffer.shift()!;\n                // Particularly for `expand`, we need to check to see if a scheduler was provided\n                // for when we want to start our inner subscription. Otherwise, we just start\n                // are next inner subscription.\n                if (innerSubScheduler) {\n                  executeSchedule(subscriber, innerSubScheduler, () => doInnerSub(bufferedValue));\n                } else {\n                  doInnerSub(bufferedValue);\n                }\n              }\n              // Check to see if we can complete, and complete if so.\n              checkComplete();\n            } catch (err) {\n              subscriber.error(err);\n            }\n          }\n        }\n      )\n    );\n  };\n\n  // Subscribe to our source observable.\n  source.subscribe(\n    createOperatorSubscriber(subscriber, outerNext, () => {\n      // Outer completed, make a note of it, and check to see if we can complete everything.\n      isComplete = true;\n      checkComplete();\n    })\n  );\n\n  // Additional finalization (for when the destination is torn down).\n  // Other finalization is added implicitly via subscription above.\n  return () => {\n    additionalFinalizer?.();\n  };\n}\n", "import { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { map } from './map';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { mergeInternals } from './mergeInternals';\nimport { isFunction } from '../util/isFunction';\n\n/* tslint:disable:max-line-length */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R,\n  concurrent?: number\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link mergeAll}.</span>\n *\n * ![](mergeMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an Observable, and then merging those resulting Observables and\n * emitting the results of this merger.\n *\n * ## Example\n *\n * Map and flatten each letter to an Observable ticking every 1 second\n *\n * ```ts\n * import { of, mergeMap, interval, map } from 'rxjs';\n *\n * const letters = of('a', 'b', 'c');\n * const result = letters.pipe(\n *   mergeMap(x => interval(1000).pipe(map(i => x + i)))\n * );\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // a0\n * // b0\n * // c0\n * // a1\n * // b1\n * // c1\n * // continues to list a, b, c every second with respective ascending integers\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link merge}\n * @see {@link mergeAll}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchMap}\n *\n * @param {function(value: T, ?index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and merging\n * the results of the Observables obtained from this transformation.\n */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: ((outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R) | number,\n  concurrent: number = Infinity\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  if (isFunction(resultSelector)) {\n    // DEPRECATED PATH\n    return mergeMap((a, i) => map((b: any, ii: number) => resultSelector(a, b, i, ii))(innerFrom(project(a, i))), concurrent);\n  } else if (typeof resultSelector === 'number') {\n    concurrent = resultSelector;\n  }\n\n  return operate((source, subscriber) => mergeInternals(source, subscriber, project, concurrent));\n}\n", "import { mergeMap } from './mergeMap';\nimport { identity } from '../util/identity';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable which\n * concurrently delivers all values that are emitted on the inner Observables.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables.</span>\n *\n * ![](mergeAll.png)\n *\n * `mergeAll` subscribes to an Observable that emits Observables, also known as\n * a higher-order Observable. Each time it observes one of these emitted inner\n * Observables, it subscribes to that and delivers all the values from the\n * inner Observable on the output Observable. The output Observable only\n * completes once all inner Observables have completed. Any error delivered by\n * a inner Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Spawn a new interval Observable for each click event, and blend their outputs as one Observable\n *\n * ```ts\n * import { fromEvent, map, interval, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(map(() => interval(1000)));\n * const firstOrder = higherOrder.pipe(mergeAll());\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * Count from 0 to 9 every second for each click, but only allow 2 concurrent timers\n *\n * ```ts\n * import { fromEvent, map, interval, take, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(10)))\n * );\n * const firstOrder = higherOrder.pipe(mergeAll(2));\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concatAll}\n * @see {@link exhaustAll}\n * @see {@link merge}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @param {number} [concurrent=Infinity] Maximum number of inner\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits values coming from\n * all the inner Observables emitted by the source Observable.\n */\nexport function mergeAll<O extends ObservableInput<any>>(concurrent: number = Infinity): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeMap(identity, concurrent);\n}\n", "import { mergeAll } from './mergeAll';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable by\n * concatenating the inner Observables in order.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables by putting one\n * inner Observable after the other.</span>\n *\n * ![](concatAll.svg)\n *\n * Joins every Observable emitted by the source (a higher-order Observable), in\n * a serial fashion. It subscribes to each inner Observable only after the\n * previous inner Observable has completed, and merges all of their values into\n * the returned observable.\n *\n * __Warning:__ If the source Observable emits Observables quickly and\n * endlessly, and the inner Observables it emits generally complete slower than\n * the source emits, you can run into memory issues as the incoming Observables\n * collect in an unbounded buffer.\n *\n * Note: `concatAll` is equivalent to `mergeAll` with concurrency parameter set\n * to `1`.\n *\n * ## Example\n *\n * For each click event, tick every second from 0 to 3, with no concurrency\n *\n * ```ts\n * import { fromEvent, map, interval, take, concatAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(4)))\n * );\n * const firstOrder = higherOrder.pipe(concatAll());\n * firstOrder.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // (results are not concurrent)\n * // For every click on the \"document\" it will emit values 0 to 3 spaced\n * // on a 1000ms interval\n * // one click = 1000ms-> 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concat}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link exhaustAll}\n * @see {@link mergeAll}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @return A function that returns an Observable emitting values from all the\n * inner Observables concatenated.\n */\nexport function concatAll<O extends ObservableInput<any>>(): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeAll(1);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple, SchedulerLike } from '../types';\nimport { concatAll } from '../operators/concatAll';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function concat<T extends readonly unknown[]>(...inputs: [...ObservableInputTuple<T>]): Observable<T[number]>;\nexport function concat<T extends readonly unknown[]>(\n  ...inputsAndScheduler: [...ObservableInputTuple<T>, SchedulerLike]\n): Observable<T[number]>;\n\n/**\n * Creates an output Observable which sequentially emits all values from the first given\n * Observable and then moves on to the next.\n *\n * <span class=\"informal\">Concatenates multiple Observables together by\n * sequentially emitting their values, one Observable after the other.</span>\n *\n * ![](concat.png)\n *\n * `concat` joins multiple Observables together, by subscribing to them one at a time and\n * merging their results into the output Observable. You can pass either an array of\n * Observables, or put them directly as arguments. Passing an empty array will result\n * in Observable that completes immediately.\n *\n * `concat` will subscribe to first input Observable and emit all its values, without\n * changing or affecting them in any way. When that Observable completes, it will\n * subscribe to then next Observable passed and, again, emit its values. This will be\n * repeated, until the operator runs out of Observables. When last input Observable completes,\n * `concat` will complete as well. At any given moment only one Observable passed to operator\n * emits values. If you would like to emit values from passed Observables concurrently, check out\n * {@link merge} instead, especially with optional `concurrent` parameter. As a matter of fact,\n * `concat` is an equivalent of `merge` operator with `concurrent` parameter set to `1`.\n *\n * Note that if some input Observable never completes, `concat` will also never complete\n * and Observables following the one that did not complete will never be subscribed. On the other\n * hand, if some Observable simply completes immediately after it is subscribed, it will be\n * invisible for `concat`, which will just move on to the next Observable.\n *\n * If any Observable in chain errors, instead of passing control to the next Observable,\n * `concat` will error immediately as well. Observables that would be subscribed after\n * the one that emitted error, never will.\n *\n * If you pass to `concat` the same Observable many times, its stream of values\n * will be \"replayed\" on every subscription, which means you can repeat given Observable\n * as many times as you like. If passing the same Observable to `concat` 1000 times becomes tedious,\n * you can always use {@link repeat}.\n *\n * ## Examples\n *\n * Concatenate a timer counting from 0 to 3 with a synchronous sequence from 1 to 10\n *\n * ```ts\n * import { interval, take, range, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(4));\n * const sequence = range(1, 10);\n * const result = concat(timer, sequence);\n * result.subscribe(x => console.log(x));\n *\n * // results in:\n * // 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3 -immediate-> 1 ... 10\n * ```\n *\n * Concatenate 3 Observables\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const result = concat(timer1, timer2, timer3);\n * result.subscribe(x => console.log(x));\n *\n * // results in the following:\n * // (Prints to console sequentially)\n * // -1000ms-> 0 -1000ms-> 1 -1000ms-> ... 9\n * // -2000ms-> 0 -2000ms-> 1 -2000ms-> ... 5\n * // -500ms-> 0 -500ms-> 1 -500ms-> ... 9\n * ```\n *\n * Concatenate the same Observable to repeat it\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(2));\n *\n * concat(timer, timer) // concatenating the same Observable!\n *   .subscribe({\n *     next: value => console.log(value),\n *     complete: () => console.log('...and it is done!')\n *   });\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 0 after 3s\n * // 1 after 4s\n * // '...and it is done!' also after 4s\n * ```\n *\n * @see {@link concatAll}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link startWith}\n * @see {@link endWith}\n *\n * @param args Input Observables to concatenate.\n */\nexport function concat(...args: any[]): Observable<unknown> {\n  return concatAll()(from(args, popScheduler(args)));\n}\n", "import { Observable } from '../Observable';\nimport { ObservedValueOf, ObservableInput } from '../types';\nimport { innerFrom } from './innerFrom';\n\n/**\n * Creates an Observable that, on subscribe, calls an Observable factory to\n * make an Observable for each new Observer.\n *\n * <span class=\"informal\">Creates the Observable lazily, that is, only when it\n * is subscribed.\n * </span>\n *\n * ![](defer.png)\n *\n * `defer` allows you to create an Observable only when the Observer\n * subscribes. It waits until an Observer subscribes to it, calls the given\n * factory function to get an Observable -- where a factory function typically\n * generates a new Observable -- and subscribes the Observer to this Observable.\n * In case the factory function returns a falsy value, then EMPTY is used as\n * Observable instead. Last but not least, an exception during the factory\n * function call is transferred to the Observer by calling `error`.\n *\n * ## Example\n *\n * Subscribe to either an Observable of clicks or an Observable of interval, at random\n *\n * ```ts\n * import { defer, fromEvent, interval } from 'rxjs';\n *\n * const clicksOrInterval = defer(() => {\n *   return Math.random() > 0.5\n *     ? fromEvent(document, 'click')\n *     : interval(1000);\n * });\n * clicksOrInterval.subscribe(x => console.log(x));\n *\n * // Results in the following behavior:\n * // If the result of Math.random() is greater than 0.5 it will listen\n * // for clicks anywhere on the \"document\"; when document is clicked it\n * // will log a MouseEvent object to the console. If the result is less\n * // than 0.5 it will emit ascending numbers, one every second(1000ms).\n * ```\n *\n * @see {@link Observable}\n *\n * @param {function(): ObservableInput} observableFactory The Observable\n * factory function to invoke for each Observer that subscribes to the output\n * Observable. May also return a Promise, which will be converted on the fly\n * to an Observable.\n * @return {Observable} An Observable whose Observers' subscriptions trigger\n * an invocation of the given Observable factory function.\n */\nexport function defer<R extends ObservableInput<any>>(observableFactory: () => R): Observable<ObservedValueOf<R>> {\n  return new Observable<ObservedValueOf<R>>((subscriber) => {\n    innerFrom(observableFactory()).subscribe(subscriber);\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Observable } from '../Observable';\nimport { mergeMap } from '../operators/mergeMap';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isFunction } from '../util/isFunction';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n// These constants are used to create handler registry functions using array mapping below.\nconst nodeEventEmitterMethods = ['addListener', 'removeListener'] as const;\nconst eventTargetMethods = ['addEventListener', 'removeEventListener'] as const;\nconst jqueryMethods = ['on', 'off'] as const;\n\nexport interface NodeStyleEventEmitter {\n  addListener(eventName: string | symbol, handler: NodeEventHandler): this;\n  removeListener(eventName: string | symbol, handler: NodeEventHandler): this;\n}\n\nexport type NodeEventHandler = (...args: any[]) => void;\n\n// For APIs that implement `addListener` and `removeListener` methods that may\n// not use the same arguments or return EventEmitter values\n// such as React Native\nexport interface NodeCompatibleEventEmitter {\n  addListener(eventName: string, handler: NodeEventHandler): void | {};\n  removeListener(eventName: string, handler: NodeEventHandler): void | {};\n}\n\n// Use handler types like those in @types/jquery. See:\n// https://github.com/DefinitelyTyped/DefinitelyTyped/blob/847731ba1d7fa6db6b911c0e43aa0afe596e7723/types/jquery/misc.d.ts#L6395\nexport interface JQueryStyleEventEmitter<TContext, T> {\n  on(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n  off(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n}\n\nexport interface EventListenerObject<E> {\n  handleEvent(evt: E): void;\n}\n\nexport interface HasEventTargetAddRemove<E> {\n  addEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: boolean | AddEventListenerOptions\n  ): void;\n  removeEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: EventListenerOptions | boolean\n  ): void;\n}\n\nexport interface EventListenerOptions {\n  capture?: boolean;\n  passive?: boolean;\n  once?: boolean;\n}\n\nexport interface AddEventListenerOptions extends EventListenerOptions {\n  once?: boolean;\n  passive?: boolean;\n}\n\nexport function fromEvent<T>(target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>, eventName: string): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  resultSelector: (event: T) => R\n): Observable<R>;\nexport function fromEvent<T>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions,\n  resultSelector: (event: T) => R\n): Observable<R>;\n\nexport function fromEvent(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string\n): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent<T>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string,\n  resultSelector: (value: T, ...args: any[]) => R\n): Observable<R>;\n\n/**\n * Creates an Observable that emits events of a specific type coming from the\n * given event target.\n *\n * <span class=\"informal\">Creates an Observable from DOM events, or Node.js\n * EventEmitter events or others.</span>\n *\n * ![](fromEvent.png)\n *\n * `fromEvent` accepts as a first argument event target, which is an object with methods\n * for registering event handler functions. As a second argument it takes string that indicates\n * type of event we want to listen for. `fromEvent` supports selected types of event targets,\n * which are described in detail below. If your event target does not match any of the ones listed,\n * you should use {@link fromEventPattern}, which can be used on arbitrary APIs.\n * When it comes to APIs supported by `fromEvent`, their methods for adding and removing event\n * handler functions have different names, but they all accept a string describing event type\n * and function itself, which will be called whenever said event happens.\n *\n * Every time resulting Observable is subscribed, event handler function will be registered\n * to event target on given event type. When that event fires, value\n * passed as a first argument to registered function will be emitted by output Observable.\n * When Observable is unsubscribed, function will be unregistered from event target.\n *\n * Note that if event target calls registered function with more than one argument, second\n * and following arguments will not appear in resulting stream. In order to get access to them,\n * you can pass to `fromEvent` optional project function, which will be called with all arguments\n * passed to event handler. Output Observable will then emit value returned by project function,\n * instead of the usual value.\n *\n * Remember that event targets listed below are checked via duck typing. It means that\n * no matter what kind of object you have and no matter what environment you work in,\n * you can safely use `fromEvent` on that object if it exposes described methods (provided\n * of course they behave as was described above). So for example if Node.js library exposes\n * event target which has the same method names as DOM EventTarget, `fromEvent` is still\n * a good choice.\n *\n * If the API you use is more callback then event handler oriented (subscribed\n * callback function fires only once and thus there is no need to manually\n * unregister it), you should use {@link bindCallback} or {@link bindNodeCallback}\n * instead.\n *\n * `fromEvent` supports following types of event targets:\n *\n * **DOM EventTarget**\n *\n * This is an object with `addEventListener` and `removeEventListener` methods.\n *\n * In the browser, `addEventListener` accepts - apart from event type string and event\n * handler function arguments - optional third parameter, which is either an object or boolean,\n * both used for additional configuration how and when passed function will be called. When\n * `fromEvent` is used with event target of that type, you can provide this values\n * as third parameter as well.\n *\n * **Node.js EventEmitter**\n *\n * An object with `addListener` and `removeListener` methods.\n *\n * **JQuery-style event target**\n *\n * An object with `on` and `off` methods\n *\n * **DOM NodeList**\n *\n * List of DOM Nodes, returned for example by `document.querySelectorAll` or `Node.childNodes`.\n *\n * Although this collection is not event target in itself, `fromEvent` will iterate over all Nodes\n * it contains and install event handler function in every of them. When returned Observable\n * is unsubscribed, function will be removed from all Nodes.\n *\n * **DOM HtmlCollection**\n *\n * Just as in case of NodeList it is a collection of DOM nodes. Here as well event handler function is\n * installed and removed in each of elements.\n *\n *\n * ## Examples\n *\n * Emit clicks happening on the DOM document\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * clicks.subscribe(x => console.log(x));\n *\n * // Results in:\n * // MouseEvent object logged to console every time a click\n * // occurs on the document.\n * ```\n *\n * Use `addEventListener` with capture option\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * // note optional configuration parameter which will be passed to addEventListener\n * const clicksInDocument = fromEvent(document, 'click', { capture: true });\n * const clicksInDiv = fromEvent(div, 'click');\n *\n * clicksInDocument.subscribe(() => console.log('document'));\n * clicksInDiv.subscribe(() => console.log('div'));\n *\n * // By default events bubble UP in DOM tree, so normally\n * // when we would click on div in document\n * // \"div\" would be logged first and then \"document\".\n * // Since we specified optional `capture` option, document\n * // will catch event when it goes DOWN DOM tree, so console\n * // will log \"document\" and then \"div\".\n * ```\n *\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n * @see {@link fromEventPattern}\n *\n * @param {FromEventTarget<T>} target The DOM EventTarget, Node.js\n * EventEmitter, JQuery-like event target, NodeList or HTMLCollection to attach the event handler to.\n * @param {string} eventName The event name of interest, being emitted by the\n * `target`.\n * @param {EventListenerOptions} [options] Options to pass through to addEventListener\n * @return {Observable<T>}\n */\nexport function fromEvent<T>(\n  target: any,\n  eventName: string,\n  options?: EventListenerOptions | ((...args: any[]) => T),\n  resultSelector?: (...args: any[]) => T\n): Observable<T> {\n  if (isFunction(options)) {\n    resultSelector = options;\n    options = undefined;\n  }\n  if (resultSelector) {\n    return fromEvent<T>(target, eventName, options as EventListenerOptions).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  // Figure out our add and remove methods. In order to do this,\n  // we are going to analyze the target in a preferred order, if\n  // the target matches a given signature, we take the two \"add\" and \"remove\"\n  // method names and apply them to a map to create opposite versions of the\n  // same function. This is because they all operate in duplicate pairs,\n  // `addListener(name, handler)`, `removeListener(name, handler)`, for example.\n  // The call only differs by method name, as to whether or not you're adding or removing.\n  const [add, remove] =\n    // If it is an EventTarget, we need to use a slightly different method than the other two patterns.\n    isEventTarget(target)\n      ? eventTargetMethods.map((methodName) => (handler: any) => target[methodName](eventName, handler, options as EventListenerOptions))\n      : // In all other cases, the call pattern is identical with the exception of the method names.\n      isNodeStyleEventEmitter(target)\n      ? nodeEventEmitterMethods.map(toCommonHandlerRegistry(target, eventName))\n      : isJQueryStyleEventEmitter(target)\n      ? jqueryMethods.map(toCommonHandlerRegistry(target, eventName))\n      : [];\n\n  // If add is falsy, it's because we didn't match a pattern above.\n  // Check to see if it is an ArrayLike, because if it is, we want to\n  // try to apply fromEvent to all of it's items. We do this check last,\n  // because there are may be some types that are both ArrayLike *and* implement\n  // event registry points, and we'd rather delegate to that when possible.\n  if (!add) {\n    if (isArrayLike(target)) {\n      return mergeMap((subTarget: any) => fromEvent(subTarget, eventName, options as EventListenerOptions))(\n        innerFrom(target)\n      ) as Observable<T>;\n    }\n  }\n\n  // If add is falsy and we made it here, it's because we didn't\n  // match any valid target objects above.\n  if (!add) {\n    throw new TypeError('Invalid event target');\n  }\n\n  return new Observable<T>((subscriber) => {\n    // The handler we are going to register. Forwards the event object, by itself, or\n    // an array of arguments to the event handler, if there is more than one argument,\n    // to the consumer.\n    const handler = (...args: any[]) => subscriber.next(1 < args.length ? args : args[0]);\n    // Do the work of adding the handler to the target.\n    add(handler);\n    // When we finalize, we want to remove the handler and free up memory.\n    return () => remove!(handler);\n  });\n}\n\n/**\n * Used to create `add` and `remove` functions to register and unregister event handlers\n * from a target in the most common handler pattern, where there are only two arguments.\n * (e.g.  `on(name, fn)`, `off(name, fn)`, `addListener(name, fn)`, or `removeListener(name, fn)`)\n * @param target The target we're calling methods on\n * @param eventName The event name for the event we're creating register or unregister functions for\n */\nfunction toCommonHandlerRegistry(target: any, eventName: string) {\n  return (methodName: string) => (handler: any) => target[methodName](eventName, handler);\n}\n\n/**\n * Checks to see if the target implements the required node-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isNodeStyleEventEmitter(target: any): target is NodeStyleEventEmitter {\n  return isFunction(target.addListener) && isFunction(target.removeListener);\n}\n\n/**\n * Checks to see if the target implements the required jQuery-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isJQueryStyleEventEmitter(target: any): target is JQueryStyleEventEmitter<any, any> {\n  return isFunction(target.on) && isFunction(target.off);\n}\n\n/**\n * Checks to see if the target implements the required EventTarget methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isEventTarget(target: any): target is HasEventTargetAddRemove<any> {\n  return isFunction(target.addEventListener) && isFunction(target.removeEventListener);\n}\n", "import { Observable } from '../Observable';\nimport { isFunction } from '../util/isFunction';\nimport { NodeEventHandler } from './fromEvent';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n/* tslint:disable:max-line-length */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void\n): Observable<T>;\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Creates an Observable from an arbitrary API for registering event handlers.\n *\n * <span class=\"informal\">When that method for adding event handler was something {@link fromEvent}\n * was not prepared for.</span>\n *\n * ![](fromEventPattern.png)\n *\n * `fromEventPattern` allows you to convert into an Observable any API that supports registering handler functions\n * for events. It is similar to {@link fromEvent}, but far\n * more flexible. In fact, all use cases of {@link fromEvent} could be easily handled by\n * `fromEventPattern` (although in slightly more verbose way).\n *\n * This operator accepts as a first argument an `addHandler` function, which will be injected with\n * handler parameter. That handler is actually an event handler function that you now can pass\n * to API expecting it. `addHandler` will be called whenever Observable\n * returned by the operator is subscribed, so registering handler in API will not\n * necessarily happen when `fromEventPattern` is called.\n *\n * After registration, every time an event that we listen to happens,\n * Observable returned by `fromEventPattern` will emit value that event handler\n * function was called with. Note that if event handler was called with more\n * than one argument, second and following arguments will not appear in the Observable.\n *\n * If API you are using allows to unregister event handlers as well, you can pass to `fromEventPattern`\n * another function - `removeHandler` - as a second parameter. It will be injected\n * with the same handler function as before, which now you can use to unregister\n * it from the API. `removeHandler` will be called when consumer of resulting Observable\n * unsubscribes from it.\n *\n * In some APIs unregistering is actually handled differently. Method registering an event handler\n * returns some kind of token, which is later used to identify which function should\n * be unregistered or it itself has method that unregisters event handler.\n * If that is the case with your API, make sure token returned\n * by registering method is returned by `addHandler`. Then it will be passed\n * as a second argument to `removeHandler`, where you will be able to use it.\n *\n * If you need access to all event handler parameters (not only the first one),\n * or you need to transform them in any way, you can call `fromEventPattern` with optional\n * third parameter - project function which will accept all arguments passed to\n * event handler when it is called. Whatever is returned from project function will appear on\n * resulting stream instead of usual event handlers first argument. This means\n * that default project can be thought of as function that takes its first parameter\n * and ignores the rest.\n *\n * ## Examples\n *\n * Emits clicks happening on the DOM document\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * function addClickHandler(handler) {\n *   document.addEventListener('click', handler);\n * }\n *\n * function removeClickHandler(handler) {\n *   document.removeEventListener('click', handler);\n * }\n *\n * const clicks = fromEventPattern(\n *   addClickHandler,\n *   removeClickHandler\n * );\n * clicks.subscribe(x => console.log(x));\n *\n * // Whenever you click anywhere in the browser, DOM MouseEvent\n * // object will be logged.\n * ```\n *\n * Use with API that returns cancellation token\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * const token = someAPI.registerEventHandler(function() {});\n * someAPI.unregisterEventHandler(token); // this APIs cancellation method accepts\n *                                        // not handler itself, but special token.\n *\n * const someAPIObservable = fromEventPattern(\n *   function(handler) { return someAPI.registerEventHandler(handler); }, // Note that we return the token here...\n *   function(handler, token) { someAPI.unregisterEventHandler(token); }  // ...to then use it here.\n * );\n * ```\n *\n * Use with project function\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * someAPI.registerEventHandler((eventType, eventMessage) => {\n *   console.log(eventType, eventMessage); // Logs 'EVENT_TYPE' 'EVENT_MESSAGE' to console.\n * });\n *\n * const someAPIObservable = fromEventPattern(\n *   handler => someAPI.registerEventHandler(handler),\n *   handler => someAPI.unregisterEventHandler(handler)\n *   (eventType, eventMessage) => eventType + ' --- ' + eventMessage // without that function only 'EVENT_TYPE'\n * );                                                                // would be emitted by the Observable\n *\n * someAPIObservable.subscribe(value => console.log(value));\n *\n * // Logs:\n * // 'EVENT_TYPE --- EVENT_MESSAGE'\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n *\n * @param {function(handler: Function): any} addHandler A function that takes\n * a `handler` function as argument and attaches it somehow to the actual\n * source of events.\n * @param {function(handler: Function, token?: any): void} [removeHandler] A function that\n * takes a `handler` function as an argument and removes it from the event source. If `addHandler`\n * returns some kind of token, `removeHandler` function will have it as a second parameter.\n * @param {function(...args: any): T} [project] A function to\n * transform results. It takes the arguments from the event handler and\n * should return a single value.\n * @return {Observable<T>} Observable which, when an event happens, emits first parameter\n * passed to registered event handler. Alternatively it emits whatever project function returns\n * at that moment.\n */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T | T[]> {\n  if (resultSelector) {\n    return fromEventPattern<T>(addHandler, removeHandler).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  return new Observable<T | T[]>((subscriber) => {\n    const handler = (...e: T[]) => subscriber.next(e.length === 1 ? e[0] : e);\n    const retValue = addHandler(handler);\n    return isFunction(removeHandler) ? () => removeHandler(handler, retValue) : undefined;\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { async as asyncScheduler } from '../scheduler/async';\nimport { isScheduler } from '../util/isScheduler';\nimport { isValidDate } from '../util/isDate';\n\n/**\n * Creates an observable that will wait for a specified time period, or exact date, before\n * emitting the number 0.\n *\n * <span class=\"informal\">Used to emit a notification after a delay.</span>\n *\n * This observable is useful for creating delays in code, or racing against other values\n * for ad-hoc timeouts.\n *\n * The `delay` is specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Examples\n *\n * Wait 3 seconds and start another observable\n *\n * You might want to use `timer` to delay subscription to an\n * observable by a set amount of time. Here we use a timer with\n * {@link concatMapTo} or {@link concatMap} in order to wait\n * a few seconds and start a subscription to a source.\n *\n * ```ts\n * import { of, timer, concatMap } from 'rxjs';\n *\n * // This could be any observable\n * const source = of(1, 2, 3);\n *\n * timer(3000)\n *   .pipe(concatMap(() => source))\n *   .subscribe(console.log);\n * ```\n *\n * Take all values until the start of the next minute\n *\n * Using a `Date` as the trigger for the first emission, you can\n * do things like wait until midnight to fire an event, or in this case,\n * wait until a new minute starts (chosen so the example wouldn't take\n * too long to run) in order to stop watching a stream. Leveraging\n * {@link takeUntil}.\n *\n * ```ts\n * import { interval, takeUntil, timer } from 'rxjs';\n *\n * // Build a Date object that marks the\n * // next minute.\n * const currentDate = new Date();\n * const startOfNextMinute = new Date(\n *   currentDate.getFullYear(),\n *   currentDate.getMonth(),\n *   currentDate.getDate(),\n *   currentDate.getHours(),\n *   currentDate.getMinutes() + 1\n * );\n *\n * // This could be any observable stream\n * const source = interval(1000);\n *\n * const result = source.pipe(\n *   takeUntil(timer(startOfNextMinute))\n * );\n *\n * result.subscribe(console.log);\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `dueTime`.\n *\n * @param due If a `number`, the amount of time in milliseconds to wait before emitting.\n * If a `Date`, the exact time at which to emit.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(due: number | Date, scheduler?: SchedulerLike): Observable<0>;\n\n/**\n * Creates an observable that starts an interval after a specified delay, emitting incrementing numbers -- starting at `0` --\n * on each interval after words.\n *\n * The `delay` and `intervalDuration` are specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Example\n *\n * ### Start an interval that starts right away\n *\n * Since {@link interval} waits for the passed delay before starting,\n * sometimes that's not ideal. You may want to start an interval immediately.\n * `timer` works well for this. Here we have both side-by-side so you can\n * see them in comparison.\n *\n * Note that this observable will never complete.\n *\n * ```ts\n * import { timer, interval } from 'rxjs';\n *\n * timer(0, 1000).subscribe(n => console.log('timer', n));\n * interval(1000).subscribe(n => console.log('interval', n));\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `startDue`.\n * @param startDue If a `number`, is the time to wait before starting the interval.\n * If a `Date`, is the exact time at which to start the interval.\n * @param intervalDuration The delay between each value emitted in the interval. Passing a\n * negative number here will result in immediate completion after the first value is emitted, as though\n * no `intervalDuration` was passed at all.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(startDue: number | Date, intervalDuration: number, scheduler?: SchedulerLike): Observable<number>;\n\n/**\n * @deprecated The signature allowing `undefined` to be passed for `intervalDuration` will be removed in v8. Use the `timer(dueTime, scheduler?)` signature instead.\n */\nexport function timer(dueTime: number | Date, unused: undefined, scheduler?: SchedulerLike): Observable<0>;\n\nexport function timer(\n  dueTime: number | Date = 0,\n  intervalOrScheduler?: number | SchedulerLike,\n  scheduler: SchedulerLike = asyncScheduler\n): Observable<number> {\n  // Since negative intervalDuration is treated as though no\n  // interval was specified at all, we start with a negative number.\n  let intervalDuration = -1;\n\n  if (intervalOrScheduler != null) {\n    // If we have a second argument, and it's a scheduler,\n    // override the scheduler we had defaulted. Otherwise,\n    // it must be an interval.\n    if (isScheduler(intervalOrScheduler)) {\n      scheduler = intervalOrScheduler;\n    } else {\n      // Note that this *could* be negative, in which case\n      // it's like not passing an intervalDuration at all.\n      intervalDuration = intervalOrScheduler;\n    }\n  }\n\n  return new Observable((subscriber) => {\n    // If a valid date is passed, calculate how long to wait before\n    // executing the first value... otherwise, if it's a number just schedule\n    // that many milliseconds (or scheduler-specified unit size) in the future.\n    let due = isValidDate(dueTime) ? +dueTime - scheduler!.now() : dueTime;\n\n    if (due < 0) {\n      // Ensure we don't schedule in the future.\n      due = 0;\n    }\n\n    // The incrementing value we emit.\n    let n = 0;\n\n    // Start the timer.\n    return scheduler.schedule(function () {\n      if (!subscriber.closed) {\n        // Emit the next value and increment.\n        subscriber.next(n++);\n\n        if (0 <= intervalDuration) {\n          // If we have a interval after the initial timer,\n          // reschedule with the period.\n          this.schedule(undefined, intervalDuration);\n        } else {\n          // We didn't have an interval. So just complete.\n          subscriber.complete();\n        }\n      }\n    }, due);\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, ObservableInputTuple, SchedulerLike } from '../types';\nimport { mergeAll } from '../operators/mergeAll';\nimport { innerFrom } from './innerFrom';\nimport { EMPTY } from './empty';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function merge<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A[number]>;\nexport function merge<A extends readonly unknown[]>(...sourcesAndConcurrency: [...ObservableInputTuple<A>, number?]): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike?]\n): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number?, SchedulerLike?]\n): Observable<A[number]>;\n\n/**\n * Creates an output Observable which concurrently emits all values from every\n * given input Observable.\n *\n * <span class=\"informal\">Flattens multiple Observables together by blending\n * their values into one Observable.</span>\n *\n * ![](merge.png)\n *\n * `merge` subscribes to each given input Observable (as arguments), and simply\n * forwards (without doing any transformation) all the values from all the input\n * Observables to the output Observable. The output Observable only completes\n * once all input Observables have completed. Any error delivered by an input\n * Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Merge together two Observables: 1s interval and clicks\n *\n * ```ts\n * import { merge, fromEvent, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const clicksOrTimer = merge(clicks, timer);\n * clicksOrTimer.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // timer will emit ascending values, one every second(1000ms) to console\n * // clicks logs MouseEvents to console every time the \"document\" is clicked\n * // Since the two streams are merged you see these happening\n * // as they occur.\n * ```\n *\n * Merge together 3 Observables, but run only 2 concurrently\n *\n * ```ts\n * import { interval, take, merge } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const concurrent = 2; // the argument\n * const merged = merge(timer1, timer2, timer3, concurrent);\n * merged.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // - First timer1 and timer2 will run concurrently\n * // - timer1 will emit a value every 1000ms for 10 iterations\n * // - timer2 will emit a value every 2000ms for 6 iterations\n * // - after timer1 hits its max iteration, timer2 will\n * //   continue, and timer3 will start to run concurrently with timer2\n * // - when timer2 hits its max iteration it terminates, and\n * //   timer3 will continue to emit a value every 500ms until it is complete\n * ```\n *\n * @see {@link mergeAll}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n *\n * @param {...ObservableInput} observables Input Observables to merge together.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for managing\n * concurrency of input Observables.\n * @return {Observable} an Observable that emits items that are the result of\n * every input Observable.\n */\nexport function merge(...args: (ObservableInput<unknown> | number | SchedulerLike)[]): Observable<unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  const sources = args as ObservableInput<unknown>[];\n  return !sources.length\n    ? // No source provided\n      EMPTY\n    : sources.length === 1\n    ? // One source? Just return it.\n      innerFrom(sources[0])\n    : // Merge all sources\n      mergeAll(concurrent)(from(sources, scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { noop } from '../util/noop';\n\n/**\n * An Observable that emits no items to the Observer and never completes.\n *\n * ![](never.png)\n *\n * A simple Observable that emits neither values nor errors nor the completion\n * notification. It can be used for testing purposes or for composing with other\n * Observables. Please note that by never emitting a complete notification, this\n * Observable keeps the subscription from being disposed automatically.\n * Subscriptions need to be manually disposed.\n *\n * ##  Example\n *\n * Emit the number 7, then never emit anything else (not even complete)\n *\n * ```ts\n * import { NEVER, startWith } from 'rxjs';\n *\n * const info = () => console.log('Will not be called');\n *\n * const result = NEVER.pipe(startWith(7));\n * result.subscribe({\n *   next: x => console.log(x),\n *   error: info,\n *   complete: info\n * });\n * ```\n *\n * @see {@link Observable}\n * @see {@link EMPTY}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const NEVER = new Observable<never>(noop);\n\n/**\n * @deprecated Replaced with the {@link NEVER} constant. Will be removed in v8.\n */\nexport function never() {\n  return NEVER;\n}\n", "const { isArray } = Array;\n\n/**\n * Used in operators and functions that accept either a list of arguments, or an array of arguments\n * as a single argument.\n */\nexport function argsOrArgArray<T>(args: (T | T[])[]): T[] {\n  return args.length === 1 && isArray(args[0]) ? args[0] : (args as T[]);\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, S extends T, A>(predicate: (this: A, value: T, index: number) => value is S, thisArg: A): OperatorFunction<T, S>;\nexport function filter<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function filter<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, A>(predicate: (this: A, value: T, index: number) => boolean, thisArg: A): MonoTypeOperatorFunction<T>;\nexport function filter<T>(predicate: (value: T, index: number) => boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Filter items emitted by the source Observable by only emitting those that\n * satisfy a specified predicate.\n *\n * <span class=\"informal\">Like\n * [Array.prototype.filter()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/filter),\n * it only emits a value from the source if it passes a criterion function.</span>\n *\n * ![](filter.png)\n *\n * Similar to the well-known `Array.prototype.filter` method, this operator\n * takes values from the source Observable, passes them through a `predicate`\n * function and only emits those values that yielded `true`.\n *\n * ## Example\n *\n * Emit only click events whose target was a DIV element\n *\n * ```ts\n * import { fromEvent, filter } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksOnDivs = clicks.pipe(filter(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * clicksOnDivs.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n * @see {@link distinctUntilKeyChanged}\n * @see {@link ignoreElements}\n * @see {@link partition}\n * @see {@link skip}\n *\n * @param predicate A function that\n * evaluates each value emitted by the source Observable. If it returns `true`,\n * the value is emitted, if `false` the value is not passed to the output\n * Observable. The `index` parameter is the number `i` for the i-th source\n * emission that has happened since the subscription, starting from the number\n * `0`.\n * @param thisArg An optional argument to determine the value of `this`\n * in the `predicate` function.\n * @return A function that returns an Observable that emits items from the\n * source Observable that satisfy the specified `predicate`.\n */\nexport function filter<T>(predicate: (value: T, index: number) => boolean, thisArg?: any): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // An index passed to our predicate function on each call.\n    let index = 0;\n\n    // Subscribe to the source, all errors and completions are\n    // forwarded to the consumer.\n    source.subscribe(\n      // Call the predicate with the appropriate `this` context,\n      // if the predicate returns `true`, then send the value\n      // to the consumer.\n      createOperatorSubscriber(subscriber, (value) => predicate.call(thisArg, value, index++) && subscriber.next(value))\n    );\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple } from '../types';\nimport { innerFrom } from './innerFrom';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { EMPTY } from './empty';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { popResultSelector } from '../util/args';\n\nexport function zip<A extends readonly unknown[]>(sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\nexport function zip<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are calculated from the values, in order, of each\n * of its input Observables.\n *\n * If the last parameter is a function, this function is used to compute the created value from the input values.\n * Otherwise, an array of the input values is returned.\n *\n * ## Example\n *\n * Combine age and name from different sources\n *\n * ```ts\n * import { of, zip, map } from 'rxjs';\n *\n * const age$ = of(27, 25, 29);\n * const name$ = of('Foo', 'Bar', 'Beer');\n * const isDev$ = of(true, true, false);\n *\n * zip(age$, name$, isDev$).pipe(\n *   map(([age, name, isDev]) => ({ age, name, isDev }))\n * )\n * .subscribe(x => console.log(x));\n *\n * // Outputs\n * // { age: 27, name: 'Foo', isDev: true }\n * // { age: 25, name: 'Bar', isDev: true }\n * // { age: 29, name: 'Beer', isDev: false }\n * ```\n *\n * @param sources\n * @return {Observable<R>}\n */\nexport function zip(...args: unknown[]): Observable<unknown> {\n  const resultSelector = popResultSelector(args);\n\n  const sources = argsOrArgArray(args) as Observable<unknown>[];\n\n  return sources.length\n    ? new Observable<unknown[]>((subscriber) => {\n        // A collection of buffers of values from each source.\n        // Keyed by the same index with which the sources were passed in.\n        let buffers: unknown[][] = sources.map(() => []);\n\n        // An array of flags of whether or not the sources have completed.\n        // This is used to check to see if we should complete the result.\n        // Keyed by the same index with which the sources were passed in.\n        let completed = sources.map(() => false);\n\n        // When everything is done, release the arrays above.\n        subscriber.add(() => {\n          buffers = completed = null!;\n        });\n\n        // Loop over our sources and subscribe to each one. The index `i` is\n        // especially important here, because we use it in closures below to\n        // access the related buffers and completion properties\n        for (let sourceIndex = 0; !subscriber.closed && sourceIndex < sources.length; sourceIndex++) {\n          innerFrom(sources[sourceIndex]).subscribe(\n            createOperatorSubscriber(\n              subscriber,\n              (value) => {\n                buffers[sourceIndex].push(value);\n                // if every buffer has at least one value in it, then we\n                // can shift out the oldest value from each buffer and emit\n                // them as an array.\n                if (buffers.every((buffer) => buffer.length)) {\n                  const result: any = buffers.map((buffer) => buffer.shift()!);\n                  // Emit the array. If theres' a result selector, use that.\n                  subscriber.next(resultSelector ? resultSelector(...result) : result);\n                  // If any one of the sources is both complete and has an empty buffer\n                  // then we complete the result. This is because we cannot possibly have\n                  // any more values to zip together.\n                  if (buffers.some((buffer, i) => !buffer.length && completed[i])) {\n                    subscriber.complete();\n                  }\n                }\n              },\n              () => {\n                // This source completed. Mark it as complete so we can check it later\n                // if we have to.\n                completed[sourceIndex] = true;\n                // But, if this complete source has nothing in its buffer, then we\n                // can complete the result, because we can't possibly have any more\n                // values from this to zip together with the other values.\n                !buffers[sourceIndex].length && subscriber.complete();\n              }\n            )\n          );\n        }\n\n        // When everything is done, release the arrays above.\n        return () => {\n          buffers = completed = null!;\n        };\n      })\n    : EMPTY;\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\n\nimport { operate } from '../util/lift';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Ignores source values for a duration determined by another Observable, then\n * emits the most recent value from the source Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link auditTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](audit.svg)\n *\n * `audit` is similar to `throttle`, but emits the last value from the silenced\n * time window, instead of the first value. `audit` emits the most recent value\n * from the source Observable on the output Observable as soon as its internal\n * timer becomes disabled, and ignores source values while the timer is enabled.\n * Initially, the timer is disabled. As soon as the first source value arrives,\n * the timer is enabled by calling the `durationSelector` function with the\n * source value, which returns the \"duration\" Observable. When the duration\n * Observable emits a value, the timer is disabled, then the most\n * recent source value is emitted on the output Observable, and this process\n * repeats for the next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, audit, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(audit(ev => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttle}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the silencing\n * duration, returned as an Observable or a Promise.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function audit<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    let durationSubscriber: Subscriber<any> | null = null;\n    let isComplete = false;\n\n    const endDuration = () => {\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n      isComplete && subscriber.complete();\n    };\n\n    const cleanupDuration = () => {\n      durationSubscriber = null;\n      isComplete && subscriber.complete();\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          lastValue = value;\n          if (!durationSubscriber) {\n            innerFrom(durationSelector(value)).subscribe(\n              (durationSubscriber = createOperatorSubscriber(subscriber, endDuration, cleanupDuration))\n            );\n          }\n        },\n        () => {\n          isComplete = true;\n          (!hasValue || !durationSubscriber || durationSubscriber.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { audit } from './audit';\nimport { timer } from '../observable/timer';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\n\n/**\n * Ignores source values for `duration` milliseconds, then emits the most recent\n * value from the source Observable, then repeats this process.\n *\n * <span class=\"informal\">When it sees a source value, it ignores that plus\n * the next ones for `duration` milliseconds, and then it emits the most recent\n * value from the source.</span>\n *\n * ![](auditTime.png)\n *\n * `auditTime` is similar to `throttleTime`, but emits the last value from the\n * silenced time window, instead of the first value. `auditTime` emits the most\n * recent value from the source Observable on the output Observable as soon as\n * its internal timer becomes disabled, and ignores source values while the\n * timer is enabled. Initially, the timer is disabled. As soon as the first\n * source value arrives, the timer is enabled. After `duration` milliseconds (or\n * the time unit determined internally by the optional `scheduler`) has passed,\n * the timer is disabled, then the most recent source value is emitted on the\n * output Observable, and this process repeats for the next source value.\n * Optionally takes a {@link SchedulerLike} for managing timers.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, auditTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(auditTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttleTime}\n *\n * @param {number} duration Time to wait before emitting the most recent source\n * value, measured in milliseconds or the time unit determined internally\n * by the optional `scheduler`.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the rate-limiting behavior.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function auditTime<T>(duration: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return audit(() => timer(duration, scheduler));\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { arrRemove } from '../util/arrRemove';\n\n/**\n * Buffers the source Observable values until the size hits the maximum\n * `bufferSize` given.\n *\n * <span class=\"informal\">Collects values from the past as an array, and emits\n * that array only when its size reaches `bufferSize`.</span>\n *\n * ![](bufferCount.png)\n *\n * Buffers a number of values from the source Observable by `bufferSize` then\n * emits the buffer and clears it, and starts a new buffer each\n * `startBufferEvery` values. If `startBufferEvery` is not provided or is\n * `null`, then new buffers are started immediately at the start of the source\n * and when each buffer closes and is emitted.\n *\n * ## Examples\n *\n * Emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * On every click, emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2, 1));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link buffer}\n * @see {@link bufferTime}\n * @see {@link bufferToggle}\n * @see {@link bufferWhen}\n * @see {@link pairwise}\n * @see {@link windowCount}\n *\n * @param {number} bufferSize The maximum size of the buffer emitted.\n * @param {number} [startBufferEvery] Interval at which to start a new buffer.\n * For example if `startBufferEvery` is `2`, then a new buffer will be started\n * on every other value from the source. A new buffer is started at the\n * beginning of the source by default.\n * @return A function that returns an Observable of arrays of buffered values.\n */\nexport function bufferCount<T>(bufferSize: number, startBufferEvery: number | null = null): OperatorFunction<T, T[]> {\n  // If no `startBufferEvery` value was supplied, then we're\n  // opening and closing on the bufferSize itself.\n  startBufferEvery = startBufferEvery ?? bufferSize;\n\n  return operate((source, subscriber) => {\n    let buffers: T[][] = [];\n    let count = 0;\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          let toEmit: T[][] | null = null;\n\n          // Check to see if we need to start a buffer.\n          // This will start one at the first value, and then\n          // a new one every N after that.\n          if (count++ % startBufferEvery! === 0) {\n            buffers.push([]);\n          }\n\n          // Push our value into our active buffers.\n          for (const buffer of buffers) {\n            buffer.push(value);\n            // Check to see if we're over the bufferSize\n            // if we are, record it so we can emit it later.\n            // If we emitted it now and removed it, it would\n            // mutate the `buffers` array while we're looping\n            // over it.\n            if (bufferSize <= buffer.length) {\n              toEmit = toEmit ?? [];\n              toEmit.push(buffer);\n            }\n          }\n\n          if (toEmit) {\n            // We have found some buffers that are over the\n            // `bufferSize`. Emit them, and remove them from our\n            // buffers list.\n            for (const buffer of toEmit) {\n              arrRemove(buffers, buffer);\n              subscriber.next(buffer);\n            }\n          }\n        },\n        () => {\n          // When the source completes, emit all of our\n          // active buffers.\n          for (const buffer of buffers) {\n            subscriber.next(buffer);\n          }\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Clean up our memory when we finalize\n          buffers = null!;\n        }\n      )\n    );\n  });\n}\n", "import { Observable } from '../Observable';\n\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { Subscription } from '../Subscription';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { operate } from '../util/lift';\n\n/* tslint:disable:max-line-length */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>>;\n/* tslint:enable:max-line-length */\n\n/**\n * Catches errors on the observable to be handled by returning a new observable or throwing an error.\n *\n * <span class=\"informal\">\n * It only listens to the error channel and ignores notifications.\n * Handles errors from the source observable, and maps them to a new observable.\n * The error may also be rethrown, or a new error can be thrown to emit an error from the result.\n * </span>\n *\n * ![](catch.png)\n *\n * This operator handles errors, but forwards along all other events to the resulting observable.\n * If the source observable terminates with an error, it will map that error to a new observable,\n * subscribe to it, and forward all of its events to the resulting observable.\n *\n * ## Examples\n *\n * Continue with a different Observable when there's an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => of('I', 'II', 'III', 'IV', 'V'))\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, I, II, III, IV, V\n * ```\n *\n * Retry the caught source Observable again in case of error, similar to `retry()` operator\n *\n * ```ts\n * import { of, map, catchError, take } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError((err, caught) => caught),\n *     take(30)\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, 1, 2, 3, ...\n * ```\n *\n * Throw a new error when the source Observable throws an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => {\n *       throw 'error in source. Details: ' + err;\n *     })\n *   )\n *   .subscribe({\n *     next: x => console.log(x),\n *     error: err => console.log(err)\n *   });\n *   // 1, 2, 3, error in source. Details: four!\n * ```\n *\n * @see {@link onErrorResumeNext}\n * @see {@link repeat}\n * @see {@link repeatWhen}\n * @see {@link retry }\n * @see {@link retryWhen}\n *\n * @param {function} selector a function that takes as arguments `err`, which is the error, and `caught`, which\n * is the source observable, in case you'd like to \"retry\" that observable by returning it again. Whatever observable\n * is returned by the `selector` will be used to continue the observable chain.\n * @return A function that returns an Observable that originates from either\n * the source or the Observable returned by the `selector` function.\n */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>> {\n  return operate((source, subscriber) => {\n    let innerSub: Subscription | null = null;\n    let syncUnsub = false;\n    let handledResult: Observable<ObservedValueOf<O>>;\n\n    innerSub = source.subscribe(\n      createOperatorSubscriber(subscriber, undefined, undefined, (err) => {\n        handledResult = innerFrom(selector(err, catchError(selector)(source)));\n        if (innerSub) {\n          innerSub.unsubscribe();\n          innerSub = null;\n          handledResult.subscribe(subscriber);\n        } else {\n          // We don't have an innerSub yet, that means the error was synchronous\n          // because the subscribe call hasn't returned yet.\n          syncUnsub = true;\n        }\n      })\n    );\n\n    if (syncUnsub) {\n      // We have a synchronous error, we need to make sure to\n      // finalize right away. This ensures that callbacks in the `finalize` operator are called\n      // at the right time, and that finalization occurs at the expected\n      // time between the source error and the subscription to the\n      // next observable.\n      innerSub.unsubscribe();\n      innerSub = null;\n      handledResult!.subscribe(subscriber);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A basic scan operation. This is used for `scan` and `reduce`.\n * @param accumulator The accumulator to use\n * @param seed The seed value for the state to accumulate\n * @param hasSeed Whether or not a seed was provided\n * @param emitOnNext Whether or not to emit the state on next\n * @param emitBeforeComplete Whether or not to emit the before completion\n */\n\nexport function scanInternals<V, A, S>(\n  accumulator: (acc: V | A | S, value: V, index: number) => A,\n  seed: S,\n  hasSeed: boolean,\n  emitOnNext: boolean,\n  emitBeforeComplete?: undefined | true\n) {\n  return (source: Observable<V>, subscriber: Subscriber<any>) => {\n    // Whether or not we have state yet. This will only be\n    // false before the first value arrives if we didn't get\n    // a seed value.\n    let hasState = hasSeed;\n    // The state that we're tracking, starting with the seed,\n    // if there is one, and then updated by the return value\n    // from the accumulator on each emission.\n    let state: any = seed;\n    // An index to pass to the accumulator function.\n    let index = 0;\n\n    // Subscribe to our source. All errors and completions are passed through.\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Always increment the index.\n          const i = index++;\n          // Set the state\n          state = hasState\n            ? // We already have state, so we can get the new state from the accumulator\n              accumulator(state, value, i)\n            : // We didn't have state yet, a seed value was not provided, so\n\n              // we set the state to the first value, and mark that we have state now\n              ((hasState = true), value);\n\n          // Maybe send it to the consumer.\n          emitOnNext && subscriber.next(state);\n        },\n        // If an onComplete was given, call it, otherwise\n        // just pass through the complete notification to the consumer.\n        emitBeforeComplete &&\n          (() => {\n            hasState && subscriber.next(state);\n            subscriber.complete();\n          })\n      )\n    );\n  };\n}\n", "import { combineLatestInit } from '../observable/combineLatest';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { pipe } from '../util/pipe';\nimport { popResultSelector } from '../util/args';\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  project: (...values: [T, ...A]) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  ...sourcesAndProject: [...ObservableInputTuple<A>, (...values: [T, ...A]) => R]\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/**\n * @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8.\n */\nexport function combineLatest<T, R>(...args: (ObservableInput<any> | ((...values: any[]) => R))[]): OperatorFunction<T, unknown> {\n  const resultSelector = popResultSelector(args);\n  return resultSelector\n    ? pipe(combineLatest(...(args as Array<ObservableInput<any>>)), mapOneOrManyArgs(resultSelector))\n    : operate((source, subscriber) => {\n        combineLatestInit([source, ...argsOrArgArray(args)])(subscriber);\n      });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { combineLatest } from './combineLatest';\n\n/**\n * Create an observable that combines the latest values from all passed observables and the source\n * into arrays and emits them.\n *\n * Returns an observable, that when subscribed to, will subscribe to the source observable and all\n * sources provided as arguments. Once all sources emit at least one value, all of the latest values\n * will be emitted as an array. After that, every time any source emits a value, all of the latest values\n * will be emitted as an array.\n *\n * This is a useful operator for eagerly calculating values based off of changed inputs.\n *\n * ## Example\n *\n * Simple concatenation of values from two inputs\n *\n * ```ts\n * import { fromEvent, combineLatestWith, map } from 'rxjs';\n *\n * // Setup: Add two inputs to the page\n * const input1 = document.createElement('input');\n * document.body.appendChild(input1);\n * const input2 = document.createElement('input');\n * document.body.appendChild(input2);\n *\n * // Get streams of changes\n * const input1Changes$ = fromEvent(input1, 'change');\n * const input2Changes$ = fromEvent(input2, 'change');\n *\n * // Combine the changes by adding them together\n * input1Changes$.pipe(\n *   combineLatestWith(input2Changes$),\n *   map(([e1, e2]) => (<HTMLInputElement>e1.target).value + ' - ' + (<HTMLInputElement>e2.target).value)\n * )\n * .subscribe(x => console.log(x));\n * ```\n *\n * @param otherSources the other sources to subscribe to.\n * @return A function that returns an Observable that emits the latest\n * emissions from both source and provided Observables.\n */\nexport function combineLatestWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, Cons<T, A>> {\n  return combineLatest(...otherSources);\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { noop } from '../util/noop';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * determined by another Observable has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link debounceTime}, but the time span of\n * emission silence is determined by a second Observable.</span>\n *\n * ![](debounce.svg)\n *\n * `debounce` delays notifications emitted by the source Observable, but drops previous\n * pending delayed emissions if a new notification arrives on the source Observable.\n * This operator keeps track of the most recent notification from the source\n * Observable, and spawns a duration Observable by calling the\n * `durationSelector` function. The notification is emitted only when the duration\n * Observable emits a next notification, and if no other notification was emitted on\n * the source Observable since the duration Observable was spawned. If a new\n * notification appears before the duration Observable emits, the previous notification will\n * not be emitted and a new duration is scheduled from `durationSelector` is scheduled.\n * If the completing event happens during the scheduled duration the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during the scheduled duration or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * Like {@link debounceTime}, this is a rate-limiting operator, and also a\n * delay-like operator since output emissions do not necessarily occur at the\n * same time as they did on the source Observable.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, scan, debounce, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(\n *   scan(i => ++i, 1),\n *   debounce(i => interval(200 * i))\n * );\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the timeout\n * duration for each source value, returned as an Observable or a Promise.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified duration Observable returned by\n * `durationSelector`, and may drop some values if they occur too frequently.\n */\nexport function debounce<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    // The subscriber/subscription for the current debounce, if there is one.\n    let durationSubscriber: Subscriber<any> | null = null;\n\n    const emit = () => {\n      // Unsubscribe any current debounce subscription we have,\n      // we only cared about the first notification from it, and we\n      // want to clean that subscription up as soon as possible.\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        // We have a value! Free up memory first, then emit the value.\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          // Cancel any pending debounce duration. We don't\n          // need to null it out here yet tho, because we're just going\n          // to create another one in a few lines.\n          durationSubscriber?.unsubscribe();\n          hasValue = true;\n          lastValue = value;\n          // Capture our duration subscriber, so we can unsubscribe it when we're notified\n          // and we're going to emit the value.\n          durationSubscriber = createOperatorSubscriber(subscriber, emit, noop);\n          // Subscribe to the duration.\n          innerFrom(durationSelector(value)).subscribe(durationSubscriber);\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = durationSubscriber = null;\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SchedulerAction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link delay}, but passes only the most\n * recent notification from each burst of emissions.</span>\n *\n * ![](debounceTime.png)\n *\n * `debounceTime` delays notifications emitted by the source Observable, but drops\n * previous pending delayed emissions if a new notification arrives on the source\n * Observable. This operator keeps track of the most recent notification from the\n * source Observable, and emits that only when `dueTime` has passed\n * without any other notification appearing on the source Observable. If a new value\n * appears before `dueTime` silence occurs, the previous notification will be dropped\n * and will not be emitted and a new `dueTime` is scheduled.\n * If the completing event happens during `dueTime` the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during `dueTime` or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * This is a rate-limiting operator, because it is impossible for more than one\n * notification to be emitted in any time window of duration `dueTime`, but it is also\n * a delay-like operator since output emissions do not occur at the same time as\n * they did on the source Observable. Optionally takes a {@link SchedulerLike} for\n * managing timers.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, debounceTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(debounceTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param {number} dueTime The timeout duration in milliseconds (or the time\n * unit determined internally by the optional `scheduler`) for the window of\n * time required to wait for emission silence before emitting the most recent\n * source value.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the timeout for each value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified `dueTime`, and may drop some values\n * if they occur too frequently.\n */\nexport function debounceTime<T>(dueTime: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let activeTask: Subscription | null = null;\n    let lastValue: T | null = null;\n    let lastTime: number | null = null;\n\n    const emit = () => {\n      if (activeTask) {\n        // We have a value! Free up memory first, then emit the value.\n        activeTask.unsubscribe();\n        activeTask = null;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n    function emitWhenIdle(this: SchedulerAction<unknown>) {\n      // This is called `dueTime` after the first value\n      // but we might have received new values during this window!\n\n      const targetTime = lastTime! + dueTime;\n      const now = scheduler.now();\n      if (now < targetTime) {\n        // On that case, re-schedule to the new target\n        activeTask = this.schedule(undefined, targetTime - now);\n        subscriber.add(activeTask);\n        return;\n      }\n\n      emit();\n    }\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          lastValue = value;\n          lastTime = scheduler.now();\n\n          // Only set up a task if it's not already up\n          if (!activeTask) {\n            activeTask = scheduler.schedule(emitWhenIdle, dueTime);\n            subscriber.add(activeTask);\n          }\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = activeTask = null;\n        }\n      )\n    );\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a given value if the source Observable completes without emitting any\n * `next` value, otherwise mirrors the source Observable.\n *\n * <span class=\"informal\">If the source Observable turns out to be empty, then\n * this operator will emit a default value.</span>\n *\n * ![](defaultIfEmpty.png)\n *\n * `defaultIfEmpty` emits the values emitted by the source Observable or a\n * specified default value if the source Observable is empty (completes without\n * having emitted any `next` value).\n *\n * ## Example\n *\n * If no clicks happen in 5 seconds, then emit 'no clicks'\n *\n * ```ts\n * import { fromEvent, takeUntil, interval, defaultIfEmpty } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksBeforeFive = clicks.pipe(takeUntil(interval(5000)));\n * const result = clicksBeforeFive.pipe(defaultIfEmpty('no clicks'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link empty}\n * @see {@link last}\n *\n * @param defaultValue The default value used if the source\n * Observable is empty.\n * @return A function that returns an Observable that emits either the\n * specified `defaultValue` if the source Observable emits no items, or the\n * values emitted by the source Observable.\n */\nexport function defaultIfEmpty<T, R>(defaultValue: R): OperatorFunction<T, T | R> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => {\n          if (!hasValue) {\n            subscriber.next(defaultValue!);\n          }\n          subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits only the first `count` values emitted by the source Observable.\n *\n * <span class=\"informal\">Takes the first `count` values from the source, then\n * completes.</span>\n *\n * ![](take.png)\n *\n * `take` returns an Observable that emits only the first `count` values emitted\n * by the source Observable. If the source emits fewer than `count` values then\n * all of its values are emitted. After that, it completes, regardless if the\n * source completes.\n *\n * ## Example\n *\n * Take the first 5 seconds of an infinite 1-second interval Observable\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const intervalCount = interval(1000);\n * const takeFive = intervalCount.pipe(take(5));\n * takeFive.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * ```\n *\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of `next` values to emit.\n * @return A function that returns an Observable that emits only the first\n * `count` values emitted by the source Observable, or all of the values from\n * the source if the source emits fewer than `count` values.\n */\nexport function take<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? // If we are taking no values, that's empty.\n      () => EMPTY\n    : operate((source, subscriber) => {\n        let seen = 0;\n        source.subscribe(\n          createOperatorSubscriber(subscriber, (value) => {\n            // Increment the number of values we have seen,\n            // then check it against the allowed count to see\n            // if we are still letting values through.\n            if (++seen <= count) {\n              subscriber.next(value);\n              // If we have met or passed our allowed count,\n              // we need to complete. We have to do <= here,\n              // because re-entrant code will increment `seen` twice.\n              if (count <= seen) {\n                subscriber.complete();\n              }\n            }\n          })\n        );\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { noop } from '../util/noop';\n\n/**\n * Ignores all items emitted by the source Observable and only passes calls of `complete` or `error`.\n *\n * ![](ignoreElements.png)\n *\n * The `ignoreElements` operator suppresses all items emitted by the source Observable,\n * but allows its termination notification (either `error` or `complete`) to pass through unchanged.\n *\n * If you do not care about the items being emitted by an Observable, but you do want to be notified\n * when it completes or when it terminates with an error, you can apply the `ignoreElements` operator\n * to the Observable, which will ensure that it will never call its observers\u2019 `next` handlers.\n *\n * ## Example\n *\n * Ignore all `next` emissions from the source\n *\n * ```ts\n * import { of, ignoreElements } from 'rxjs';\n *\n * of('you', 'talking', 'to', 'me')\n *   .pipe(ignoreElements())\n *   .subscribe({\n *     next: word => console.log(word),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // result:\n * // 'the end'\n * ```\n *\n * @return A function that returns an empty Observable that only calls\n * `complete` or `error`, based on which one is called by the source\n * Observable.\n */\nexport function ignoreElements(): OperatorFunction<unknown, never> {\n  return operate((source, subscriber) => {\n    source.subscribe(createOperatorSubscriber(subscriber, noop));\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { map } from './map';\n\n/** @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`. */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R>;\n/**\n * @deprecated Do not specify explicit type parameters. Signatures with type parameters\n * that cannot be inferred will be removed in v8. `mapTo` itself will be removed in v9,\n * use {@link map} instead: `map(() => value)`.\n * */\nexport function mapTo<T, R>(value: R): OperatorFunction<T, R>;\n\n/**\n * Emits the given constant value on the output Observable every time the source\n * Observable emits a value.\n *\n * <span class=\"informal\">Like {@link map}, but it maps every source value to\n * the same output value every time.</span>\n *\n * ![](mapTo.png)\n *\n * Takes a constant `value` as argument, and emits that whenever the source\n * Observable emits a value. In other words, ignores the actual source value,\n * and simply uses the emission moment to know when to emit the given `value`.\n *\n * ## Example\n *\n * Map every click to the string `'Hi'`\n *\n * ```ts\n * import { fromEvent, mapTo } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const greetings = clicks.pipe(mapTo('Hi'));\n *\n * greetings.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link map}\n *\n * @param value The value to map each source value to.\n * @return A function that returns an Observable that emits the given `value`\n * every time the source Observable emits.\n * @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`.\n */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R> {\n  return map(() => value);\n}\n", "import { Observable } from '../Observable';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { concat } from '../observable/concat';\nimport { take } from './take';\nimport { ignoreElements } from './ignoreElements';\nimport { mapTo } from './mapTo';\nimport { mergeMap } from './mergeMap';\nimport { innerFrom } from '../observable/innerFrom';\n\n/** @deprecated The `subscriptionDelay` parameter will be removed in v8. */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay: Observable<any>\n): MonoTypeOperatorFunction<T>;\nexport function delayWhen<T>(delayDurationSelector: (value: T, index: number) => ObservableInput<any>): MonoTypeOperatorFunction<T>;\n\n/**\n * Delays the emission of items from the source Observable by a given time span\n * determined by the emissions of another Observable.\n *\n * <span class=\"informal\">It's like {@link delay}, but the time span of the\n * delay duration is determined by a second Observable.</span>\n *\n * ![](delayWhen.png)\n *\n * `delayWhen` operator shifts each emitted value from the source Observable by\n * a time span determined by another Observable. When the source emits a value,\n * the `delayDurationSelector` function is called with the value emitted from\n * the source Observable as the first argument to the `delayDurationSelector`.\n * The `delayDurationSelector` function should return an {@link ObservableInput},\n * that is internally converted to an Observable that is called the \"duration\"\n * Observable.\n *\n * The source value is emitted on the output Observable only when the \"duration\"\n * Observable emits ({@link guide/glossary-and-semantics#next next}s) any value.\n * Upon that, the \"duration\" Observable gets unsubscribed.\n *\n * Before RxJS V7, the {@link guide/glossary-and-semantics#complete completion}\n * of the \"duration\" Observable would have been triggering the emission of the\n * source value to the output Observable, but with RxJS V7, this is not the case\n * anymore.\n *\n * Only next notifications (from the \"duration\" Observable) trigger values from\n * the source Observable to be passed to the output Observable. If the \"duration\"\n * Observable only emits the complete notification (without next), the value\n * emitted by the source Observable will never get to the output Observable - it\n * will be swallowed. If the \"duration\" Observable errors, the error will be\n * propagated to the output Observable.\n *\n * Optionally, `delayWhen` takes a second argument, `subscriptionDelay`, which\n * is an Observable. When `subscriptionDelay` emits its first value or\n * completes, the source Observable is subscribed to and starts behaving like\n * described in the previous paragraph. If `subscriptionDelay` is not provided,\n * `delayWhen` will subscribe to the source Observable as soon as the output\n * Observable is subscribed.\n *\n * ## Example\n *\n * Delay each click by a random amount of time, between 0 and 5 seconds\n *\n * ```ts\n * import { fromEvent, delayWhen, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(\n *   delayWhen(() => interval(Math.random() * 5000))\n * );\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delay}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param delayDurationSelector A function that returns an `ObservableInput` for\n * each `value` emitted by the source Observable, which is then used to delay the\n * emission of that `value` on the output Observable until the `ObservableInput`\n * returned from this function emits a next value. When called, beside `value`,\n * this function receives a zero-based `index` of the emission order.\n * @param subscriptionDelay An Observable that triggers the subscription to the\n * source Observable once it emits any value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by an amount of time specified by the Observable\n * returned by `delayDurationSelector`.\n */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay?: Observable<any>\n): MonoTypeOperatorFunction<T> {\n  if (subscriptionDelay) {\n    // DEPRECATED PATH\n    return (source: Observable<T>) =>\n      concat(subscriptionDelay.pipe(take(1), ignoreElements()), source.pipe(delayWhen(delayDurationSelector)));\n  }\n\n  return mergeMap((value, index) => innerFrom(delayDurationSelector(value, index)).pipe(take(1), mapTo(value)));\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { delayWhen } from './delayWhen';\nimport { timer } from '../observable/timer';\n\n/**\n * Delays the emission of items from the source Observable by a given timeout or\n * until a given Date.\n *\n * <span class=\"informal\">Time shifts each item by some specified amount of\n * milliseconds.</span>\n *\n * ![](delay.svg)\n *\n * If the delay argument is a Number, this operator time shifts the source\n * Observable by that amount of time expressed in milliseconds. The relative\n * time intervals between the values are preserved.\n *\n * If the delay argument is a Date, this operator time shifts the start of the\n * Observable execution until the given date occurs.\n *\n * ## Examples\n *\n * Delay each click by one second\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(delay(1000)); // each click emitted after 1 second\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * Delay all clicks until a future date happens\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const date = new Date('March 15, 2050 12:00:00'); // in the future\n * const delayedClicks = clicks.pipe(delay(date)); // click emitted only after that date\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delayWhen}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param {number|Date} due The delay duration in milliseconds (a `number`) or\n * a `Date` until which the emission of the source items is delayed.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the time-shift for each item.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified timeout or Date.\n */\nexport function delay<T>(due: number | Date, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  const duration = timer(due, scheduler);\n  return delayWhen(() => duration);\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { identity } from '../util/identity';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function distinctUntilChanged<T>(comparator?: (previous: T, current: T) => boolean): MonoTypeOperatorFunction<T>;\nexport function distinctUntilChanged<T, K>(\n  comparator: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a result {@link Observable} that emits all values pushed by the source observable if they\n * are distinct in comparison to the last value the result observable emitted.\n *\n * When provided without parameters or with the first parameter (`{@link distinctUntilChanged#comparator comparator}`),\n * it behaves like this:\n *\n * 1. It will always emit the first value from the source.\n * 2. For all subsequent values pushed by the source, they will be compared to the previously emitted values\n *    using the provided `comparator` or an `===` equality check.\n * 3. If the value pushed by the source is determined to be unequal by this check, that value is emitted and\n *    becomes the new \"previously emitted value\" internally.\n *\n * When the second parameter (`{@link distinctUntilChanged#keySelector keySelector}`) is provided, the behavior\n * changes:\n *\n * 1. It will always emit the first value from the source.\n * 2. The `keySelector` will be run against all values, including the first value.\n * 3. For all values after the first, the selected key will be compared against the key selected from\n *    the previously emitted value using the `comparator`.\n * 4. If the keys are determined to be unequal by this check, the value (not the key), is emitted\n *    and the selected key from that value is saved for future comparisons against other keys.\n *\n * ## Examples\n *\n * A very basic example with no `{@link distinctUntilChanged#comparator comparator}`. Note that `1` is emitted more than once,\n * because it's distinct in comparison to the _previously emitted_ value,\n * not in comparison to _all other emitted values_.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * of(1, 1, 1, 2, 2, 2, 1, 1, 3, 3)\n *   .pipe(distinctUntilChanged())\n *   .subscribe(console.log);\n * // Logs: 1, 2, 1, 3\n * ```\n *\n * With a `{@link distinctUntilChanged#comparator comparator}`, you can do custom comparisons. Let's say\n * you only want to emit a value when all of its components have\n * changed:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const totallyDifferentBuilds$ = of(\n *   { engineVersion: '1.1.0', transmissionVersion: '1.2.0' },\n *   { engineVersion: '1.1.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.5.0' },\n *   { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ).pipe(\n *   distinctUntilChanged((prev, curr) => {\n *     return (\n *       prev.engineVersion === curr.engineVersion ||\n *       prev.transmissionVersion === curr.transmissionVersion\n *     );\n *   })\n * );\n *\n * totallyDifferentBuilds$.subscribe(console.log);\n *\n * // Logs:\n * // { engineVersion: '1.1.0', transmissionVersion: '1.2.0' }\n * // { engineVersion: '1.3.0', transmissionVersion: '1.4.0' }\n * // { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ```\n *\n * You can also provide a custom `{@link distinctUntilChanged#comparator comparator}` to check that emitted\n * changes are only in one direction. Let's say you only want to get\n * the next record temperature:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const temps$ = of(30, 31, 20, 34, 33, 29, 35, 20);\n *\n * const recordHighs$ = temps$.pipe(\n *   distinctUntilChanged((prevHigh, temp) => {\n *     // If the current temp is less than\n *     // or the same as the previous record,\n *     // the record hasn't changed.\n *     return temp <= prevHigh;\n *   })\n * );\n *\n * recordHighs$.subscribe(console.log);\n * // Logs: 30, 31, 34, 35\n * ```\n *\n * Selecting update events only when the `updatedBy` field shows\n * the account changed hands.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * // A stream of updates to a given account\n * const accountUpdates$ = of(\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'blesh', data: [] }\n * );\n *\n * // We only want the events where it changed hands\n * const changedHands$ = accountUpdates$.pipe(\n *   distinctUntilChanged(undefined, update => update.updatedBy)\n * );\n *\n * changedHands$.subscribe(console.log);\n * // Logs:\n * // { updatedBy: 'blesh', data: Array[0] }\n * // { updatedBy: 'ncjamieson', data: Array[0] }\n * // { updatedBy: 'blesh', data: Array[0] }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilKeyChanged}\n *\n * @param comparator A function used to compare the previous and current keys for\n * equality. Defaults to a `===` check.\n * @param keySelector Used to select a key value to be passed to the `comparator`.\n *\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values.\n */\nexport function distinctUntilChanged<T, K>(\n  comparator?: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K = identity as (value: T) => K\n): MonoTypeOperatorFunction<T> {\n  // We've been allowing `null` do be passed as the `compare`, so we can't do\n  // a default value for the parameter, because that will only work\n  // for `undefined`.\n  comparator = comparator ?? defaultCompare;\n\n  return operate((source, subscriber) => {\n    // The previous key, used to compare against keys selected\n    // from new arrivals to determine \"distinctiveness\".\n    let previousKey: K;\n    // Whether or not this is the first value we've gotten.\n    let first = true;\n\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        // We always call the key selector.\n        const currentKey = keySelector(value);\n\n        // If it's the first value, we always emit it.\n        // Otherwise, we compare this key to the previous key, and\n        // if the comparer returns false, we emit.\n        if (first || !comparator!(previousKey, currentKey)) {\n          // Update our state *before* we emit the value\n          // as emission can be the source of re-entrant code\n          // in functional libraries like this. We only really\n          // need to do this if it's the first value, or if the\n          // key we're tracking in previous needs to change.\n          first = false;\n          previousKey = currentKey;\n\n          // Emit the value!\n          subscriber.next(value);\n        }\n      })\n    );\n  });\n}\n\nfunction defaultCompare(a: any, b: any) {\n  return a === b;\n}\n", "import { distinctUntilChanged } from './distinctUntilChanged';\nimport { MonoTypeOperatorFunction } from '../types';\n\n/* tslint:disable:max-line-length */\nexport function distinctUntilKeyChanged<T>(key: keyof T): MonoTypeOperatorFunction<T>;\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Returns an Observable that emits all items emitted by the source Observable that are distinct by comparison from the previous item,\n * using a property accessed by using the key provided to check if the two items are distinct.\n *\n * If a comparator function is provided, then it will be called for each item to test for whether or not that value should be emitted.\n *\n * If a comparator function is not provided, an equality check is used by default.\n *\n * ## Examples\n *\n * An example comparing the name of persons\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo' },\n *   { age: 6, name: 'Foo' }\n * ).pipe(\n *   distinctUntilKeyChanged('name')\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo' }\n * ```\n *\n * An example comparing the first letters of the name\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo1' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo2' },\n *   { age: 6, name: 'Foo3' }\n * ).pipe(\n *   distinctUntilKeyChanged('name', (x, y) => x.substring(0, 3) === y.substring(0, 3))\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo1' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo2' }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n *\n * @param {string} key String key for object property lookup on each item.\n * @param {function} [compare] Optional comparison function called to test if an item is distinct from the previous item in the source.\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values based on the key specified.\n */\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare?: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T> {\n  return distinctUntilChanged((x: T, y: T) => compare ? compare(x[key], y[key]) : x[key] === y[key]);\n}\n", "import { EmptyError } from '../util/EmptyError';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * If the source observable completes without emitting a value, it will emit\n * an error. The error will be created at that time by the optional\n * `errorFactory` argument, otherwise, the error will be {@link EmptyError}.\n *\n * ![](throwIfEmpty.png)\n *\n * ## Example\n *\n * Throw an error if the document wasn't clicked within 1 second\n *\n * ```ts\n * import { fromEvent, takeUntil, timer, throwIfEmpty } from 'rxjs';\n *\n * const click$ = fromEvent(document, 'click');\n *\n * click$.pipe(\n *   takeUntil(timer(1000)),\n *   throwIfEmpty(() => new Error('The document was not clicked within 1 second'))\n * )\n * .subscribe({\n *   next() {\n *    console.log('The document was clicked');\n *   },\n *   error(err) {\n *     console.error(err.message);\n *   }\n * });\n * ```\n *\n * @param errorFactory A factory function called to produce the\n * error to be thrown when the source observable completes without emitting a\n * value.\n * @return A function that returns an Observable that throws an error if the\n * source Observable completed without emitting.\n */\nexport function throwIfEmpty<T>(errorFactory: () => any = defaultErrorFactory): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => (hasValue ? subscriber.complete() : subscriber.error(errorFactory()))\n      )\n    );\n  });\n}\n\nfunction defaultErrorFactory() {\n  return new EmptyError();\n}\n", "/** prettier */\nimport { Observable } from '../Observable';\nimport { concat } from '../observable/concat';\nimport { of } from '../observable/of';\nimport { MonoTypeOperatorFunction, SchedulerLike, OperatorFunction, ValueFromArray } from '../types';\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T>(scheduler: SchedulerLike): MonoTypeOperatorFunction<T>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T, A extends unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\n\nexport function endWith<T, A extends unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that will emit all values from the source, then synchronously emit\n * the provided value(s) immediately after the source completes.\n *\n * NOTE: Passing a last argument of a Scheduler is _deprecated_, and may result in incorrect\n * types in TypeScript.\n *\n * This is useful for knowing when an observable ends. Particularly when paired with an\n * operator like {@link takeUntil}\n *\n * ![](endWith.png)\n *\n * ## Example\n *\n * Emit values to know when an interval starts and stops. The interval will\n * stop when a user clicks anywhere on the document.\n *\n * ```ts\n * import { interval, map, fromEvent, startWith, takeUntil, endWith } from 'rxjs';\n *\n * const ticker$ = interval(5000).pipe(\n *   map(() => 'tick')\n * );\n *\n * const documentClicks$ = fromEvent(document, 'click');\n *\n * ticker$.pipe(\n *   startWith('interval started'),\n *   takeUntil(documentClicks$),\n *   endWith('interval ended by click')\n * )\n * .subscribe(x => console.log(x));\n *\n * // Result (assuming a user clicks after 15 seconds)\n * // 'interval started'\n * // 'tick'\n * // 'tick'\n * // 'tick'\n * // 'interval ended by click'\n * ```\n *\n * @see {@link startWith}\n * @see {@link concat}\n * @see {@link takeUntil}\n *\n * @param values Items you want the modified Observable to emit last.\n * @return A function that returns an Observable that emits all values from the\n * source, then synchronously emits the provided value(s) immediately after the\n * source completes.\n */\nexport function endWith<T>(...values: Array<T | SchedulerLike>): MonoTypeOperatorFunction<T> {\n  return (source: Observable<T>) => concat(source, of(...values)) as Observable<T>;\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Returns an Observable that mirrors the source Observable, but will call a specified function when\n * the source terminates on complete or error.\n * The specified function will also be called when the subscriber explicitly unsubscribes.\n *\n * ## Examples\n *\n * Execute callback function when the observable completes\n *\n * ```ts\n * import { interval, take, finalize } from 'rxjs';\n *\n * // emit value in sequence every 1 second\n * const source = interval(1000);\n * const example = source.pipe(\n *   take(5), //take only the first 5 values\n *   finalize(() => console.log('Sequence complete')) // Execute when the observable completes\n * );\n * const subscribe = example.subscribe(val => console.log(val));\n *\n * // results:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * // 'Sequence complete'\n * ```\n *\n * Execute callback function when the subscriber explicitly unsubscribes\n *\n * ```ts\n * import { interval, finalize, tap, noop, timer } from 'rxjs';\n *\n * const source = interval(100).pipe(\n *   finalize(() => console.log('[finalize] Called')),\n *   tap({\n *     next: () => console.log('[next] Called'),\n *     error: () => console.log('[error] Not called'),\n *     complete: () => console.log('[tap complete] Not called')\n *   })\n * );\n *\n * const sub = source.subscribe({\n *   next: x => console.log(x),\n *   error: noop,\n *   complete: () => console.log('[complete] Not called')\n * });\n *\n * timer(150).subscribe(() => sub.unsubscribe());\n *\n * // results:\n * // '[next] Called'\n * // 0\n * // '[finalize] Called'\n * ```\n *\n * @param {function} callback Function to be called when source terminates.\n * @return A function that returns an Observable that mirrors the source, but\n * will call the specified function on termination.\n */\nexport function finalize<T>(callback: () => void): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // TODO: This try/finally was only added for `useDeprecatedSynchronousErrorHandling`.\n    // REMOVE THIS WHEN THAT HOT GARBAGE IS REMOVED IN V8.\n    try {\n      source.subscribe(subscriber);\n    } finally {\n      subscriber.add(callback);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { EmptyError } from '../util/EmptyError';\nimport { OperatorFunction, TruthyTypesOf } from '../types';\nimport { filter } from './filter';\nimport { take } from './take';\nimport { defaultIfEmpty } from './defaultIfEmpty';\nimport { throwIfEmpty } from './throwIfEmpty';\nimport { identity } from '../util/identity';\n\nexport function first<T, D = T>(predicate?: null, defaultValue?: D): OperatorFunction<T, T | D>;\nexport function first<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function first<T, D>(predicate: BooleanConstructor, defaultValue: D): OperatorFunction<T, TruthyTypesOf<T> | D>;\nexport function first<T, S extends T>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue?: S\n): OperatorFunction<T, S>;\nexport function first<T, S extends T, D>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue: D\n): OperatorFunction<T, S | D>;\nexport function first<T, D = T>(\n  predicate: (value: T, index: number, source: Observable<T>) => boolean,\n  defaultValue?: D\n): OperatorFunction<T, T | D>;\n\n/**\n * Emits only the first value (or the first value that meets some condition)\n * emitted by the source Observable.\n *\n * <span class=\"informal\">Emits only the first value. Or emits only the first\n * value that passes some test.</span>\n *\n * ![](first.png)\n *\n * If called with no arguments, `first` emits the first value of the source\n * Observable, then completes. If called with a `predicate` function, `first`\n * emits the first value of the source that matches the specified condition. Throws an error if\n * `defaultValue` was not provided and a matching element is not found.\n *\n * ## Examples\n *\n * Emit only the first click that happens on the DOM\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first());\n * result.subscribe(x => console.log(x));\n * ```\n *\n * Emits the first click that happens on a DIV\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link filter}\n * @see {@link find}\n * @see {@link take}\n *\n * @throws {EmptyError} Delivers an EmptyError to the Observer's `error`\n * callback if the Observable completes before any `next` notification was sent.\n * This is how `first()` is different from {@link take}(1) which completes instead.\n *\n * @param {function(value: T, index: number, source: Observable<T>): boolean} [predicate]\n * An optional function called with each item to test for condition matching.\n * @param {D} [defaultValue] The default value emitted in case no valid value\n * was found on the source.\n * @return A function that returns an Observable that emits the first item that\n * matches the condition.\n */\nexport function first<T, D>(\n  predicate?: ((value: T, index: number, source: Observable<T>) => boolean) | null,\n  defaultValue?: D\n): OperatorFunction<T, T | D> {\n  const hasDefaultValue = arguments.length >= 2;\n  return (source: Observable<T>) =>\n    source.pipe(\n      predicate ? filter((v, i) => predicate(v, i, source)) : identity,\n      take(1),\n      hasDefaultValue ? defaultIfEmpty(defaultValue!) : throwIfEmpty(() => new EmptyError())\n    );\n}\n", "import { EMPTY } from '../observable/empty';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Waits for the source to complete, then emits the last N values from the source,\n * as specified by the `count` argument.\n *\n * ![](takeLast.png)\n *\n * `takeLast` results in an observable that will hold values up to `count` values in memory,\n * until the source completes. It then pushes all values in memory to the consumer, in the\n * order they were received from the source, then notifies the consumer that it is\n * complete.\n *\n * If for some reason the source completes before the `count` supplied to `takeLast` is reached,\n * all values received until that point are emitted, and then completion is notified.\n *\n * **Warning**: Using `takeLast` with an observable that never completes will result\n * in an observable that never emits a value.\n *\n * ## Example\n *\n * Take the last 3 values of an Observable with many values\n *\n * ```ts\n * import { range, takeLast } from 'rxjs';\n *\n * const many = range(1, 100);\n * const lastThree = many.pipe(takeLast(3));\n * lastThree.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of values to emit from the end of\n * the sequence of values emitted by the source Observable.\n * @return A function that returns an Observable that emits at most the last\n * `count` values emitted by the source Observable.\n */\nexport function takeLast<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        // This buffer will hold the values we are going to emit\n        // when the source completes. Since we only want to take the\n        // last N values, we can't emit until we're sure we're not getting\n        // any more values.\n        let buffer: T[] = [];\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              // Add the most recent value onto the end of our buffer.\n              buffer.push(value);\n              // If our buffer is now larger than the number of values we\n              // want to take, we remove the oldest value from the buffer.\n              count < buffer.length && buffer.shift();\n            },\n            () => {\n              // The source completed, we now know what are last values\n              // are, emit them in the order they were received.\n              for (const value of buffer) {\n                subscriber.next(value);\n              }\n              subscriber.complete();\n            },\n            // Errors are passed through to the consumer\n            undefined,\n            () => {\n              // During finalization release the values in our buffer.\n              buffer = null!;\n            }\n          )\n        );\n      });\n}\n", "import { ObservableInput, ObservableInputTuple, OperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mergeAll } from './mergeAll';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from '../observable/from';\n\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrency: [...ObservableInputTuple<A>, number]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n\nexport function merge<T>(...args: unknown[]): OperatorFunction<T, unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  args = argsOrArgArray(args);\n\n  return operate((source, subscriber) => {\n    mergeAll(concurrent)(from([source, ...(args as ObservableInput<T>[])], scheduler)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction } from '../types';\nimport { merge } from './merge';\n\n/**\n * Merge the values from all observables to a single observable result.\n *\n * Creates an observable, that when subscribed to, subscribes to the source\n * observable, and all other sources provided as arguments. All values from\n * every source are emitted from the resulting subscription.\n *\n * When all sources complete, the resulting observable will complete.\n *\n * When any source errors, the resulting observable will error.\n *\n * ## Example\n *\n * Joining all outputs from multiple user input event streams\n *\n * ```ts\n * import { fromEvent, map, mergeWith } from 'rxjs';\n *\n * const clicks$ = fromEvent(document, 'click').pipe(map(() => 'click'));\n * const mousemoves$ = fromEvent(document, 'mousemove').pipe(map(() => 'mousemove'));\n * const dblclicks$ = fromEvent(document, 'dblclick').pipe(map(() => 'dblclick'));\n *\n * mousemoves$\n *   .pipe(mergeWith(clicks$, dblclicks$))\n *   .subscribe(x => console.log(x));\n *\n * // result (assuming user interactions)\n * // 'mousemove'\n * // 'mousemove'\n * // 'mousemove'\n * // 'click'\n * // 'click'\n * // 'dblclick'\n * ```\n *\n * @see {@link merge}\n *\n * @param otherSources the sources to combine the current source with.\n * @return A function that returns an Observable that merges the values from\n * all given Observables.\n */\nexport function mergeWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, T | A[number]> {\n  return merge(...otherSources);\n}\n", "import { Subscription } from '../Subscription';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { timer } from '../observable/timer';\n\nexport interface RepeatConfig {\n  /**\n   * The number of times to repeat the source. Defaults to `Infinity`.\n   */\n  count?: number;\n\n  /**\n   * If a `number`, will delay the repeat of the source by that number of milliseconds.\n   * If a function, it will provide the number of times the source has been subscribed to,\n   * and the return value should be a valid observable input that will notify when the source\n   * should be repeated. If the notifier observable is empty, the result will complete.\n   */\n  delay?: number | ((count: number) => ObservableInput<any>);\n}\n\n/**\n * Returns an Observable that will resubscribe to the source stream when the source stream completes.\n *\n * <span class=\"informal\">Repeats all values emitted on the source. It's like {@link retry}, but for non error cases.</span>\n *\n * ![](repeat.png)\n *\n * Repeat will output values from a source until the source completes, then it will resubscribe to the\n * source a specified number of times, with a specified delay. Repeat can be particularly useful in\n * combination with closing operators like {@link take}, {@link takeUntil}, {@link first}, or {@link takeWhile},\n * as it can be used to restart a source again from scratch.\n *\n * Repeat is very similar to {@link retry}, where {@link retry} will resubscribe to the source in the error case, but\n * `repeat` will resubscribe if the source completes.\n *\n * Note that `repeat` will _not_ catch errors. Use {@link retry} for that.\n *\n * - `repeat(0)` returns an empty observable\n * - `repeat()` will repeat forever\n * - `repeat({ delay: 200 })` will repeat forever, with a delay of 200ms between repetitions.\n * - `repeat({ count: 2, delay: 400 })` will repeat twice, with a delay of 400ms between repetitions.\n * - `repeat({ delay: (count) => timer(count * 1000) })` will repeat forever, but will have a delay that grows by one second for each repetition.\n *\n * ## Example\n *\n * Repeat a message stream\n *\n * ```ts\n * import { of, repeat } from 'rxjs';\n *\n * const source = of('Repeat message');\n * const result = source.pipe(repeat(3));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results\n * // 'Repeat message'\n * // 'Repeat message'\n * // 'Repeat message'\n * ```\n *\n * Repeat 3 values, 2 times\n *\n * ```ts\n * import { interval, take, repeat } from 'rxjs';\n *\n * const source = interval(1000);\n * const result = source.pipe(take(3), repeat(2));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results every second\n * // 0\n * // 1\n * // 2\n * // 0\n * // 1\n * // 2\n * ```\n *\n * Defining two complex repeats with delays on the same source.\n * Note that the second repeat cannot be called until the first\n * repeat as exhausted it's count.\n *\n * ```ts\n * import { defer, of, repeat } from 'rxjs';\n *\n * const source = defer(() => {\n *    return of(`Hello, it is ${new Date()}`)\n * });\n *\n * source.pipe(\n *    // Repeat 3 times with a delay of 1 second between repetitions\n *    repeat({\n *      count: 3,\n *      delay: 1000,\n *    }),\n *\n *    // *Then* repeat forever, but with an exponential step-back\n *    // maxing out at 1 minute.\n *    repeat({\n *      delay: (count) => timer(Math.min(60000, 2 ^ count * 1000))\n *    })\n * )\n * ```\n *\n * @see {@link repeatWhen}\n * @see {@link retry}\n *\n * @param count The number of times the source Observable items are repeated, a count of 0 will yield\n * an empty Observable.\n */\nexport function repeat<T>(countOrConfig?: number | RepeatConfig): MonoTypeOperatorFunction<T> {\n  let count = Infinity;\n  let delay: RepeatConfig['delay'];\n\n  if (countOrConfig != null) {\n    if (typeof countOrConfig === 'object') {\n      ({ count = Infinity, delay } = countOrConfig);\n    } else {\n      count = countOrConfig;\n    }\n  }\n\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        let soFar = 0;\n        let sourceSub: Subscription | null;\n\n        const resubscribe = () => {\n          sourceSub?.unsubscribe();\n          sourceSub = null;\n          if (delay != null) {\n            const notifier = typeof delay === 'number' ? timer(delay) : innerFrom(delay(soFar));\n            const notifierSubscriber = createOperatorSubscriber(subscriber, () => {\n              notifierSubscriber.unsubscribe();\n              subscribeToSource();\n            });\n            notifier.subscribe(notifierSubscriber);\n          } else {\n            subscribeToSource();\n          }\n        };\n\n        const subscribeToSource = () => {\n          let syncUnsub = false;\n          sourceSub = source.subscribe(\n            createOperatorSubscriber(subscriber, undefined, () => {\n              if (++soFar < count) {\n                if (sourceSub) {\n                  resubscribe();\n                } else {\n                  syncUnsub = true;\n                }\n              } else {\n                subscriber.complete();\n              }\n            })\n          );\n\n          if (syncUnsub) {\n            resubscribe();\n          }\n        };\n\n        subscribeToSource();\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { scanInternals } from './scanInternals';\n\nexport function scan<V, A = V>(accumulator: (acc: A | V, value: V, index: number) => A): OperatorFunction<V, V | A>;\nexport function scan<V, A>(accumulator: (acc: A, value: V, index: number) => A, seed: A): OperatorFunction<V, A>;\nexport function scan<V, A, S>(accumulator: (acc: A | S, value: V, index: number) => A, seed: S): OperatorFunction<V, A>;\n\n// TODO: link to a \"redux pattern\" section in the guide (location TBD)\n\n/**\n * Useful for encapsulating and managing state. Applies an accumulator (or \"reducer function\")\n * to each value from the source after an initial state is established -- either via\n * a `seed` value (second argument), or from the first value from the source.\n *\n * <span class=\"informal\">It's like {@link reduce}, but emits the current\n * accumulation state after each update</span>\n *\n * ![](scan.png)\n *\n * This operator maintains an internal state and emits it after processing each value as follows:\n *\n * 1. First value arrives\n *   - If a `seed` value was supplied (as the second argument to `scan`), let `state = seed` and `value = firstValue`.\n *   - If NO `seed` value was supplied (no second argument), let `state = firstValue` and go to 3.\n * 2. Let `state = accumulator(state, value)`.\n *   - If an error is thrown by `accumulator`, notify the consumer of an error. The process ends.\n * 3. Emit `state`.\n * 4. Next value arrives, let `value = nextValue`, go to 2.\n *\n * ## Examples\n *\n * An average of previous numbers. This example shows how\n * not providing a `seed` can prime the stream with the\n * first value from the source.\n *\n * ```ts\n * import { of, scan, map } from 'rxjs';\n *\n * const numbers$ = of(1, 2, 3);\n *\n * numbers$\n *   .pipe(\n *     // Get the sum of the numbers coming in.\n *     scan((total, n) => total + n),\n *     // Get the average by dividing the sum by the total number\n *     // received so far (which is 1 more than the zero-based index).\n *     map((sum, index) => sum / (index + 1))\n *   )\n *   .subscribe(console.log);\n * ```\n *\n * The Fibonacci sequence. This example shows how you can use\n * a seed to prime accumulation process. Also... you know... Fibonacci.\n * So important to like, computers and stuff that its whiteboarded\n * in job interviews. Now you can show them the Rx version! (Please don't, haha)\n *\n * ```ts\n * import { interval, scan, map, startWith } from 'rxjs';\n *\n * const firstTwoFibs = [0, 1];\n * // An endless stream of Fibonacci numbers.\n * const fibonacci$ = interval(1000).pipe(\n *   // Scan to get the fibonacci numbers (after 0, 1)\n *   scan(([a, b]) => [b, a + b], firstTwoFibs),\n *   // Get the second number in the tuple, it's the one you calculated\n *   map(([, n]) => n),\n *   // Start with our first two digits :)\n *   startWith(...firstTwoFibs)\n * );\n *\n * fibonacci$.subscribe(console.log);\n * ```\n *\n * @see {@link expand}\n * @see {@link mergeScan}\n * @see {@link reduce}\n * @see {@link switchScan}\n *\n * @param accumulator A \"reducer function\". This will be called for each value after an initial state is\n * acquired.\n * @param seed The initial state. If this is not provided, the first value from the source will\n * be used as the initial state, and emitted without going through the accumulator. All subsequent values\n * will be processed by the accumulator function. If this is provided, all values will go through\n * the accumulator function.\n * @return A function that returns an Observable of the accumulated values.\n */\nexport function scan<V, A, S>(accumulator: (acc: V | A | S, value: V, index: number) => A, seed?: S): OperatorFunction<V, V | A> {\n  // providing a seed of `undefined` *should* be valid and trigger\n  // hasSeed! so don't use `seed !== undefined` checks!\n  // For this reason, we have to check it here at the original call site\n  // otherwise inside Operator/Subscriber we won't know if `undefined`\n  // means they didn't provide anything or if they literally provided `undefined`\n  return operate(scanInternals(accumulator, seed as S, arguments.length >= 2, true));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Subject } from '../Subject';\nimport { SafeSubscriber } from '../Subscriber';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SubjectLike, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\n\nexport interface ShareConfig<T> {\n  /**\n   * The factory used to create the subject that will connect the source observable to\n   * multicast consumers.\n   */\n  connector?: () => SubjectLike<T>;\n  /**\n   * If `true`, the resulting observable will reset internal state on error from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"retried\" in the event of an error.\n   * If `false`, when an error comes from the source it will push the error into the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent retries\n   * or resubscriptions will resubscribe to that same subject. In all cases, RxJS subjects will emit the same error again, however\n   * {@link ReplaySubject} will also push its buffered values before pushing the error.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnError?: boolean | ((error: any) => ObservableInput<any>);\n  /**\n   * If `true`, the resulting observable will reset internal state on completion from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"repeated\" after it is done.\n   * If `false`, when the source completes, it will push the completion through the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent repeats\n   * or resubscriptions will resubscribe to that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnComplete?: boolean | (() => ObservableInput<any>);\n  /**\n   * If `true`, when the number of subscribers to the resulting observable reaches zero due to those subscribers unsubscribing, the\n   * internal state will be reset and the resulting observable will return to a \"cold\" state. This means that the next\n   * time the resulting observable is subscribed to, a new subject will be created and the source will be subscribed to\n   * again.\n   * If `false`, when the number of subscribers to the resulting observable reaches zero due to unsubscription, the subject\n   * will remain connected to the source, and new subscriptions to the result will be connected through that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnRefCountZero?: boolean | (() => ObservableInput<any>);\n}\n\nexport function share<T>(): MonoTypeOperatorFunction<T>;\n\nexport function share<T>(options: ShareConfig<T>): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a new Observable that multicasts (shares) the original Observable. As long as there is at least one\n * Subscriber this Observable will be subscribed and emitting data. When all subscribers have unsubscribed it will\n * unsubscribe from the source Observable. Because the Observable is multicasting it makes the stream `hot`.\n * This is an alias for `multicast(() => new Subject()), refCount()`.\n *\n * The subscription to the underlying source Observable can be reset (unsubscribe and resubscribe for new subscribers),\n * if the subscriber count to the shared observable drops to 0, or if the source Observable errors or completes. It is\n * possible to use notifier factories for the resets to allow for behaviors like conditional or delayed resets. Please\n * note that resetting on error or complete of the source Observable does not behave like a transparent retry or restart\n * of the source because the error or complete will be forwarded to all subscribers and their subscription will be\n * closed. Only new subscribers after a reset on error or complete happened will cause a fresh subscription to the\n * source. To achieve transparent retries or restarts pipe the source through appropriate operators before sharing.\n *\n * ![](share.png)\n *\n * ## Example\n *\n * Generate new multicast Observable from the `source` Observable value\n *\n * ```ts\n * import { interval, tap, map, take, share } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   tap(x => console.log('Processing: ', x)),\n *   map(x => x * x),\n *   take(6),\n *   share()\n * );\n *\n * source.subscribe(x => console.log('subscription 1: ', x));\n * source.subscribe(x => console.log('subscription 2: ', x));\n *\n * // Logs:\n * // Processing: 0\n * // subscription 1: 0\n * // subscription 2: 0\n * // Processing: 1\n * // subscription 1: 1\n * // subscription 2: 1\n * // Processing: 2\n * // subscription 1: 4\n * // subscription 2: 4\n * // Processing: 3\n * // subscription 1: 9\n * // subscription 2: 9\n * // Processing: 4\n * // subscription 1: 16\n * // subscription 2: 16\n * // Processing: 5\n * // subscription 1: 25\n * // subscription 2: 25\n * ```\n *\n * ## Example with notifier factory: Delayed reset\n *\n * ```ts\n * import { interval, take, share, timer } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   take(3),\n *   share({\n *     resetOnRefCountZero: () => timer(1000)\n *   })\n * );\n *\n * const subscriptionOne = source.subscribe(x => console.log('subscription 1: ', x));\n * setTimeout(() => subscriptionOne.unsubscribe(), 1300);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 2: ', x)), 1700);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 3: ', x)), 5000);\n *\n * // Logs:\n * // subscription 1:  0\n * // (subscription 1 unsubscribes here)\n * // (subscription 2 subscribes here ~400ms later, source was not reset)\n * // subscription 2:  1\n * // subscription 2:  2\n * // (subscription 2 unsubscribes here)\n * // (subscription 3 subscribes here ~2000ms later, source did reset before)\n * // subscription 3:  0\n * // subscription 3:  1\n * // subscription 3:  2\n * ```\n *\n * @see {@link shareReplay}\n *\n * @return A function that returns an Observable that mirrors the source.\n */\nexport function share<T>(options: ShareConfig<T> = {}): MonoTypeOperatorFunction<T> {\n  const { connector = () => new Subject<T>(), resetOnError = true, resetOnComplete = true, resetOnRefCountZero = true } = options;\n  // It's necessary to use a wrapper here, as the _operator_ must be\n  // referentially transparent. Otherwise, it cannot be used in calls to the\n  // static `pipe` function - to create a partial pipeline.\n  //\n  // The _operator function_ - the function returned by the _operator_ - will\n  // not be referentially transparent - as it shares its source - but the\n  // _operator function_ is called when the complete pipeline is composed via a\n  // call to a source observable's `pipe` method - not when the static `pipe`\n  // function is called.\n  return (wrapperSource) => {\n    let connection: SafeSubscriber<T> | undefined;\n    let resetConnection: Subscription | undefined;\n    let subject: SubjectLike<T> | undefined;\n    let refCount = 0;\n    let hasCompleted = false;\n    let hasErrored = false;\n\n    const cancelReset = () => {\n      resetConnection?.unsubscribe();\n      resetConnection = undefined;\n    };\n    // Used to reset the internal state to a \"cold\"\n    // state, as though it had never been subscribed to.\n    const reset = () => {\n      cancelReset();\n      connection = subject = undefined;\n      hasCompleted = hasErrored = false;\n    };\n    const resetAndUnsubscribe = () => {\n      // We need to capture the connection before\n      // we reset (if we need to reset).\n      const conn = connection;\n      reset();\n      conn?.unsubscribe();\n    };\n\n    return operate<T, T>((source, subscriber) => {\n      refCount++;\n      if (!hasErrored && !hasCompleted) {\n        cancelReset();\n      }\n\n      // Create the subject if we don't have one yet. Grab a local reference to\n      // it as well, which avoids non-null assertions when using it and, if we\n      // connect to it now, then error/complete need a reference after it was\n      // reset.\n      const dest = (subject = subject ?? connector());\n\n      // Add the finalization directly to the subscriber - instead of returning it -\n      // so that the handling of the subscriber's unsubscription will be wired\n      // up _before_ the subscription to the source occurs. This is done so that\n      // the assignment to the source connection's `closed` property will be seen\n      // by synchronous firehose sources.\n      subscriber.add(() => {\n        refCount--;\n\n        // If we're resetting on refCount === 0, and it's 0, we only want to do\n        // that on \"unsubscribe\", really. Resetting on error or completion is a different\n        // configuration.\n        if (refCount === 0 && !hasErrored && !hasCompleted) {\n          resetConnection = handleReset(resetAndUnsubscribe, resetOnRefCountZero);\n        }\n      });\n\n      // The following line adds the subscription to the subscriber passed.\n      // Basically, `subscriber === dest.subscribe(subscriber)` is `true`.\n      dest.subscribe(subscriber);\n\n      if (\n        !connection &&\n        // Check this shareReplay is still activate - it can be reset to 0\n        // and be \"unsubscribed\" _before_ it actually subscribes.\n        // If we were to subscribe then, it'd leak and get stuck.\n        refCount > 0\n      ) {\n        // We need to create a subscriber here - rather than pass an observer and\n        // assign the returned subscription to connection - because it's possible\n        // for reentrant subscriptions to the shared observable to occur and in\n        // those situations we want connection to be already-assigned so that we\n        // don't create another connection to the source.\n        connection = new SafeSubscriber({\n          next: (value) => dest.next(value),\n          error: (err) => {\n            hasErrored = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnError, err);\n            dest.error(err);\n          },\n          complete: () => {\n            hasCompleted = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnComplete);\n            dest.complete();\n          },\n        });\n        innerFrom(source).subscribe(connection);\n      }\n    })(wrapperSource);\n  };\n}\n\nfunction handleReset<T extends unknown[] = never[]>(\n  reset: () => void,\n  on: boolean | ((...args: T) => ObservableInput<any>),\n  ...args: T\n): Subscription | undefined {\n  if (on === true) {\n    reset();\n    return;\n  }\n\n  if (on === false) {\n    return;\n  }\n\n  const onSubscriber = new SafeSubscriber({\n    next: () => {\n      onSubscriber.unsubscribe();\n      reset();\n    },\n  });\n\n  return innerFrom(on(...args)).subscribe(onSubscriber);\n}\n", "import { ReplaySubject } from '../ReplaySubject';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { share } from './share';\n\nexport interface ShareReplayConfig {\n  bufferSize?: number;\n  windowTime?: number;\n  refCount: boolean;\n  scheduler?: SchedulerLike;\n}\n\nexport function shareReplay<T>(config: ShareReplayConfig): MonoTypeOperatorFunction<T>;\nexport function shareReplay<T>(bufferSize?: number, windowTime?: number, scheduler?: SchedulerLike): MonoTypeOperatorFunction<T>;\n\n/**\n * Share source and replay specified number of emissions on subscription.\n *\n * This operator is a specialization of `replay` that connects to a source observable\n * and multicasts through a `ReplaySubject` constructed with the specified arguments.\n * A successfully completed source will stay cached in the `shareReplay`ed observable forever,\n * but an errored source can be retried.\n *\n * ## Why use `shareReplay`?\n *\n * You generally want to use `shareReplay` when you have side-effects or taxing computations\n * that you do not wish to be executed amongst multiple subscribers.\n * It may also be valuable in situations where you know you will have late subscribers to\n * a stream that need access to previously emitted values.\n * This ability to replay values on subscription is what differentiates {@link share} and `shareReplay`.\n *\n * ## Reference counting\n *\n * By default `shareReplay` will use `refCount` of false, meaning that it will _not_ unsubscribe the\n * source when the reference counter drops to zero, i.e. the inner `ReplaySubject` will _not_ be unsubscribed\n * (and potentially run for ever).\n * This is the default as it is expected that `shareReplay` is often used to keep around expensive to setup\n * observables which we want to keep running instead of having to do the expensive setup again.\n *\n * As of RXJS version 6.4.0 a new overload signature was added to allow for manual control over what\n * happens when the operators internal reference counter drops to zero.\n * If `refCount` is true, the source will be unsubscribed from once the reference count drops to zero, i.e.\n * the inner `ReplaySubject` will be unsubscribed. All new subscribers will receive value emissions from a\n * new `ReplaySubject` which in turn will cause a new subscription to the source observable.\n *\n * ## Examples\n *\n * Example with a third subscriber coming late to the party\n *\n * ```ts\n * import { interval, take, shareReplay } from 'rxjs';\n *\n * const shared$ = interval(2000).pipe(\n *   take(6),\n *   shareReplay(3)\n * );\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * setTimeout(() => {\n *   shared$.subscribe(y => console.log('sub C: ', y));\n * }, 11000);\n *\n * // Logs:\n * // (after ~2000 ms)\n * // sub A: 0\n * // sub B: 0\n * // (after ~4000 ms)\n * // sub A: 1\n * // sub B: 1\n * // (after ~6000 ms)\n * // sub A: 2\n * // sub B: 2\n * // (after ~8000 ms)\n * // sub A: 3\n * // sub B: 3\n * // (after ~10000 ms)\n * // sub A: 4\n * // sub B: 4\n * // (after ~11000 ms, sub C gets the last 3 values)\n * // sub C: 2\n * // sub C: 3\n * // sub C: 4\n * // (after ~12000 ms)\n * // sub A: 5\n * // sub B: 5\n * // sub C: 5\n * ```\n *\n * Example for `refCount` usage\n *\n * ```ts\n * import { Observable, tap, interval, shareReplay, take } from 'rxjs';\n *\n * const log = <T>(name: string, source: Observable<T>) => source.pipe(\n *   tap({\n *     subscribe: () => console.log(`${ name }: subscribed`),\n *     next: value => console.log(`${ name }: ${ value }`),\n *     complete: () => console.log(`${ name }: completed`),\n *     finalize: () => console.log(`${ name }: unsubscribed`)\n *   })\n * );\n *\n * const obs$ = log('source', interval(1000));\n *\n * const shared$ = log('shared', obs$.pipe(\n *   shareReplay({ bufferSize: 1, refCount: true }),\n *   take(2)\n * ));\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * // PRINTS:\n * // shared: subscribed <-- reference count = 1\n * // source: subscribed\n * // shared: subscribed <-- reference count = 2\n * // source: 0\n * // shared: 0\n * // sub A: 0\n * // shared: 0\n * // sub B: 0\n * // source: 1\n * // shared: 1\n * // sub A: 1\n * // shared: completed <-- take(2) completes the subscription for sub A\n * // shared: unsubscribed <-- reference count = 1\n * // shared: 1\n * // sub B: 1\n * // shared: completed <-- take(2) completes the subscription for sub B\n * // shared: unsubscribed <-- reference count = 0\n * // source: unsubscribed <-- replaySubject unsubscribes from source observable because the reference count dropped to 0 and refCount is true\n *\n * // In case of refCount being false, the unsubscribe is never called on the source and the source would keep on emitting, even if no subscribers\n * // are listening.\n * // source: 2\n * // source: 3\n * // source: 4\n * // ...\n * ```\n *\n * @see {@link publish}\n * @see {@link share}\n * @see {@link publishReplay}\n *\n * @param configOrBufferSize Maximum element count of the replay buffer or {@link ShareReplayConfig configuration}\n * object.\n * @param windowTime Maximum time length of the replay buffer in milliseconds.\n * @param scheduler Scheduler where connected observers within the selector function\n * will be invoked on.\n * @return A function that returns an Observable sequence that contains the\n * elements of a sequence produced by multicasting the source sequence within a\n * selector function.\n */\nexport function shareReplay<T>(\n  configOrBufferSize?: ShareReplayConfig | number,\n  windowTime?: number,\n  scheduler?: SchedulerLike\n): MonoTypeOperatorFunction<T> {\n  let bufferSize: number;\n  let refCount = false;\n  if (configOrBufferSize && typeof configOrBufferSize === 'object') {\n    ({ bufferSize = Infinity, windowTime = Infinity, refCount = false, scheduler } = configOrBufferSize);\n  } else {\n    bufferSize = (configOrBufferSize ?? Infinity) as number;\n  }\n  return share<T>({\n    connector: () => new ReplaySubject(bufferSize, windowTime, scheduler),\n    resetOnError: true,\n    resetOnComplete: false,\n    resetOnRefCountZero: refCount,\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { filter } from './filter';\n\n/**\n * Returns an Observable that skips the first `count` items emitted by the source Observable.\n *\n * ![](skip.png)\n *\n * Skips the values until the sent notifications are equal or less than provided skip count. It raises\n * an error if skip count is equal or more than the actual number of emits and source raises an error.\n *\n * ## Example\n *\n * Skip the values before the emission\n *\n * ```ts\n * import { interval, skip } from 'rxjs';\n *\n * // emit every half second\n * const source = interval(500);\n * // skip the first 10 emitted values\n * const result = source.pipe(skip(10));\n *\n * result.subscribe(value => console.log(value));\n * // output: 10...11...12...13...\n * ```\n *\n * @see {@link last}\n * @see {@link skipWhile}\n * @see {@link skipUntil}\n * @see {@link skipLast}\n *\n * @param {Number} count - The number of times, items emitted by source Observable should be skipped.\n * @return A function that returns an Observable that skips the first `count`\n * values emitted by the source Observable.\n */\nexport function skip<T>(count: number): MonoTypeOperatorFunction<T> {\n  return filter((_, index) => count <= index);\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Returns an Observable that skips items emitted by the source Observable until a second Observable emits an item.\n *\n * The `skipUntil` operator causes the observable stream to skip the emission of values until the passed in observable\n * emits the first value. This can be particularly useful in combination with user interactions, responses of HTTP\n * requests or waiting for specific times to pass by.\n *\n * ![](skipUntil.png)\n *\n * Internally, the `skipUntil` operator subscribes to the passed in `notifier` `ObservableInput` (which gets converted\n * to an Observable) in order to recognize the emission of its first value. When `notifier` emits next, the operator\n * unsubscribes from it and starts emitting the values of the *source* observable until it completes or errors. It\n * will never let the *source* observable emit any values if the `notifier` completes or throws an error without\n * emitting a value before.\n *\n * ## Example\n *\n * In the following example, all emitted values of the interval observable are skipped until the user clicks anywhere\n * within the page\n *\n * ```ts\n * import { interval, fromEvent, skipUntil } from 'rxjs';\n *\n * const intervalObservable = interval(1000);\n * const click = fromEvent(document, 'click');\n *\n * const emitAfterClick = intervalObservable.pipe(\n *   skipUntil(click)\n * );\n * // clicked at 4.6s. output: 5...6...7...8........ or\n * // clicked at 7.3s. output: 8...9...10..11.......\n * emitAfterClick.subscribe(value => console.log(value));\n * ```\n *\n * @see {@link last}\n * @see {@link skip}\n * @see {@link skipWhile}\n * @see {@link skipLast}\n *\n * @param notifier An `ObservableInput` that has to emit an item before the source Observable elements begin to\n * be mirrored by the resulting Observable.\n * @return A function that returns an Observable that skips items from the\n * source Observable until the `notifier` Observable emits an item, then emits the\n * remaining items.\n */\nexport function skipUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let taking = false;\n\n    const skipSubscriber = createOperatorSubscriber(\n      subscriber,\n      () => {\n        skipSubscriber?.unsubscribe();\n        taking = true;\n      },\n      noop\n    );\n\n    innerFrom(notifier).subscribe(skipSubscriber);\n\n    source.subscribe(createOperatorSubscriber(subscriber, (value) => taking && subscriber.next(value)));\n  });\n}\n", "import { concat } from '../observable/concat';\nimport { OperatorFunction, SchedulerLike, ValueFromArray } from '../types';\nimport { popScheduler } from '../util/args';\nimport { operate } from '../util/lift';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function startWith<T>(value: null): OperatorFunction<T, T | null>;\nexport function startWith<T>(value: undefined): OperatorFunction<T, T | undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function startWith<T, A extends readonly unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\nexport function startWith<T, A extends readonly unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that, at the moment of subscription, will synchronously emit all\n * values provided to this operator, then subscribe to the source and mirror all of its emissions\n * to subscribers.\n *\n * This is a useful way to know when subscription has occurred on an existing observable.\n *\n * <span class=\"informal\">First emits its arguments in order, and then any\n * emissions from the source.</span>\n *\n * ![](startWith.png)\n *\n * ## Examples\n *\n * Emit a value when a timer starts.\n *\n * ```ts\n * import { timer, map, startWith } from 'rxjs';\n *\n * timer(1000)\n *   .pipe(\n *     map(() => 'timer emit'),\n *     startWith('timer start')\n *   )\n *   .subscribe(x => console.log(x));\n *\n * // results:\n * // 'timer start'\n * // 'timer emit'\n * ```\n *\n * @param values Items you want the modified Observable to emit first.\n * @return A function that returns an Observable that synchronously emits\n * provided values before subscribing to the source Observable.\n *\n * @see {@link endWith}\n * @see {@link finalize}\n * @see {@link concat}\n */\nexport function startWith<T, D>(...values: D[]): OperatorFunction<T, T | D> {\n  const scheduler = popScheduler(values);\n  return operate((source, subscriber) => {\n    // Here we can't pass `undefined` as a scheduler, because if we did, the\n    // code inside of `concat` would be confused by the `undefined`, and treat it\n    // like an invalid observable. So we have to split it two different ways.\n    (scheduler ? concat(values, source, scheduler) : concat(values, source)).subscribe(subscriber);\n  });\n}\n", "import { Subscriber } from '../Subscriber';\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/* tslint:disable:max-line-length */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable, emitting values only from the most recently projected Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link switchAll}.</span>\n *\n * ![](switchMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an (so-called \"inner\") Observable. Each time it observes one of these\n * inner Observables, the output Observable begins emitting the items emitted by\n * that inner Observable. When a new inner Observable is emitted, `switchMap`\n * stops emitting items from the earlier-emitted inner Observable and begins\n * emitting items from the new one. It continues to behave like this for\n * subsequent inner Observables.\n *\n * ## Example\n *\n * Generate new Observable according to source Observable values\n *\n * ```ts\n * import { of, switchMap } from 'rxjs';\n *\n * const switched = of(1, 2, 3).pipe(switchMap(x => of(x, x ** 2, x ** 3)));\n * switched.subscribe(x => console.log(x));\n * // outputs\n * // 1\n * // 1\n * // 1\n * // 2\n * // 4\n * // 8\n * // 3\n * // 9\n * // 27\n * ```\n *\n * Restart an interval Observable on every click event\n *\n * ```ts\n * import { fromEvent, switchMap, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(switchMap(() => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link mergeMap}\n * @see {@link switchAll}\n * @see {@link switchMapTo}\n *\n * @param {function(value: T, index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and taking\n * only the values from the most recently projected inner Observable.\n */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  return operate((source, subscriber) => {\n    let innerSubscriber: Subscriber<ObservedValueOf<O>> | null = null;\n    let index = 0;\n    // Whether or not the source subscription has completed\n    let isComplete = false;\n\n    // We only complete the result if the source is complete AND we don't have an active inner subscription.\n    // This is called both when the source completes and when the inners complete.\n    const checkComplete = () => isComplete && !innerSubscriber && subscriber.complete();\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Cancel the previous inner subscription if there was one\n          innerSubscriber?.unsubscribe();\n          let innerIndex = 0;\n          const outerIndex = index++;\n          // Start the next inner subscription\n          innerFrom(project(value, outerIndex)).subscribe(\n            (innerSubscriber = createOperatorSubscriber(\n              subscriber,\n              // When we get a new inner value, next it through. Note that this is\n              // handling the deprecate result selector here. This is because with this architecture\n              // it ends up being smaller than using the map operator.\n              (innerValue) => subscriber.next(resultSelector ? resultSelector(value, innerValue, outerIndex, innerIndex++) : innerValue),\n              () => {\n                // The inner has completed. Null out the inner subscriber to\n                // free up memory and to signal that we have no inner subscription\n                // currently.\n                innerSubscriber = null!;\n                checkComplete();\n              }\n            ))\n          );\n        },\n        () => {\n          isComplete = true;\n          checkComplete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Emits the values emitted by the source Observable until a `notifier`\n * Observable emits a value.\n *\n * <span class=\"informal\">Lets values pass until a second Observable,\n * `notifier`, emits a value. Then, it completes.</span>\n *\n * ![](takeUntil.png)\n *\n * `takeUntil` subscribes and begins mirroring the source Observable. It also\n * monitors a second Observable, `notifier` that you provide. If the `notifier`\n * emits a value, the output Observable stops mirroring the source Observable\n * and completes. If the `notifier` doesn't emit any value and completes\n * then `takeUntil` will pass all values.\n *\n * ## Example\n *\n * Tick every second until the first click happens\n *\n * ```ts\n * import { interval, fromEvent, takeUntil } from 'rxjs';\n *\n * const source = interval(1000);\n * const clicks = fromEvent(document, 'click');\n * const result = source.pipe(takeUntil(clicks));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param {Observable} notifier The Observable whose first emitted value will\n * cause the output Observable of `takeUntil` to stop emitting values from the\n * source Observable.\n * @return A function that returns an Observable that emits the values from the\n * source Observable until `notifier` emits its first value.\n */\nexport function takeUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    innerFrom(notifier).subscribe(createOperatorSubscriber(subscriber, () => subscriber.complete(), noop));\n    !subscriber.closed && source.subscribe(subscriber);\n  });\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: true): MonoTypeOperatorFunction<T>;\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: false): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S, inclusive: false): OperatorFunction<T, S>;\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive?: boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Emits values emitted by the source Observable so long as each value satisfies\n * the given `predicate`, and then completes as soon as this `predicate` is not\n * satisfied.\n *\n * <span class=\"informal\">Takes values from the source only while they pass the\n * condition given. When the first value does not satisfy, it completes.</span>\n *\n * ![](takeWhile.png)\n *\n * `takeWhile` subscribes and begins mirroring the source Observable. Each value\n * emitted on the source is given to the `predicate` function which returns a\n * boolean, representing a condition to be satisfied by the source values. The\n * output Observable emits the source values until such time as the `predicate`\n * returns false, at which point `takeWhile` stops mirroring the source\n * Observable and completes the output Observable.\n *\n * ## Example\n *\n * Emit click events only while the clientX property is greater than 200\n *\n * ```ts\n * import { fromEvent, takeWhile } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const result = clicks.pipe(takeWhile(ev => ev.clientX > 200));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link skip}\n *\n * @param {function(value: T, index: number): boolean} predicate A function that\n * evaluates a value emitted by the source Observable and returns a boolean.\n * Also takes the (zero-based) index as the second argument.\n * @param {boolean} inclusive When set to `true` the value that caused\n * `predicate` to return `false` will also be emitted.\n * @return A function that returns an Observable that emits values from the\n * source Observable so long as each value satisfies the condition defined by\n * the `predicate`, then completes.\n */\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive = false): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let index = 0;\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        const result = predicate(value, index++);\n        (result || inclusive) && subscriber.next(value);\n        !result && subscriber.complete();\n      })\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, Observer } from '../types';\nimport { isFunction } from '../util/isFunction';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { identity } from '../util/identity';\n\n/**\n * An extension to the {@link Observer} interface used only by the {@link tap} operator.\n *\n * It provides a useful set of callbacks a user can register to do side-effects in\n * cases other than what the usual {@link Observer} callbacks are\n * ({@link guide/glossary-and-semantics#next next},\n * {@link guide/glossary-and-semantics#error error} and/or\n * {@link guide/glossary-and-semantics#complete complete}).\n *\n * ## Example\n *\n * ```ts\n * import { fromEvent, switchMap, tap, interval, take } from 'rxjs';\n *\n * const source$ = fromEvent(document, 'click');\n * const result$ = source$.pipe(\n *   switchMap((_, i) => i % 2 === 0\n *     ? fromEvent(document, 'mousemove').pipe(\n *         tap({\n *           subscribe: () => console.log('Subscribed to the mouse move events after click #' + i),\n *           unsubscribe: () => console.log('Mouse move events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('Mouse move events #' + i + ' finalized')\n *         })\n *       )\n *     : interval(1_000).pipe(\n *         take(5),\n *         tap({\n *           subscribe: () => console.log('Subscribed to the 1-second interval events after click #' + i),\n *           unsubscribe: () => console.log('1-second interval events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('1-second interval events #' + i + ' finalized')\n *         })\n *       )\n *   )\n * );\n *\n * const subscription = result$.subscribe({\n *   next: console.log\n * });\n *\n * setTimeout(() => {\n *   console.log('Unsubscribe after 60 seconds');\n *   subscription.unsubscribe();\n * }, 60_000);\n * ```\n */\nexport interface TapObserver<T> extends Observer<T> {\n  /**\n   * The callback that `tap` operator invokes at the moment when the source Observable\n   * gets subscribed to.\n   */\n  subscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when an explicit\n   * {@link guide/glossary-and-semantics#unsubscription unsubscribe} happens. It won't get invoked on\n   * `error` or `complete` events.\n   */\n  unsubscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when any kind of\n   * {@link guide/glossary-and-semantics#finalization finalization} happens - either when\n   * the source Observable `error`s or `complete`s or when it gets explicitly unsubscribed\n   * by the user. There is no difference in using this callback or the {@link finalize}\n   * operator, but if you're already using `tap` operator, you can use this callback\n   * instead. You'd get the same result in either case.\n   */\n  finalize: () => void;\n}\nexport function tap<T>(observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void)): MonoTypeOperatorFunction<T>;\n/** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\nexport function tap<T>(\n  next?: ((value: T) => void) | null,\n  error?: ((error: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Used to perform side-effects for notifications from the source observable\n *\n * <span class=\"informal\">Used when you want to affect outside state with a notification without altering the notification</span>\n *\n * ![](tap.png)\n *\n * Tap is designed to allow the developer a designated place to perform side effects. While you _could_ perform side-effects\n * inside of a `map` or a `mergeMap`, that would make their mapping functions impure, which isn't always a big deal, but will\n * make it so you can't do things like memoize those functions. The `tap` operator is designed solely for such side-effects to\n * help you remove side-effects from other operations.\n *\n * For any notification, next, error, or complete, `tap` will call the appropriate callback you have provided to it, via a function\n * reference, or a partial observer, then pass that notification down the stream.\n *\n * The observable returned by `tap` is an exact mirror of the source, with one exception: Any error that occurs -- synchronously -- in a handler\n * provided to `tap` will be emitted as an error from the returned observable.\n *\n * > Be careful! You can mutate objects as they pass through the `tap` operator's handlers.\n *\n * The most common use of `tap` is actually for debugging. You can place a `tap(console.log)` anywhere\n * in your observable `pipe`, log out the notifications as they are emitted by the source returned by the previous\n * operation.\n *\n * ## Examples\n *\n * Check a random number before it is handled. Below is an observable that will use a random number between 0 and 1,\n * and emit `'big'` or `'small'` depending on the size of that number. But we wanted to log what the original number\n * was, so we have added a `tap(console.log)`.\n *\n * ```ts\n * import { of, tap, map } from 'rxjs';\n *\n * of(Math.random()).pipe(\n *   tap(console.log),\n *   map(n => n > 0.5 ? 'big' : 'small')\n * ).subscribe(console.log);\n * ```\n *\n * Using `tap` to analyze a value and force an error. Below is an observable where in our system we only\n * want to emit numbers 3 or less we get from another source. We can force our observable to error\n * using `tap`.\n *\n * ```ts\n * import { of, tap } from 'rxjs';\n *\n * const source = of(1, 2, 3, 4, 5);\n *\n * source.pipe(\n *   tap(n => {\n *     if (n > 3) {\n *       throw new TypeError(`Value ${ n } is greater than 3`);\n *     }\n *   })\n * )\n * .subscribe({ next: console.log, error: err => console.log(err.message) });\n * ```\n *\n * We want to know when an observable completes before moving on to the next observable. The system\n * below will emit a random series of `'X'` characters from 3 different observables in sequence. The\n * only way we know when one observable completes and moves to the next one, in this case, is because\n * we have added a `tap` with the side effect of logging to console.\n *\n * ```ts\n * import { of, concatMap, interval, take, map, tap } from 'rxjs';\n *\n * of(1, 2, 3).pipe(\n *   concatMap(n => interval(1000).pipe(\n *     take(Math.round(Math.random() * 10)),\n *     map(() => 'X'),\n *     tap({ complete: () => console.log(`Done with ${ n }`) })\n *   ))\n * )\n * .subscribe(console.log);\n * ```\n *\n * @see {@link finalize}\n * @see {@link TapObserver}\n *\n * @param observerOrNext A next handler or partial observer\n * @param error An error handler\n * @param complete A completion handler\n * @return A function that returns an Observable identical to the source, but\n * runs the specified Observer or callback(s) for each item.\n */\nexport function tap<T>(\n  observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void) | null,\n  error?: ((e: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T> {\n  // We have to check to see not only if next is a function,\n  // but if error or complete were passed. This is because someone\n  // could technically call tap like `tap(null, fn)` or `tap(null, null, fn)`.\n  const tapObserver =\n    isFunction(observerOrNext) || error || complete\n      ? // tslint:disable-next-line: no-object-literal-type-assertion\n        ({ next: observerOrNext as Exclude<typeof observerOrNext, Partial<TapObserver<T>>>, error, complete } as Partial<TapObserver<T>>)\n      : observerOrNext;\n\n  return tapObserver\n    ? operate((source, subscriber) => {\n        tapObserver.subscribe?.();\n        let isUnsub = true;\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              tapObserver.next?.(value);\n              subscriber.next(value);\n            },\n            () => {\n              isUnsub = false;\n              tapObserver.complete?.();\n              subscriber.complete();\n            },\n            (err) => {\n              isUnsub = false;\n              tapObserver.error?.(err);\n              subscriber.error(err);\n            },\n            () => {\n              if (isUnsub) {\n                tapObserver.unsubscribe?.();\n              }\n              tapObserver.finalize?.();\n            }\n          )\n        );\n      })\n    : // Tap was called with no valid tap observer or handler\n      // (e.g. `tap(null, null, null)` or `tap(null)` or `tap()`)\n      // so we're going to just mirror the source.\n      identity;\n}\n", "import { Subscription } from '../Subscription';\n\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * An object interface used by {@link throttle} or {@link throttleTime} that ensure\n * configuration options of these operators.\n *\n * @see {@link throttle}\n * @see {@link throttleTime}\n */\nexport interface ThrottleConfig {\n  /**\n   * If `true`, the resulting Observable will emit the first value from the source\n   * Observable at the **start** of the \"throttling\" process (when starting an\n   * internal timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the first value from the source Observable at the\n   * start of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `true`.\n   */\n  leading?: boolean;\n  /**\n   * If `true`, the resulting Observable will emit the last value from the source\n   * Observable at the **end** of the \"throttling\" process (when ending an internal\n   * timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the last value from the source Observable at the\n   * end of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `false`.\n   */\n  trailing?: boolean;\n}\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for a duration determined by another Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link throttleTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](throttle.svg)\n *\n * `throttle` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled by calling the `durationSelector` function with the source value,\n * which returns the \"duration\" Observable. When the duration Observable emits a\n * value, the timer is disabled, and this process repeats for the\n * next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttle, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttle(() => interval(1000)));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function that receives a value from the source\n * Observable, for computing the silencing duration for each source value,\n * returned as an `ObservableInput`.\n * @param config A configuration object to define `leading` and `trailing`\n * behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttle<T>(durationSelector: (value: T) => ObservableInput<any>, config?: ThrottleConfig): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    const { leading = true, trailing = false } = config ?? {};\n    let hasValue = false;\n    let sendValue: T | null = null;\n    let throttled: Subscription | null = null;\n    let isComplete = false;\n\n    const endThrottling = () => {\n      throttled?.unsubscribe();\n      throttled = null;\n      if (trailing) {\n        send();\n        isComplete && subscriber.complete();\n      }\n    };\n\n    const cleanupThrottling = () => {\n      throttled = null;\n      isComplete && subscriber.complete();\n    };\n\n    const startThrottle = (value: T) =>\n      (throttled = innerFrom(durationSelector(value)).subscribe(createOperatorSubscriber(subscriber, endThrottling, cleanupThrottling)));\n\n    const send = () => {\n      if (hasValue) {\n        // Ensure we clear out our value and hasValue flag\n        // before we emit, otherwise reentrant code can cause\n        // issues here.\n        hasValue = false;\n        const value = sendValue!;\n        sendValue = null;\n        // Emit the value.\n        subscriber.next(value);\n        !isComplete && startThrottle(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        // Regarding the presence of throttled.closed in the following\n        // conditions, if a synchronous duration selector is specified - weird,\n        // but legal - an already-closed subscription will be assigned to\n        // throttled, so the subscription's closed property needs to be checked,\n        // too.\n        (value) => {\n          hasValue = true;\n          sendValue = value;\n          !(throttled && !throttled.closed) && (leading ? send() : startThrottle(value));\n        },\n        () => {\n          isComplete = true;\n          !(trailing && hasValue && throttled && !throttled.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { throttle, ThrottleConfig } from './throttle';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { timer } from '../observable/timer';\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for `duration` milliseconds, then repeats this process.\n *\n * <span class=\"informal\">Lets a value pass, then ignores source values for the\n * next `duration` milliseconds.</span>\n *\n * ![](throttleTime.png)\n *\n * `throttleTime` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled. After `duration` milliseconds (or the time unit determined\n * internally by the optional `scheduler`) has passed, the timer is disabled,\n * and this process repeats for the next source value. Optionally takes a\n * {@link SchedulerLike} for managing timers.\n *\n * ## Examples\n *\n * ### Limit click rate\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttleTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttleTime(1000));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttle}\n *\n * @param duration Time to wait before emitting another value after\n * emitting the last value, measured in milliseconds or the time unit determined\n * internally by the optional `scheduler`.\n * @param scheduler The {@link SchedulerLike} to use for\n * managing the timers that handle the throttling. Defaults to {@link asyncScheduler}.\n * @param config A configuration object to define `leading` and\n * `trailing` behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttleTime<T>(\n  duration: number,\n  scheduler: SchedulerLike = asyncScheduler,\n  config?: ThrottleConfig\n): MonoTypeOperatorFunction<T> {\n  const duration$ = timer(duration, scheduler);\n  return throttle(() => duration$, config);\n}\n", "import { OperatorFunction, ObservableInputTuple } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { identity } from '../util/identity';\nimport { noop } from '../util/noop';\nimport { popResultSelector } from '../util/args';\n\nexport function withLatestFrom<T, O extends unknown[]>(...inputs: [...ObservableInputTuple<O>]): OperatorFunction<T, [T, ...O]>;\n\nexport function withLatestFrom<T, O extends unknown[], R>(\n  ...inputs: [...ObservableInputTuple<O>, (...value: [T, ...O]) => R]\n): OperatorFunction<T, R>;\n\n/**\n * Combines the source Observable with other Observables to create an Observable\n * whose values are calculated from the latest values of each, only when the\n * source emits.\n *\n * <span class=\"informal\">Whenever the source Observable emits a value, it\n * computes a formula using that value plus the latest values from other input\n * Observables, then emits the output of that formula.</span>\n *\n * ![](withLatestFrom.png)\n *\n * `withLatestFrom` combines each value from the source Observable (the\n * instance) with the latest values from the other input Observables only when\n * the source emits a value, optionally using a `project` function to determine\n * the value to be emitted on the output Observable. All input Observables must\n * emit at least one value before the output Observable will emit a value.\n *\n * ## Example\n *\n * On every click event, emit an array with the latest timer event plus the click event\n *\n * ```ts\n * import { fromEvent, interval, withLatestFrom } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const result = clicks.pipe(withLatestFrom(timer));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatest}\n *\n * @param {ObservableInput} other An input Observable to combine with the source\n * Observable. More than one input Observables may be given as argument.\n * @param {Function} [project] Projection function for combining values\n * together. Receives all values in order of the Observables passed, where the\n * first parameter is a value from the source Observable. (e.g.\n * `a.pipe(withLatestFrom(b, c), map(([a1, b1, c1]) => a1 + b1 + c1))`). If this is not\n * passed, arrays will be emitted on the output Observable.\n * @return A function that returns an Observable of projected values from the\n * most recent values from each input Observable, or an array of the most\n * recent values from each input Observable.\n */\nexport function withLatestFrom<T, R>(...inputs: any[]): OperatorFunction<T, R | any[]> {\n  const project = popResultSelector(inputs) as ((...args: any[]) => R) | undefined;\n\n  return operate((source, subscriber) => {\n    const len = inputs.length;\n    const otherValues = new Array(len);\n    // An array of whether or not the other sources have emitted. Matched with them by index.\n    // TODO: At somepoint, we should investigate the performance implications here, and look\n    // into using a `Set()` and checking the `size` to see if we're ready.\n    let hasValue = inputs.map(() => false);\n    // Flipped true when we have at least one value from all other sources and\n    // we are ready to start emitting values.\n    let ready = false;\n\n    // Other sources. Note that here we are not checking `subscriber.closed`,\n    // this causes all inputs to be subscribed to, even if nothing can be emitted\n    // from them. This is an important distinction because subscription constitutes\n    // a side-effect.\n    for (let i = 0; i < len; i++) {\n      innerFrom(inputs[i]).subscribe(\n        createOperatorSubscriber(\n          subscriber,\n          (value) => {\n            otherValues[i] = value;\n            if (!ready && !hasValue[i]) {\n              // If we're not ready yet, flag to show this observable has emitted.\n              hasValue[i] = true;\n              // Intentionally terse code.\n              // If all of our other observables have emitted, set `ready` to `true`,\n              // so we know we can start emitting values, then clean up the `hasValue` array,\n              // because we don't need it anymore.\n              (ready = hasValue.every(identity)) && (hasValue = null!);\n            }\n          },\n          // Completing one of the other sources has\n          // no bearing on the completion of our result.\n          noop\n        )\n      );\n    }\n\n    // Source subscription\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        if (ready) {\n          // We have at least one value from the other sources. Go ahead and emit.\n          const values = [value, ...otherValues];\n          subscriber.next(project ? project(...values) : values);\n        }\n      })\n    );\n  });\n}\n", "import { zip as zipStatic } from '../observable/zip';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { operate } from '../util/lift';\n\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  otherInputsAndProject: [...ObservableInputTuple<A>],\n  project: (...values: Cons<T, A>) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  ...otherInputsAndProject: [...ObservableInputTuple<A>, (...values: Cons<T, A>) => R]\n): OperatorFunction<T, R>;\n\n/**\n * @deprecated Replaced with {@link zipWith}. Will be removed in v8.\n */\nexport function zip<T, R>(...sources: Array<ObservableInput<any> | ((...values: Array<any>) => R)>): OperatorFunction<T, any> {\n  return operate((source, subscriber) => {\n    zipStatic(source as ObservableInput<any>, ...(sources as Array<ObservableInput<any>>)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { zip } from './zip';\n\n/**\n * Subscribes to the source, and the observable inputs provided as arguments, and combines their values, by index, into arrays.\n *\n * What is meant by \"combine by index\": The first value from each will be made into a single array, then emitted,\n * then the second value from each will be combined into a single array and emitted, then the third value\n * from each will be combined into a single array and emitted, and so on.\n *\n * This will continue until it is no longer able to combine values of the same index into an array.\n *\n * After the last value from any one completed source is emitted in an array, the resulting observable will complete,\n * as there is no way to continue \"zipping\" values together by index.\n *\n * Use-cases for this operator are limited. There are memory concerns if one of the streams is emitting\n * values at a much faster rate than the others. Usage should likely be limited to streams that emit\n * at a similar pace, or finite streams of known length.\n *\n * In many cases, authors want `combineLatestWith` and not `zipWith`.\n *\n * @param otherInputs other observable inputs to collate values from.\n * @return A function that returns an Observable that emits items by index\n * combined from the source Observable and provided Observables, in form of an\n * array.\n */\nexport function zipWith<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>> {\n  return zip(...otherInputs);\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ReplaySubject,\n  Subject,\n  fromEvent\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch document\n *\n * Documents are implemented as subjects, so all downstream observables are\n * automatically updated when a new document is emitted.\n *\n * @returns Document subject\n */\nexport function watchDocument(): Subject<Document> {\n  const document$ = new ReplaySubject<Document>(1)\n  fromEvent(document, \"DOMContentLoaded\", { once: true })\n    .subscribe(() => document$.next(document))\n\n  /* Return document */\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounceTime,\n  distinctUntilChanged,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Focus observable\n *\n * Previously, this observer used `focus` and `blur` events to determine whether\n * an element is focused, but this doesn't work if there are focusable elements\n * within the elements itself. A better solutions are `focusin` and `focusout`\n * events, which bubble up the tree and allow for more fine-grained control.\n *\n * `debounceTime` is necessary, because when a focus change happens inside an\n * element, the observable would first emit `false` and then `true` again.\n */\nconst observer$ = merge(\n  fromEvent(document.body, \"focusin\"),\n  fromEvent(document.body, \"focusout\")\n)\n  .pipe(\n    debounceTime(1),\n    startWith(undefined),\n    map(() => getActiveElement() || document.body),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element focus\n *\n * @param el - Element\n *\n * @returns Element focus observable\n */\nexport function watchElementFocus(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      map(active => el.contains(active)),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounce,\n  defer,\n  fromEvent,\n  identity,\n  map,\n  merge,\n  startWith,\n  timer\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element hover\n *\n * The second parameter allows to specify a timeout in milliseconds after which\n * the hover state will be reset to `false`. This is useful for tooltips which\n * should disappear after a certain amount of time, in order to allow the user\n * to move the cursor from the host to the tooltip.\n *\n * @param el - Element\n * @param timeout - Timeout\n *\n * @returns Element hover observable\n */\nexport function watchElementHover(\n  el: HTMLElement, timeout?: number\n): Observable<boolean> {\n  return defer(() => merge(\n    fromEvent(el, \"mouseenter\").pipe(map(() => true)),\n    fromEvent(el, \"mouseleave\").pipe(map(() => false))\n  )\n    .pipe(\n      timeout ? debounce(active => timer(+!active * timeout)) : identity,\n      startWith(el.matches(\":hover\"))\n    )\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { JSX as JSXInternal } from \"preact\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * HTML attributes\n */\ntype Attributes =\n  & JSXInternal.HTMLAttributes\n  & JSXInternal.SVGAttributes\n  & Record<string, any>\n\n/**\n * Child element\n */\ntype Child =\n  | ChildNode\n  | HTMLElement\n  | Text\n  | string\n  | number\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Append a child node to an element\n *\n * @param el - Element\n * @param child - Child node(s)\n */\nfunction appendChild(el: HTMLElement, child: Child | Child[]): void {\n\n  /* Handle primitive types (including raw HTML) */\n  if (typeof child === \"string\" || typeof child === \"number\") {\n    el.innerHTML += child.toString()\n\n  /* Handle nodes */\n  } else if (child instanceof Node) {\n    el.appendChild(child)\n\n  /* Handle nested children */\n  } else if (Array.isArray(child)) {\n    for (const node of child)\n      appendChild(el, node)\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * JSX factory\n *\n * @template T - Element type\n *\n * @param tag - HTML tag\n * @param attributes - HTML attributes\n * @param children - Child elements\n *\n * @returns Element\n */\nexport function h<T extends keyof HTMLElementTagNameMap>(\n  tag: T, attributes?: Attributes | null, ...children: Child[]\n): HTMLElementTagNameMap[T]\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T {\n  const el = document.createElement(tag)\n\n  /* Set attributes, if any */\n  if (attributes)\n    for (const attr of Object.keys(attributes)) {\n      if (typeof attributes[attr] === \"undefined\")\n        continue\n\n      /* Set default attribute or boolean */\n      if (typeof attributes[attr] !== \"boolean\")\n        el.setAttribute(attr, attributes[attr])\n      else\n        el.setAttribute(attr, \"\")\n    }\n\n  /* Append child nodes */\n  for (const child of children)\n    appendChild(el, child)\n\n  /* Return element */\n  return el as T\n}\n\n/* ----------------------------------------------------------------------------\n * Namespace\n * ------------------------------------------------------------------------- */\n\nexport declare namespace h {\n  namespace JSX {\n    type Element = HTMLElement\n    type IntrinsicElements = JSXInternal.IntrinsicElements\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Round a number for display with repository facts\n *\n * This is a reverse-engineered version of GitHub's weird rounding algorithm\n * for stars, forks and all other numbers. While all numbers below `1,000` are\n * returned as-is, bigger numbers are converted to fixed numbers:\n *\n * - `1,049` => `1k`\n * - `1,050` => `1.1k`\n * - `1,949` => `1.9k`\n * - `1,950` => `2k`\n *\n * @param value - Original value\n *\n * @returns Rounded value\n */\nexport function round(value: number): string {\n  if (value > 999) {\n    const digits = +((value - 950) % 1000 > 99)\n    return `${((value + 0.000001) / 1000).toFixed(digits)}k`\n  } else {\n    return value.toString()\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  switchMap,\n  take,\n  throwError\n} from \"rxjs\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create and load a `script` element\n *\n * This function returns an observable that will emit when the script was\n * successfully loaded, or throw an error if it wasn't.\n *\n * @param src - Script URL\n *\n * @returns Script observable\n */\nexport function watchScript(src: string): Observable<void> {\n  const script = h(\"script\", { src })\n  return defer(() => {\n    document.head.appendChild(script)\n    return merge(\n      fromEvent(script, \"load\"),\n      fromEvent(script, \"error\")\n        .pipe(\n          switchMap(() => (\n            throwError(() => new ReferenceError(`Invalid script: ${src}`))\n          ))\n        )\n    )\n      .pipe(\n        map(() => undefined),\n        finalize(() => document.head.removeChild(script)),\n        take(1)\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"../../../script\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementSize {\n  width: number                        /* Element width */\n  height: number                       /* Element height */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Resize observer entry subject\n */\nconst entry$ = new Subject<ResizeObserverEntry>()\n\n/**\n * Resize observer observable\n *\n * This observable will create a `ResizeObserver` on the first subscription\n * and will automatically terminate it when there are no more subscribers.\n * It's quite important to centralize observation in a single `ResizeObserver`,\n * as the performance difference can be quite dramatic, as the link shows.\n *\n * If the browser doesn't have a `ResizeObserver` implementation available, a\n * polyfill is automatically downloaded from unpkg.com. This is also compatible\n * with the built-in privacy plugin, which will download the polyfill and put\n * it alongside the built site for self-hosting.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => (\n  typeof ResizeObserver === \"undefined\"\n    ? watchScript(\"https://unpkg.com/resize-observer-polyfill\")\n    : of(undefined)\n))\n  .pipe(\n    map(() => new ResizeObserver(entries => (\n      entries.forEach(entry => entry$.next(entry))\n    ))),\n    switchMap(observer => merge(NEVER, of(observer)).pipe(\n      finalize(() => observer.disconnect())\n    )),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element size\n *\n * @param el - Element\n *\n * @returns Element size\n */\nexport function getElementSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.offsetWidth,\n    height: el.offsetHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element size\n *\n * This function returns an observable that subscribes to a single internal\n * instance of `ResizeObserver` upon subscription, and emit resize events until\n * termination. Note that this function should not be called with the same\n * element twice, as the first unsubscription will terminate observation.\n *\n * Sadly, we can't use the `DOMRect` objects returned by the observer, because\n * we need the emitted values to be consistent with `getElementSize`, which will\n * return the used values (rounded) and not actual values (unrounded). Thus, we\n * use the `offset*` properties. See the linked GitHub issue.\n *\n * @see https://bit.ly/3m0k3he - GitHub issue\n *\n * @param el - Element\n *\n * @returns Element size observable\n */\nexport function watchElementSize(\n  el: HTMLElement\n): Observable<ElementSize> {\n\n  // Compute target element - since inline elements cannot be observed by the\n  // current `ResizeObserver` implementation as provided by browsers, we need\n  // to determine the first containing parent element and use that one as a\n  // target, while we always compute the actual size from the element.\n  let target = el\n  while (target.clientWidth === 0)\n    if (target.parentElement)\n      target = target.parentElement\n    else\n      break\n\n  // Observe target element and recompute element size on resize - as described\n  // above, the target element is not necessarily the element of interest\n  return observer$.pipe(\n    tap(observer => observer.observe(target)),\n    switchMap(observer => entry$.pipe(\n      filter(entry => entry.target === target),\n      finalize(() => observer.unobserve(target))\n    )),\n    map(() => getElementSize(el)),\n    startWith(getElementSize(el))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ElementSize } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content size (= scroll width and height)\n *\n * @param el - Element\n *\n * @returns Element content size\n */\nexport function getElementContentSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.scrollWidth,\n    height: el.scrollHeight\n  }\n}\n\n/**\n * Retrieve the overflowing container of an element, if any\n *\n * @param el - Element\n *\n * @returns Overflowing container or nothing\n */\nexport function getElementContainer(\n  el: HTMLElement\n): HTMLElement | undefined {\n  let parent = el.parentElement\n  while (parent)\n    if (\n      el.scrollWidth  <= parent.scrollWidth &&\n      el.scrollHeight <= parent.scrollHeight\n    )\n      parent = (el = parent).parentElement\n    else\n      break\n\n  /* Return overflowing container */\n  return parent ? el : undefined\n}\n\n/**\n * Retrieve all overflowing containers of an element, if any\n *\n * Note that this function has a slightly different behavior, so we should at\n * some point consider refactoring how overflowing containers are handled.\n *\n * @param el - Element\n *\n * @returns Overflowing containers\n */\nexport function getElementContainers(\n  el: HTMLElement\n): HTMLElement[] {\n  const containers: HTMLElement[] = []\n\n  // Walk up the DOM tree until we find an overflowing container\n  let parent = el.parentElement\n  while (parent) {\n    if (\n      el.clientWidth  > parent.clientWidth ||\n      el.clientHeight > parent.clientHeight\n    )\n      containers.push(parent)\n\n    // Continue with parent element\n    parent = (el = parent).parentElement\n  }\n\n  // If the page is short, the body might not be overflowing and there might be\n  // no other containers, which is why we need to make sure the body is present\n  if (containers.length === 0)\n    containers.push(document.documentElement)\n\n  // Return overflowing containers\n  return containers\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { watchElementSize } from \"../../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.offsetLeft,\n    y: el.offsetTop\n  }\n}\n\n/**\n * Retrieve absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffsetAbsolute(\n  el: HTMLElement\n): ElementOffset {\n  const rect = el.getBoundingClientRect()\n  return {\n    x: rect.x + window.scrollX,\n    y: rect.y + window.scrollY\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(window, \"load\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementOffset(el)),\n      startWith(getElementOffset(el))\n    )\n}\n\n/**\n * Watch absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffsetAbsolute(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    watchElementOffset(el),\n    watchElementSize(document.body) // @todo find a better way for this\n  )\n    .pipe(\n      map(() => getElementOffsetAbsolute(el)),\n      startWith(getElementOffsetAbsolute(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { ElementOffset } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content offset (= scroll offset)\n *\n * @param el - Element\n *\n * @returns Element content offset\n */\nexport function getElementContentOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.scrollLeft,\n    y: el.scrollTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element content offset\n *\n * @param el - Element\n *\n * @returns Element content offset observable\n */\nexport function watchElementContentOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(el, \"scroll\"),\n    fromEvent(window, \"scroll\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementContentOffset(el)),\n      startWith(getElementContentOffset(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElementContentSize,\n  getElementSize,\n  watchElementContentOffset\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Intersection observer entry subject\n */\nconst entry$ = new Subject<IntersectionObserverEntry>()\n\n/**\n * Intersection observer observable\n *\n * This observable will create an `IntersectionObserver` on first subscription\n * and will automatically terminate it when there are no more subscribers.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new IntersectionObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  }, {\n    threshold: 0\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element visibility\n *\n * @param el - Element\n *\n * @returns Element visibility observable\n */\nexport function watchElementVisibility(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(({ isIntersecting }) => isIntersecting)\n        )\n      )\n    )\n}\n\n/**\n * Watch element boundary\n *\n * This function returns an observable which emits whether the bottom content\n * boundary (= scroll offset) of an element is within a certain threshold.\n *\n * @param el - Element\n * @param threshold - Threshold\n *\n * @returns Element boundary observable\n */\nexport function watchElementBoundary(\n  el: HTMLElement, threshold = 16\n): Observable<boolean> {\n  return watchElementContentOffset(el)\n    .pipe(\n      map(({ y }) => {\n        const visible = getElementSize(el)\n        const content = getElementContentSize(el)\n        return y >= (\n          content.height - visible.height - threshold\n        )\n      }),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getElement } from \"../element\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle\n */\nexport type Toggle =\n  | \"drawer\"                           /* Toggle for drawer */\n  | \"search\"                           /* Toggle for search */\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle map\n */\nconst toggles: Record<Toggle, HTMLInputElement> = {\n  drawer: getElement(\"[data-md-toggle=drawer]\"),\n  search: getElement(\"[data-md-toggle=search]\")\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the value of a toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value\n */\nexport function getToggle(name: Toggle): boolean {\n  return toggles[name].checked\n}\n\n/**\n * Set toggle\n *\n * Simulating a click event seems to be the most cross-browser compatible way\n * of changing the value while also emitting a `change` event. Before, Material\n * used `CustomEvent` to programmatically change the value of a toggle, but this\n * is a much simpler and cleaner solution which doesn't require a polyfill.\n *\n * @param name - Toggle\n * @param value - Toggle value\n */\nexport function setToggle(name: Toggle, value: boolean): void {\n  if (toggles[name].checked !== value)\n    toggles[name].click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value observable\n */\nexport function watchToggle(name: Toggle): Observable<boolean> {\n  const el = toggles[name]\n  return fromEvent(el, \"change\")\n    .pipe(\n      map(() => el.checked),\n      startWith(el.checked)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  share,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../element\"\nimport { getToggle } from \"../toggle\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Keyboard mode\n */\nexport type KeyboardMode =\n  | \"global\"                           /* Global */\n  | \"search\"                           /* Search is open */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Keyboard\n */\nexport interface Keyboard {\n  mode: KeyboardMode                   /* Keyboard mode */\n  type: string                         /* Key type */\n  claim(): void                        /* Key claim */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether an element may receive keyboard input\n *\n * @param el - Element\n * @param type - Key type\n *\n * @returns Test result\n */\nfunction isSusceptibleToKeyboard(\n  el: HTMLElement, type: string\n): boolean {\n  switch (el.constructor) {\n\n    /* Input elements */\n    case HTMLInputElement:\n      /* @ts-expect-error - omit unnecessary type cast */\n      if (el.type === \"radio\")\n        return /^Arrow/.test(type)\n      else\n        return true\n\n    /* Select element and textarea */\n    case HTMLSelectElement:\n    case HTMLTextAreaElement:\n      return true\n\n    /* Everything else */\n    default:\n      return el.isContentEditable\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch composition events\n *\n * @returns Composition observable\n */\nexport function watchComposition(): Observable<boolean> {\n  return merge(\n    fromEvent(window, \"compositionstart\").pipe(map(() => true)),\n    fromEvent(window, \"compositionend\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(false)\n    )\n}\n\n/**\n * Watch keyboard\n *\n * @returns Keyboard observable\n */\nexport function watchKeyboard(): Observable<Keyboard> {\n  const keyboard$ = fromEvent<KeyboardEvent>(window, \"keydown\")\n    .pipe(\n      filter(ev => !(ev.metaKey || ev.ctrlKey)),\n      map(ev => ({\n        mode: getToggle(\"search\") ? \"search\" : \"global\",\n        type: ev.key,\n        claim() {\n          ev.preventDefault()\n          ev.stopPropagation()\n        }\n      } as Keyboard)),\n      filter(({ mode, type }) => {\n        if (mode === \"global\") {\n          const active = getActiveElement()\n          if (typeof active !== \"undefined\")\n            return !isSusceptibleToKeyboard(active, type)\n        }\n        return true\n      }),\n      share()\n    )\n\n  /* Don't emit during composition events - see https://bit.ly/3te3Wl8 */\n  return watchComposition()\n    .pipe(\n      switchMap(active => !active ? keyboard$ : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Subject } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location\n *\n * This function returns a `URL` object (and not `Location`) to normalize the\n * typings across the application. Furthermore, locations need to be tracked\n * without setting them and `Location` is a singleton which represents the\n * current location.\n *\n * @returns URL\n */\nexport function getLocation(): URL {\n  return new URL(location.href)\n}\n\n/**\n * Set location\n *\n * If instant navigation is enabled, this function creates a temporary anchor\n * element, sets the `href` attribute, appends it to the body, clicks it, and\n * then removes it again. The event will bubble up the DOM and trigger be\n * intercepted by the instant loading business logic.\n *\n * Note that we must append and remove the anchor element, or the event will\n * not bubble up the DOM, making it impossible to intercept it.\n *\n * @param url - URL to navigate to\n * @param navigate - Force navigation\n */\nexport function setLocation(\n  url: URL | HTMLLinkElement, navigate = false\n): void {\n  if (feature(\"navigation.instant\") && !navigate) {\n    const el = h(\"a\", { href: url.href })\n    document.body.appendChild(el)\n    el.click()\n    el.remove()\n\n  // If we're not using instant navigation, and the page should not be reloaded\n  // just instruct the browser to navigate to the given URL\n  } else {\n    location.href = url.href\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location\n *\n * @returns Location subject\n */\nexport function watchLocation(): Subject<URL> {\n  return new Subject<URL>()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getOptionalElement } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location hash\n *\n * @returns Location hash\n */\nexport function getLocationHash(): string {\n  return location.hash.slice(1)\n}\n\n/**\n * Set location hash\n *\n * Setting a new fragment identifier via `location.hash` will have no effect\n * if the value doesn't change. When a new fragment identifier is set, we want\n * the browser to target the respective element at all times, which is why we\n * use this dirty little trick.\n *\n * @param hash - Location hash\n */\nexport function setLocationHash(hash: string): void {\n  const el = h(\"a\", { href: hash })\n  el.addEventListener(\"click\", ev => ev.stopPropagation())\n  el.click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location hash\n *\n * @param location$ - Location observable\n *\n * @returns Location hash observable\n */\nexport function watchLocationHash(\n  location$: Observable<URL>\n): Observable<string> {\n  return merge(\n    fromEvent<HashChangeEvent>(window, \"hashchange\"),\n    location$\n  )\n    .pipe(\n      map(getLocationHash),\n      startWith(getLocationHash()),\n      filter(hash => hash.length > 0),\n      shareReplay(1)\n    )\n}\n\n/**\n * Watch location target\n *\n * @param location$ - Location observable\n *\n * @returns Location target observable\n */\nexport function watchLocationTarget(\n  location$: Observable<URL>\n): Observable<HTMLElement> {\n  return watchLocationHash(location$)\n    .pipe(\n      map(id => getOptionalElement(`[id=\"${id}\"]`)!),\n      filter(el => typeof el !== \"undefined\")\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  fromEvent,\n  fromEventPattern,\n  map,\n  merge,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch media query\n *\n * Note that although `MediaQueryList.addListener` is deprecated we have to\n * use it, because it's the only way to ensure proper downward compatibility.\n *\n * @see https://bit.ly/3dUBH2m - GitHub issue\n *\n * @param query - Media query\n *\n * @returns Media observable\n */\nexport function watchMedia(query: string): Observable<boolean> {\n  const media = matchMedia(query)\n  return fromEventPattern<boolean>(next => (\n    media.addListener(() => next(media.matches))\n  ))\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/**\n * Watch print mode\n *\n * @returns Print observable\n */\nexport function watchPrint(): Observable<boolean> {\n  const media = matchMedia(\"print\")\n  return merge(\n    fromEvent(window, \"beforeprint\").pipe(map(() => true)),\n    fromEvent(window, \"afterprint\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Toggle an observable with a media observable\n *\n * @template T - Data type\n *\n * @param query$ - Media observable\n * @param factory - Observable factory\n *\n * @returns Toggled observable\n */\nexport function at<T>(\n  query$: Observable<boolean>, factory: () => Observable<T>\n): Observable<T> {\n  return query$\n    .pipe(\n      switchMap(active => active ? factory() : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  map,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Options\n */\ninterface Options {\n  progress$?: Subject<number>          // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the given URL\n *\n * This function returns an observable that emits the response as a blob and\n * completes, or emits an error if the request failed. The caller can cancel\n * the request by unsubscribing at any time, which will automatically abort\n * the inflight request and complete the observable.\n *\n * Note that we use `XMLHTTPRequest` not because we're nostalgic, but because\n * it's the only way to get progress events for downloads and also allow for\n * cancellation of requests, as the official Fetch API does not support this\n * yet, even though we're already in 2024.\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function request(\n  url: URL | string, options?: Options\n): Observable<Blob> {\n  return new Observable<Blob>(observer => {\n    const req = new XMLHttpRequest()\n    req.open(\"GET\", `${url}`)\n    req.responseType = \"blob\"\n\n    // Handle response\n    req.addEventListener(\"load\", () => {\n      if (req.status >= 200 && req.status < 300) {\n        observer.next(req.response)\n        observer.complete()\n\n      // Every response that is not in the 2xx range is considered an error\n      } else {\n        observer.error(new Error(req.statusText))\n      }\n    })\n\n    // Handle network errors\n    req.addEventListener(\"error\", () => {\n      observer.error(new Error(\"Network error\"))\n    })\n\n    // Handle aborted requests\n    req.addEventListener(\"abort\", () => {\n      observer.complete()\n    })\n\n    // Handle download progress\n    if (typeof options?.progress$ !== \"undefined\") {\n      req.addEventListener(\"progress\", event => {\n        if (event.lengthComputable) {\n          options.progress$!.next((event.loaded / event.total) * 100)\n\n        // Hack: Chromium doesn't report the total number of bytes if content\n        // is compressed, so we need this fallback - see https://t.ly/ZXofI\n        } else {\n          const length = req.getResponseHeader(\"Content-Length\") ?? 0\n          options.progress$!.next((event.loaded / +length) * 100)\n        }\n      })\n\n      // Immediately set progress to 5% to indicate that we're loading\n      options.progress$.next(5)\n    }\n\n    // Send request and automatically abort request upon unsubscription\n    req.send()\n    return () => req.abort()\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Fetch JSON from the given URL\n *\n * @template T - Data type\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestJSON<T>(\n  url: URL | string, options?: Options\n): Observable<T> {\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(body => JSON.parse(body) as T),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch HTML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestHTML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/html\")),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch XML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestXML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/xml\")),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport offset\n */\nexport interface ViewportOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport offset\n *\n * On iOS Safari, viewport offset can be negative due to overflow scrolling.\n * As this may induce strange behaviors downstream, we'll just limit it to 0.\n *\n * @returns Viewport offset\n */\nexport function getViewportOffset(): ViewportOffset {\n  return {\n    x: Math.max(0, scrollX),\n    y: Math.max(0, scrollY)\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport offset\n *\n * @returns Viewport offset observable\n */\nexport function watchViewportOffset(): Observable<ViewportOffset> {\n  return merge(\n    fromEvent(window, \"scroll\", { passive: true }),\n    fromEvent(window, \"resize\", { passive: true })\n  )\n    .pipe(\n      map(getViewportOffset),\n      startWith(getViewportOffset())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport size\n */\nexport interface ViewportSize {\n  width: number                        /* Viewport width */\n  height: number                       /* Viewport height */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport size\n *\n * @returns Viewport size\n */\nexport function getViewportSize(): ViewportSize {\n  return {\n    width:  innerWidth,\n    height: innerHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport size\n *\n * @returns Viewport size observable\n */\nexport function watchViewportSize(): Observable<ViewportSize> {\n  return fromEvent(window, \"resize\", { passive: true })\n    .pipe(\n      map(getViewportSize),\n      startWith(getViewportSize())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  map,\n  shareReplay\n} from \"rxjs\"\n\nimport {\n  ViewportOffset,\n  watchViewportOffset\n} from \"../offset\"\nimport {\n  ViewportSize,\n  watchViewportSize\n} from \"../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport\n */\nexport interface Viewport {\n  offset: ViewportOffset               /* Viewport offset */\n  size: ViewportSize                   /* Viewport size */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport\n *\n * @returns Viewport observable\n */\nexport function watchViewport(): Observable<Viewport> {\n  return combineLatest([\n    watchViewportOffset(),\n    watchViewportSize()\n  ])\n    .pipe(\n      map(([offset, size]) => ({ offset, size })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilKeyChanged,\n  map\n} from \"rxjs\"\n\nimport { Header } from \"~/components\"\n\nimport { getElementOffset } from \"../../element\"\nimport { Viewport } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport relative to element\n *\n * @param el - Element\n * @param options - Options\n *\n * @returns Viewport observable\n */\nexport function watchViewportAt(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Viewport> {\n  const size$ = viewport$\n    .pipe(\n      distinctUntilKeyChanged(\"size\")\n    )\n\n  /* Compute element offset */\n  const offset$ = combineLatest([size$, header$])\n    .pipe(\n      map(() => getElementOffset(el))\n    )\n\n  /* Compute relative viewport, return hot observable */\n  return combineLatest([header$, viewport$, offset$])\n    .pipe(\n      map(([{ height }, { offset, size }, { x, y }]) => ({\n        offset: {\n          x: offset.x - x,\n          y: offset.y - y + height\n        },\n        size\n      }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  mergeWith,\n  share,\n  takeUntil\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Worker message\n */\nexport interface WorkerMessage {\n  type: unknown                        /* Message type */\n  data?: unknown                       /* Message data */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create an observable for receiving from a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message observable\n */\nfunction recv<T>(worker: Worker): Observable<T> {\n  return fromEvent<MessageEvent<T>, T>(worker, \"message\", ev => ev.data)\n}\n\n/**\n * Create a subject for sending to a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message subject\n */\nfunction send<T>(worker: Worker): Subject<T> {\n  const send$ = new Subject<T>()\n  send$.subscribe(data => worker.postMessage(data))\n\n  /* Return message subject */\n  return send$\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a bidirectional communication channel to a web worker\n *\n * @template T - Data type\n *\n * @param url - Worker URL\n * @param worker - Worker\n *\n * @returns Worker subject\n */\nexport function watchWorker<T extends WorkerMessage>(\n  url: string, worker = new Worker(url)\n): Subject<T> {\n  const recv$ = recv<T>(worker)\n  const send$ = send<T>(worker)\n\n  /* Create worker subject and forward messages */\n  const worker$ = new Subject<T>()\n  worker$.subscribe(send$)\n\n  /* Return worker subject */\n  const done$ = send$.pipe(ignoreElements(), endWith(true))\n  return worker$\n    .pipe(\n      ignoreElements(),\n      mergeWith(recv$.pipe(takeUntil(done$))),\n      share()\n    ) as Subject<T>\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getLocation } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Feature flag\n */\nexport type Flag =\n  | \"announce.dismiss\"                 /* Dismissable announcement bar */\n  | \"content.code.annotate\"            /* Code annotations */\n  | \"content.code.copy\"                /* Code copy button */\n  | \"content.lazy\"                     /* Lazy content elements */\n  | \"content.tabs.link\"                /* Link content tabs */\n  | \"content.tooltips\"                 /* Tooltips */\n  | \"header.autohide\"                  /* Hide header */\n  | \"navigation.expand\"                /* Automatic expansion */\n  | \"navigation.indexes\"               /* Section pages */\n  | \"navigation.instant\"               /* Instant navigation */\n  | \"navigation.instant.progress\"      /* Instant navigation progress */\n  | \"navigation.sections\"              /* Section navigation */\n  | \"navigation.tabs\"                  /* Tabs navigation */\n  | \"navigation.tabs.sticky\"           /* Tabs navigation (sticky) */\n  | \"navigation.top\"                   /* Back-to-top button */\n  | \"navigation.tracking\"              /* Anchor tracking */\n  | \"search.highlight\"                 /* Search highlighting */\n  | \"search.share\"                     /* Search sharing */\n  | \"search.suggest\"                   /* Search suggestions */\n  | \"toc.follow\"                       /* Following table of contents */\n  | \"toc.integrate\"                    /* Integrated table of contents */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Translation\n */\nexport type Translation =\n  | \"clipboard.copy\"                   /* Copy to clipboard */\n  | \"clipboard.copied\"                 /* Copied to clipboard */\n  | \"search.result.placeholder\"        /* Type to start searching */\n  | \"search.result.none\"               /* No matching documents */\n  | \"search.result.one\"                /* 1 matching document */\n  | \"search.result.other\"              /* # matching documents */\n  | \"search.result.more.one\"           /* 1 more on this page */\n  | \"search.result.more.other\"         /* # more on this page */\n  | \"search.result.term.missing\"       /* Missing */\n  | \"select.version\"                   /* Version selector */\n\n/**\n * Translations\n */\nexport type Translations =\n  Record<Translation, string>\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Versioning\n */\nexport interface Versioning {\n  provider: \"mike\"                     /* Version provider */\n  default?: string | string[]          /* Default version */\n  alias?: boolean                      /* Show alias */\n}\n\n/**\n * Configuration\n */\nexport interface Config {\n  base: string                         /* Base URL */\n  features: Flag[]                     /* Feature flags */\n  translations: Translations           /* Translations */\n  search: string                       /* Search worker URL */\n  tags?: Record<string, string>        /* Tags mapping */\n  version?: Versioning                 /* Versioning */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration and make base URL absolute\n */\nconst script = getElement(\"#__config\")\nconst config: Config = JSON.parse(script.textContent!)\nconfig.base = `${new URL(config.base, getLocation())}`\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration\n *\n * @returns Global configuration\n */\nexport function configuration(): Config {\n  return config\n}\n\n/**\n * Check whether a feature flag is enabled\n *\n * @param flag - Feature flag\n *\n * @returns Test result\n */\nexport function feature(flag: Flag): boolean {\n  return config.features.includes(flag)\n}\n\n/**\n * Retrieve the translation for the given key\n *\n * @param key - Key to be translated\n * @param value - Positional value, if any\n *\n * @returns Translation\n */\nexport function translation(\n  key: Translation, value?: string | number\n): string {\n  return typeof value !== \"undefined\"\n    ? config.translations[key].replace(\"#\", value.toString())\n    : config.translations[key]\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type\n */\nexport type ComponentType =\n  | \"announce\"                         /* Announcement bar */\n  | \"container\"                        /* Container */\n  | \"consent\"                          /* Consent */\n  | \"content\"                          /* Content */\n  | \"dialog\"                           /* Dialog */\n  | \"header\"                           /* Header */\n  | \"header-title\"                     /* Header title */\n  | \"header-topic\"                     /* Header topic */\n  | \"main\"                             /* Main area */\n  | \"outdated\"                         /* Version warning */\n  | \"palette\"                          /* Color palette */\n  | \"progress\"                         /* Progress indicator */\n  | \"search\"                           /* Search */\n  | \"search-query\"                     /* Search input */\n  | \"search-result\"                    /* Search results */\n  | \"search-share\"                     /* Search sharing */\n  | \"search-suggest\"                   /* Search suggestions */\n  | \"sidebar\"                          /* Sidebar */\n  | \"skip\"                             /* Skip link */\n  | \"source\"                           /* Repository information */\n  | \"tabs\"                             /* Navigation tabs */\n  | \"toc\"                              /* Table of contents */\n  | \"top\"                              /* Back-to-top button */\n\n/**\n * Component\n *\n * @template T - Component type\n * @template U - Reference type\n */\nexport type Component<\n  T extends {} = {},\n  U extends HTMLElement = HTMLElement\n> =\n  T & {\n    ref: U                             /* Component reference */\n  }\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type map\n */\ninterface ComponentTypeMap {\n  \"announce\": HTMLElement              /* Announcement bar */\n  \"container\": HTMLElement             /* Container */\n  \"consent\": HTMLElement               /* Consent */\n  \"content\": HTMLElement               /* Content */\n  \"dialog\": HTMLElement                /* Dialog */\n  \"header\": HTMLElement                /* Header */\n  \"header-title\": HTMLElement          /* Header title */\n  \"header-topic\": HTMLElement          /* Header topic */\n  \"main\": HTMLElement                  /* Main area */\n  \"outdated\": HTMLElement              /* Version warning */\n  \"palette\": HTMLElement               /* Color palette */\n  \"progress\": HTMLElement              /* Progress indicator */\n  \"search\": HTMLElement                /* Search */\n  \"search-query\": HTMLInputElement     /* Search input */\n  \"search-result\": HTMLElement         /* Search results */\n  \"search-share\": HTMLAnchorElement    /* Search sharing */\n  \"search-suggest\": HTMLElement        /* Search suggestions */\n  \"sidebar\": HTMLElement               /* Sidebar */\n  \"skip\": HTMLAnchorElement            /* Skip link */\n  \"source\": HTMLAnchorElement          /* Repository information */\n  \"tabs\": HTMLElement                  /* Navigation tabs */\n  \"toc\": HTMLElement                   /* Table of contents */\n  \"top\": HTMLAnchorElement             /* Back-to-top button */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the element for a given component or throw a reference error\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getComponentElement<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T] {\n  return getElement(`[data-md-component=${type}]`, node)\n}\n\n/**\n * Retrieve all elements for a given component\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getComponentElements<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T][] {\n  return getElements(`[data-md-component=${type}]`, node)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Announcement bar\n */\nexport interface Announce {\n  hash: number                        /* Content hash */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar observable\n */\nexport function watchAnnounce(\n  el: HTMLElement\n): Observable<Announce> {\n  const button = getElement(\".md-typeset > :first-child\", el)\n  return fromEvent(button, \"click\", { once: true })\n    .pipe(\n      map(() => getElement(\".md-typeset\", el)),\n      map(content => ({ hash: __md_hash(content.innerHTML) }))\n    )\n}\n\n/**\n * Mount announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar component observable\n */\nexport function mountAnnounce(\n  el: HTMLElement\n): Observable<Component<Announce>> {\n  if (!feature(\"announce.dismiss\") || !el.childElementCount)\n    return EMPTY\n\n  /* Support instant navigation - see https://t.ly/3FTme */\n  if (!el.hidden) {\n    const content = getElement(\".md-typeset\", el)\n    if (__md_hash(content.innerHTML) === __md_get(\"__announce\"))\n      el.hidden = true\n  }\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Announce>()\n    push$.subscribe(({ hash }) => {\n      el.hidden = true\n\n      /* Persist preference in local storage */\n      __md_set<number>(\"__announce\", hash)\n    })\n\n    /* Create and return component */\n    return watchAnnounce(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Consent\n */\nexport interface Consent {\n  hidden: boolean                      /* Consent is hidden */\n}\n\n/**\n * Consent defaults\n */\nexport interface ConsentDefaults {\n  analytics?: boolean                  /* Consent for Analytics */\n  github?: boolean                     /* Consent for GitHub */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent observable\n */\nexport function watchConsent(\n  el: HTMLElement, { target$ }: WatchOptions\n): Observable<Consent> {\n  return target$\n    .pipe(\n      map(target => ({ hidden: target !== el }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent component observable\n */\nexport function mountConsent(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Consent>> {\n  const internal$ = new Subject<Consent>()\n  internal$.subscribe(({ hidden }) => {\n    el.hidden = hidden\n  })\n\n  /* Create and return component */\n  return watchConsent(el, options)\n    .pipe(\n      tap(state => internal$.next(state)),\n      finalize(() => internal$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip style\n */\nexport type TooltipStyle =\n  | \"inline\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a tooltip\n *\n * @param id - Tooltip identifier\n * @param style - Tooltip style\n *\n * @returns Element\n */\nexport function renderTooltip(\n  id?: string, style?: TooltipStyle\n): HTMLElement {\n  if (style === \"inline\") { // @todo refactor control flow\n    return (\n      <div class=\"md-tooltip md-tooltip--inline\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  } else {\n    return (\n      <div class=\"md-tooltip\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  }\n}\n\n// @todo: rename\nexport function renderInlineTooltip2(\n  ...children: ComponentChild[]\n): HTMLElement {\n  return (\n    <div class=\"md-tooltip2\" role=\"tooltip\">\n      <div class=\"md-tooltip2__inner md-typeset\">\n        {children}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\nimport { renderTooltip } from \"../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render an annotation\n *\n * @param id - Annotation identifier\n * @param prefix - Tooltip identifier prefix\n *\n * @returns Element\n */\nexport function renderAnnotation(\n  id: string | number, prefix?: string\n): HTMLElement {\n  prefix = prefix ? `${prefix}_annotation_${id}` : undefined\n\n  /* Render tooltip with anchor, if given */\n  if (prefix) {\n    const anchor = prefix ? `#${prefix}` : undefined\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <a href={anchor} class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </a>\n      </aside>\n    )\n  } else {\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <span class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </span>\n      </aside>\n    )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a 'copy-to-clipboard' button\n *\n * @param id - Unique identifier\n *\n * @returns Element\n */\nexport function renderClipboardButton(id: string): HTMLElement {\n  return (\n    <button\n      class=\"md-clipboard md-icon\"\n      title={translation(\"clipboard.copy\")}\n      data-clipboard-target={`#${id} > code`}\n    ></button>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\nimport { ComponentChild } from \"preact\"\n\nimport { configuration, feature, translation } from \"~/_\"\nimport { SearchItem } from \"~/integrations/search\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Render flag\n */\nconst enum Flag {\n  TEASER = 1,                          /* Render teaser */\n  PARENT = 2                           /* Render as parent */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper function\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search document\n *\n * @param document - Search document\n * @param flag - Render flags\n *\n * @returns Element\n */\nfunction renderSearchDocument(\n  document: SearchItem, flag: Flag\n): HTMLElement {\n  const parent = flag & Flag.PARENT\n  const teaser = flag & Flag.TEASER\n\n  /* Render missing query terms */\n  const missing = Object.keys(document.terms)\n    .filter(key => !document.terms[key])\n    .reduce<ComponentChild[]>((list, key) => [\n      ...list, <del>{escapeHTML(key)}</del>, \" \"\n    ], [])\n    .slice(0, -1)\n\n  /* Assemble query string for highlighting */\n  const config = configuration()\n  const url = new URL(document.location, config.base)\n  if (feature(\"search.highlight\"))\n    url.searchParams.set(\"h\", Object.entries(document.terms)\n      .filter(([, match]) => match)\n      .reduce((highlight, [value]) => `${highlight} ${value}`.trim(), \"\")\n    )\n\n  /* Render article or section, depending on flags */\n  const { tags } = configuration()\n  return (\n    <a href={`${url}`} class=\"md-search-result__link\" tabIndex={-1}>\n      <article\n        class=\"md-search-result__article md-typeset\"\n        data-md-score={document.score.toFixed(2)}\n      >\n        {parent > 0 && <div class=\"md-search-result__icon md-icon\"></div>}\n        {parent > 0 && <h1>{document.title}</h1>}\n        {parent <= 0 && <h2>{document.title}</h2>}\n        {teaser > 0 && document.text.length > 0 &&\n          document.text\n        }\n        {document.tags && document.tags.map(tag => {\n          const type = tags\n            ? tag in tags\n              ? `md-tag-icon md-tag--${tags[tag]}`\n              : \"md-tag-icon\"\n            : \"\"\n          return (\n            <span class={`md-tag ${type}`}>{tag}</span>\n          )\n        })}\n        {teaser > 0 && missing.length > 0 &&\n          <p class=\"md-search-result__terms\">\n            {translation(\"search.result.term.missing\")}: {...missing}\n          </p>\n        }\n      </article>\n    </a>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search result\n *\n * @param result - Search result\n *\n * @returns Element\n */\nexport function renderSearchResultItem(\n  result: SearchItem[]\n): HTMLElement {\n  const threshold = result[0].score\n  const docs = [...result]\n\n  const config = configuration()\n\n  /* Find and extract parent article */\n  const parent = docs.findIndex(doc => {\n    const l = `${new URL(doc.location, config.base)}` // @todo hacky\n    return !l.includes(\"#\")\n  })\n  const [article] = docs.splice(parent, 1)\n\n  /* Determine last index above threshold */\n  let index = docs.findIndex(doc => doc.score < threshold)\n  if (index === -1)\n    index = docs.length\n\n  /* Partition sections */\n  const best = docs.slice(0, index)\n  const more = docs.slice(index)\n\n  /* Render children */\n  const children = [\n    renderSearchDocument(article, Flag.PARENT | +(!parent && index === 0)),\n    ...best.map(section => renderSearchDocument(section, Flag.TEASER)),\n    ...more.length ? [\n      <details class=\"md-search-result__more\">\n        <summary tabIndex={-1}>\n          <div>\n            {more.length > 0 && more.length === 1\n              ? translation(\"search.result.more.one\")\n              : translation(\"search.result.more.other\", more.length)\n            }\n          </div>\n        </summary>\n        {...more.map(section => renderSearchDocument(section, Flag.TEASER))}\n      </details>\n    ] : []\n  ]\n\n  /* Render search result */\n  return (\n    <li class=\"md-search-result__item\">\n      {children}\n    </li>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SourceFacts } from \"~/components\"\nimport { h, round } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render repository facts\n *\n * @param facts - Repository facts\n *\n * @returns Element\n */\nexport function renderSourceFacts(facts: SourceFacts): HTMLElement {\n  return (\n    <ul class=\"md-source__facts\">\n      {Object.entries(facts).map(([key, value]) => (\n        <li class={`md-source__fact md-source__fact--${key}`}>\n          {typeof value === \"number\" ? round(value) : value}\n        </li>\n      ))}\n    </ul>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tabbed control type\n */\ntype TabbedControlType =\n  | \"prev\"\n  | \"next\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render control for content tabs\n *\n * @param type - Control type\n *\n * @returns Element\n */\nexport function renderTabbedControl(\n  type: TabbedControlType\n): HTMLElement {\n  const classes = `tabbed-control tabbed-control--${type}`\n  return (\n    <div class={classes} hidden>\n      <button class=\"tabbed-button\" tabIndex={-1} aria-hidden=\"true\"></button>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a table inside a wrapper to improve scrolling on mobile\n *\n * @param table - Table element\n *\n * @returns Element\n */\nexport function renderTable(table: HTMLElement): HTMLElement {\n  return (\n    <div class=\"md-typeset__scrollwrap\">\n      <div class=\"md-typeset__table\">\n        {table}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { configuration, translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Version properties\n */\nexport interface VersionProperties {\n  hidden?: boolean                     /* Version is hidden */\n}\n\n/**\n * Version\n */\nexport interface Version {\n  version: string                      /* Version identifier */\n  title: string                        /* Version title */\n  aliases: string[]                    /* Version aliases */\n  properties?: VersionProperties       /* Version properties */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version\n *\n * @param version - Version\n *\n * @returns Element\n */\nfunction renderVersion(version: Version): HTMLElement {\n  const config = configuration()\n\n  /* Ensure trailing slash - see https://bit.ly/3rL5u3f */\n  const url = new URL(`../${version.version}/`, config.base)\n  return (\n    <li class=\"md-version__item\">\n      <a href={`${url}`} class=\"md-version__link\">\n        {version.title}\n        {config.version?.alias && version.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {version.aliases[0]}\n          </span>\n        )}\n      </a>\n    </li>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version selector\n *\n * @param versions - Versions\n * @param active - Active version\n *\n * @returns Element\n */\nexport function renderVersionSelector(\n  versions: Version[], active: Version\n): HTMLElement {\n  const config = configuration()\n  versions = versions.filter(version => !version.properties?.hidden)\n  return (\n    <div class=\"md-version\">\n      <button\n        class=\"md-version__current\"\n        aria-label={translation(\"select.version\")}\n      >\n        {active.title}\n        {config.version?.alias && active.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {active.aliases[0]}\n          </span>\n        )}\n      </button>\n      <ul class=\"md-version__list\">\n        {versions.map(renderVersion)}\n      </ul>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  BehaviorSubject,\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  combineLatest,\n  debounce,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  filter,\n  finalize,\n  first,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  queueScheduler,\n  share,\n  startWith,\n  switchMap,\n  tap,\n  throttleTime,\n  timer,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  Viewport,\n  getElement,\n  getElementContainers,\n  getElementOffsetAbsolute,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderInlineTooltip2 } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      // Tooltip is active\n  offset: ElementOffset                // Tooltip offset\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dependencies\n */\ninterface Dependencies {\n  content$: Observable<HTMLElement>    // Tooltip content observable\n  viewport$: Observable<Viewport>      // Viewport observable\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function tracks the tooltip host element, and deduces the active state\n * and offset of the tooltip from it. The active state is determined by whether\n * the host element is focused or hovered, and the offset is determined by the\n * host element's absolute position in the document.\n *\n * @param el - Tooltip host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip2(\n  el: HTMLElement\n): Observable<Tooltip> {\n\n  // Compute whether tooltip should be shown - we need to watch both focus and\n  // hover events on the host element and emit if one of them is active. In case\n  // of a hover event, we keep the element visible for a short amount of time\n  // after the pointer left the host element for a better user experience.\n  const active$ =\n    combineLatest([\n      watchElementFocus(el),\n      watchElementHover(el)\n    ])\n      .pipe(\n        map(([focus, hover]) => focus || hover),\n        distinctUntilChanged()\n      )\n\n  // We need to determine all parent elements of the host element that are\n  // currently scrollable, as they might affect the position of the tooltip\n  // depending on their horizontal of vertical offset. We must track all of\n  // them and recompute the position of the tooltip if they change.\n  const offset$ =\n    defer(() => getElementContainers(el)).pipe(\n      mergeMap(watchElementContentOffset),\n      throttleTime(1),\n      map(() => getElementOffsetAbsolute(el))\n    )\n\n  // Only track parent elements and compute offset of the tooltip host if the\n  // tooltip should be shown - we defer the computation of the offset until the\n  // tooltip becomes active for the first time. This is necessary, because we\n  // must also keep the tooltip active as long as it is focused or hovered.\n  return active$.pipe(\n    first(active => active),\n    switchMap(() => combineLatest([active$, offset$])),\n    map(([active, offset]) => ({ active, offset })),\n    share()\n  )\n}\n\n/**\n * Mount tooltip\n *\n * This function renders a tooltip with the content from the provided `content$`\n * observable as passed via the dependencies. If the returned element has a role\n * of type `dialog`, the tooltip is considered to be interactive, and rendered\n * either above or below the host element, depending on the available space.\n *\n * If the returned element has a role of type `tooltip`, the tooltip is always\n * rendered below the host element and considered to be non-interactive. This\n * allows us to reuse the same positioning logic for both interactive and\n * non-interactive tooltips, as it is largely the same.\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip2(\n  el: HTMLElement, dependencies: Dependencies\n): Observable<Component<Tooltip>> {\n  const { content$, viewport$ } = dependencies\n\n  // Compute unique tooltip id - this is necessary to associate the tooltip host\n  // element with the tooltip element for ARIA purposes\n  const id = `__tooltip2_${sequence++}`\n\n  // Create component on subscription\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n\n    // Create subject to track tooltip presence and visibility - we use another\n    // purely internal subject to track the tooltip's presence and visibility,\n    // as the tooltip should be visible if the host element or tooltip itself\n    // is focused or hovered to allow for smooth pointer migration\n    const show$ = new BehaviorSubject(false)\n    push$.pipe(ignoreElements(), endWith(false))\n      .subscribe(show$)\n\n    // Create observable controlling tooltip element - we create and attach the\n    // tooltip only if it is actually present, in order to keep the number of\n    // elements low. We need to keep the tooltip visible for a short time after\n    // the pointer left the host element or tooltip itself. For this, we use an\n    // inner subscription to the tooltip observable, which we terminate when the\n    // tooltip should not be shown, automatically removing the element. Moreover\n    // we use the queue scheduler, which will schedule synchronously in case the\n    // tooltip should be shown, and asynchronously if it should be hidden.\n    const node$ = show$.pipe(\n      debounce(active => timer(+!active * 250, queueScheduler)),\n      distinctUntilChanged(),\n      switchMap(active => active ? content$ : EMPTY),\n      tap(node => node.id = id),\n      share()\n    )\n\n    // Compute tooltip presence and visibility - the tooltip should be shown if\n    // the host element or the tooltip itself is focused or hovered\n    combineLatest([\n      push$.pipe(map(({ active }) => active)),\n      node$.pipe(\n        switchMap(node => watchElementHover(node, 250)),\n        startWith(false)\n      )\n    ])\n      .pipe(map(states => states.some(active => active)))\n      .subscribe(show$)\n\n    // Compute tooltip origin - we need to compute the tooltip origin depending\n    // on the position of the host element, the viewport size, as well as the\n    // actual size of the tooltip, if positioned above. The tooltip must about\n    // to be rendered for this to be correct, which is why we do it here.\n    const origin$ = show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, viewport$),\n      map(([_, node, { size }]) => {\n        const host = el.getBoundingClientRect()\n        const x = host.width / 2\n\n        // If the tooltip is non-interactive, we always render it below the\n        // actual element because all operating systems do it that way\n        if (node.role === \"tooltip\") {\n          return { x, y: 8 + host.height }\n\n        // Otherwise, we determine where there is more space, and render the\n        // tooltip either above or below the host element\n        } else if (host.y >= size.height / 2) {\n          const { height } = getElementSize(node)\n          return { x, y: -16 - height }\n        } else {\n          return { x, y: +16 + host.height }\n        }\n      })\n    )\n\n    // Update tooltip position - we always need to update the position of the\n    // tooltip, as it might change depending on the viewport offset of the host\n    combineLatest([node$, push$, origin$])\n      .subscribe(([node, { offset }, origin]) => {\n        node.style.setProperty(\"--md-tooltip-host-x\", `${offset.x}px`)\n        node.style.setProperty(\"--md-tooltip-host-y\", `${offset.y}px`)\n\n        // Update tooltip origin - this is mainly set to determine the position\n        // of the tooltip tail, to show the direction it is originating from\n        node.style.setProperty(\"--md-tooltip-x\", `${origin.x}px`)\n        node.style.setProperty(\"--md-tooltip-y\", `${origin.y}px`)\n\n        // Update tooltip render location, i.e., whether the tooltip is shown\n        // above or below the host element, depending on the available space\n        node.classList.toggle(\"md-tooltip2--top\",    origin.y <  0)\n        node.classList.toggle(\"md-tooltip2--bottom\", origin.y >= 0)\n      })\n\n    // Update tooltip width - we only explicitly set the width of the tooltip\n    // if it is non-interactive, in case it should always be rendered centered\n    show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, (_, node) => node),\n      filter(node => node.role === \"tooltip\")\n    )\n      .subscribe(node => {\n        const size = getElementSize(getElement(\":scope > *\", node))\n\n        // Set tooltip width and remove tail by setting it to a width of zero -\n        // if authors want to keep the tail, we can move this to CSS later\n        node.style.setProperty(\"--md-tooltip-width\", `${size.width}px`)\n        node.style.setProperty(\"--md-tooltip-tail\",  `${0}px`)\n      })\n\n    // Update tooltip visibility - we defer to the next animation frame, because\n    // the tooltip must first be added to the document before we make it appear,\n    // or it will appear instantly without delay. Additionally, we need to keep\n    // the tooltip visible for a short time after the pointer left the host.\n    show$.pipe(\n      distinctUntilChanged(),\n      observeOn(animationFrameScheduler),\n      withLatestFrom(node$)\n    )\n      .subscribe(([active, node]) => {\n        node.classList.toggle(\"md-tooltip2--active\", active)\n      })\n\n    // Set up ARIA attributes when tooltip is visible\n    combineLatest([\n      show$.pipe(filter(active => active)),\n      node$\n    ])\n      .subscribe(([_, node]) => {\n        if (node.role === \"dialog\") {\n          el.setAttribute(\"aria-controls\", id)\n          el.setAttribute(\"aria-haspopup\", \"dialog\")\n        } else {\n          el.setAttribute(\"aria-describedby\", id)\n        }\n      })\n\n    // Remove ARIA attributes when tooltip is hidden\n    show$.pipe(filter(active => !active))\n      .subscribe(() => {\n        el.removeAttribute(\"aria-controls\")\n        el.removeAttribute(\"aria-describedby\")\n        el.removeAttribute(\"aria-haspopup\")\n      })\n\n    // Create and return component\n    return watchTooltip2(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n\n// ----------------------------------------------------------------------------\n\n/**\n * Mount inline tooltip\n *\n * @todo refactor this function\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n * @param container - Container\n *\n * @returns Tooltip component observable\n */\nexport function mountInlineTooltip2(\n  el: HTMLElement, { viewport$ }: { viewport$: Observable<Viewport> },\n  container = document.body\n): Observable<Component<Tooltip>> {\n  return mountTooltip2(el, {\n    content$: new Observable<HTMLElement>(observer => {\n      const title = el.title\n      const node = renderInlineTooltip2(title)\n      observer.next(node)\n      el.removeAttribute(\"title\")\n      // Append tooltip and remove on unsubscription\n      container.append(node)\n      return () => {\n        node.remove()\n        el.setAttribute(\"title\", title)\n      }\n    }),\n    viewport$\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  delay,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  switchMap,\n  take,\n  takeUntil,\n  tap,\n  throttleTime,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getActiveElement,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementOffset,\n  watchElementVisibility\n} from \"~/browser\"\n\nimport { Component } from \"../../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Annotation\n */\nexport interface Annotation {\n  active: boolean                      /* Annotation is active */\n  offset: ElementOffset                /* Annotation offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation observable\n */\nexport function watchAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Annotation> {\n  const offset$ = defer(() => combineLatest([\n    watchElementOffset(el),\n    watchElementContentOffset(container)\n  ]))\n    .pipe(\n      map(([{ x, y }, scroll]): ElementOffset => {\n        const { width, height } = getElementSize(el)\n        return ({\n          x: x - scroll.x + width  / 2,\n          y: y - scroll.y + height / 2\n        })\n      })\n    )\n\n  /* Actively watch annotation on focus */\n  return watchElementFocus(el)\n    .pipe(\n      switchMap(active => offset$\n        .pipe(\n          map(offset => ({ active, offset })),\n          take(+!active || Infinity)\n        )\n      )\n    )\n}\n\n/**\n * Mount annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotation(\n  el: HTMLElement, container: HTMLElement, { target$ }: MountOptions\n): Observable<Component<Annotation>> {\n  const [tooltip, index] = Array.from(el.children)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Annotation>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        el.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        el.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.style.removeProperty(\"--md-tooltip-x\")\n        el.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Start animation only when annotation is visible */\n    watchElementVisibility(el)\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(visible => {\n          el.toggleAttribute(\"data-md-visible\", visible)\n        })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active)\n            el.prepend(tooltip)\n          else\n            tooltip.remove()\n        },\n\n        /* Handle complete */\n        complete() {\n          el.prepend(tooltip)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next(origin) {\n            if (origin)\n              el.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n            else\n              el.style.removeProperty(\"--md-tooltip-0\")\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-tooltip-0\")\n          }\n        })\n\n    /* Allow to copy link without scrolling to anchor */\n    fromEvent<MouseEvent>(index, \"click\")\n      .pipe(\n        takeUntil(done$),\n        filter(ev => !(ev.metaKey || ev.ctrlKey))\n      )\n        .subscribe(ev => {\n          ev.stopPropagation()\n          ev.preventDefault()\n        })\n\n    /* Allow to open link in new tab or blur on close */\n    fromEvent<MouseEvent>(index, \"mousedown\")\n      .pipe(\n        takeUntil(done$),\n        withLatestFrom(push$)\n      )\n        .subscribe(([ev, { active }]) => {\n\n          /* Open in new tab */\n          if (ev.button !== 0 || ev.metaKey || ev.ctrlKey) {\n            ev.preventDefault()\n\n          /* Close annotation */\n          } else if (active) {\n            ev.preventDefault()\n\n            /* Focus parent annotation, if any */\n            const parent = el.parentElement!.closest(\".md-annotation\")\n            if (parent instanceof HTMLElement)\n              parent.focus()\n            else\n              getActiveElement()?.blur()\n          }\n        })\n\n    /* Open and focus annotation on location target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(target => target === tooltip),\n        delay(125)\n      )\n        .subscribe(() => el.focus())\n\n    /* Create and return component */\n    return watchAnnotation(el, container)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  endWith,\n  finalize,\n  ignoreElements,\n  merge,\n  share,\n  takeUntil\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  getOptionalElement\n} from \"~/browser\"\nimport { renderAnnotation } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotation\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find all annotation hosts in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation hosts\n */\nfunction findHosts(container: HTMLElement): HTMLElement[] {\n  return container.tagName === \"CODE\"\n    ? getElements(\".c, .c1, .cm\", container)\n    : [container]\n}\n\n/**\n * Find all annotation markers in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation markers\n */\nfunction findMarkers(container: HTMLElement): Text[] {\n  const markers: Text[] = []\n  for (const el of findHosts(container)) {\n    const nodes: Text[] = []\n\n    /* Find all text nodes in current element */\n    const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n    for (let node = it.nextNode(); node; node = it.nextNode())\n      nodes.push(node as Text)\n\n    /* Find all markers in each text node */\n    for (let text of nodes) {\n      let match: RegExpExecArray | null\n\n      /* Split text at marker and add to list */\n      while ((match = /(\\(\\d+\\))(!)?/.exec(text.textContent!))) {\n        const [, id, force] = match\n        if (typeof force === \"undefined\") {\n          const marker = text.splitText(match.index)\n          text = marker.splitText(id.length)\n          markers.push(marker)\n\n        /* Replace entire text with marker */\n        } else {\n          text.textContent = id\n          markers.push(text)\n          break\n        }\n      }\n    }\n  }\n  return markers\n}\n\n/**\n * Swap the child nodes of two elements\n *\n * @param source - Source element\n * @param target - Target element\n */\nfunction swap(source: HTMLElement, target: HTMLElement): void {\n  target.append(...Array.from(source.childNodes))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation list\n *\n * This function analyzes the containing code block and checks for markers\n * referring to elements in the given annotation list. If no markers are found,\n * the list is left untouched. Otherwise, list elements are rendered as\n * annotations inside the code block.\n *\n * @param el - Annotation list element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationList(\n  el: HTMLElement, container: HTMLElement, { target$, print$ }: MountOptions\n): Observable<Component<Annotation>> {\n\n  /* Compute prefix for tooltip anchors */\n  const parent = container.closest(\"[id]\")\n  const prefix = parent?.id\n\n  /* Find and replace all markers with empty annotations */\n  const annotations = new Map<string, HTMLElement>()\n  for (const marker of findMarkers(container)) {\n    const [, id] = marker.textContent!.match(/\\((\\d+)\\)/)!\n    if (getOptionalElement(`:scope > li:nth-child(${id})`, el)) {\n      annotations.set(id, renderAnnotation(id, prefix))\n      marker.replaceWith(annotations.get(id)!)\n    }\n  }\n\n  /* Keep list if there are no annotations to render */\n  if (annotations.size === 0)\n    return EMPTY\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n    /* Retrieve container pairs for swapping */\n    const pairs: [HTMLElement, HTMLElement][] = []\n    for (const [id, annotation] of annotations)\n      pairs.push([\n        getElement(\".md-typeset\", annotation),\n        getElement(`:scope > li:nth-child(${id})`, el)\n      ])\n\n    /* Handle print mode - see https://bit.ly/3rgPdpt */\n    print$.pipe(takeUntil(done$))\n      .subscribe(active => {\n        el.hidden = !active\n\n        /* Add class to discern list element */\n        el.classList.toggle(\"md-annotation-list\", active)\n\n        /* Show annotations in code block or list (print) */\n        for (const [inner, child] of pairs)\n          if (!active)\n            swap(child, inner)\n          else\n            swap(inner, child)\n      })\n\n    /* Create and return component */\n    return merge(...[...annotations]\n      .map(([, annotation]) => (\n        mountAnnotation(annotation, container, { target$ })\n      ))\n    )\n      .pipe(\n        finalize(() => push$.complete()),\n        share()\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable, defer } from \"rxjs\"\n\nimport { Component } from \"../../../_\"\nimport { Annotation } from \"../_\"\nimport { mountAnnotationList } from \"../list\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find list element directly following a block\n *\n * @param el - Annotation block element\n *\n * @returns List element or nothing\n */\nfunction findList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation block\n *\n * @param el - Annotation block element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Annotation>> {\n  return defer(() => {\n    const list = findList(el)\n    return typeof list !== \"undefined\"\n      ? mountAnnotationList(list, el, options)\n      : EMPTY\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  map,\n  mergeWith,\n  switchMap,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  getElementContentSize,\n  getElements,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"~/components/tooltip2\"\nimport { renderClipboardButton } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotationList\n} from \"../../annotation\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Code block overflow\n */\nexport interface Overflow {\n  scrollable: boolean                  /* Code block overflows */\n}\n\n/**\n * Code block\n */\nexport type CodeBlock =\n  | Overflow\n  | Annotation\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for code blocks\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find candidate list element directly following a code block\n *\n * @param el - Code block element\n *\n * @returns List element or nothing\n */\nfunction findCandidateList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findCandidateList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch code block\n *\n * This function monitors size changes of the viewport, as well as switches of\n * content tabs with embedded code blocks, as both may trigger overflow.\n *\n * @param el - Code block element\n *\n * @returns Code block observable\n */\nexport function watchCodeBlock(\n  el: HTMLElement\n): Observable<Overflow> {\n  return watchElementSize(el)\n    .pipe(\n      map(({ width }) => {\n        const content = getElementContentSize(el)\n        return {\n          scrollable: content.width > width\n        }\n      }),\n      distinctUntilKeyChanged(\"scrollable\")\n    )\n}\n\n/**\n * Mount code block\n *\n * This function ensures that an overflowing code block is focusable through\n * keyboard, so it can be scrolled without a mouse to improve on accessibility.\n * Furthermore, if code annotations are enabled, they are mounted if and only\n * if the code block is currently visible, e.g., not in a hidden content tab.\n *\n * Note that code blocks may be mounted eagerly or lazily. If they're mounted\n * lazily (on first visibility), code annotation anchor links will not work,\n * as they are evaluated on initial page load, and code annotations in general\n * might feel a little bumpier.\n *\n * @param el - Code block element\n * @param options - Options\n *\n * @returns Code block and annotation component observable\n */\nexport function mountCodeBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<CodeBlock>> {\n  const { matches: hover } = matchMedia(\"(hover)\")\n\n  /* Defer mounting of code block - see https://bit.ly/3vHVoVD */\n  const factory$ = defer(() => {\n    const push$ = new Subject<Overflow>()\n    const done$ = push$.pipe(takeLast(1))\n    push$.subscribe(({ scrollable }) => {\n      if (scrollable && hover)\n        el.setAttribute(\"tabindex\", \"0\")\n      else\n        el.removeAttribute(\"tabindex\")\n    })\n\n    /* Render button for Clipboard.js integration */\n    const content$: Array<Observable<Component<CodeBlock>>> = []\n    if (ClipboardJS.isSupported()) {\n      if (el.closest(\".copy\") || (\n        feature(\"content.code.copy\") && !el.closest(\".no-copy\")\n      )) {\n        const parent = el.closest(\"pre\")!\n        parent.id = `__code_${sequence++}`\n\n        /* Mount tooltip, if enabled */\n        const button = renderClipboardButton(parent.id)\n        parent.insertBefore(button, el)\n        if (feature(\"content.tooltips\"))\n          content$.push(mountInlineTooltip2(button, { viewport$ }))\n      }\n    }\n\n    /* Handle code annotations */\n    const container = el.closest(\".highlight\")\n    if (container instanceof HTMLElement) {\n      const list = findCandidateList(container)\n\n      /* Mount code annotations, if enabled */\n      if (typeof list !== \"undefined\" && (\n        container.classList.contains(\"annotate\") ||\n        feature(\"content.code.annotate\")\n      )) {\n        const annotations$ = mountAnnotationList(list, el, options)\n        content$.push(\n          watchElementSize(container)\n            .pipe(\n              takeUntil(done$),\n              map(({ width, height }) => width && height),\n              distinctUntilChanged(),\n              switchMap(active => active ? annotations$ : EMPTY)\n            )\n        )\n      }\n    }\n\n    // If the code block has line spans, we can add this additional class to\n    // the code block element, which fixes the problem for highlighted code\n    // lines not stretching to the entirety of the screen when the code block\n    // overflows, e.g., on mobile - see\n    const spans = getElements(\":scope > span[id]\", el)\n    if (spans.length)\n      el.classList.add(\"md-code__content\")\n\n    /* Create and return component */\n    return watchCodeBlock(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(...content$)\n      )\n  })\n\n  /* Mount code block lazily */\n  if (feature(\"content.lazy\"))\n    return watchElementVisibility(el)\n      .pipe(\n        filter(visible => visible),\n        take(1),\n        switchMap(() => factory$)\n      )\n\n  /* Mount code block */\n  return factory$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Details\n */\nexport interface Details {\n  action: \"open\" | \"close\"             /* Details state */\n  reveal?: boolean                     /* Details is revealed */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch details\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details observable\n */\nexport function watchDetails(\n  el: HTMLDetailsElement, { target$, print$ }: WatchOptions\n): Observable<Details> {\n  let open = true\n  return merge(\n\n    /* Open and focus details on location target */\n    target$\n      .pipe(\n        map(target => target.closest(\"details:not([open])\")!),\n        filter(details => el === details),\n        map(() => ({\n          action: \"open\", reveal: true\n        }) as Details)\n      ),\n\n    /* Open details on print and close afterwards */\n    print$\n      .pipe(\n        filter(active => active || !open),\n        tap(() => open = el.open),\n        map(active => ({\n          action: active ? \"open\" : \"close\"\n        }) as Details)\n      )\n  )\n}\n\n/**\n * Mount details\n *\n * This function ensures that `details` tags are opened on anchor jumps and\n * prior to printing, so the whole content of the page is visible.\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details component observable\n */\nexport function mountDetails(\n  el: HTMLDetailsElement, options: MountOptions\n): Observable<Component<Details>> {\n  return defer(() => {\n    const push$ = new Subject<Details>()\n    push$.subscribe(({ action, reveal }) => {\n      el.toggleAttribute(\"open\", action === \"open\")\n      if (reveal)\n        el.scrollIntoView()\n    })\n\n    /* Create and return component */\n    return watchDetails(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", ".node circle,.node ellipse,.node path,.node polygon,.node rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}marker{fill:var(--md-mermaid-edge-color)!important}.edgeLabel .label rect{fill:#0000}.label{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.label foreignObject{line-height:normal;overflow:visible}.label div .edgeLabel{color:var(--md-mermaid-label-fg-color)}.edgeLabel,.edgeLabel rect,.label div .edgeLabel{background-color:var(--md-mermaid-label-bg-color)}.edgeLabel,.edgeLabel rect{fill:var(--md-mermaid-label-bg-color);color:var(--md-mermaid-edge-color)}.edgePath .path,.flowchart-link{stroke:var(--md-mermaid-edge-color);stroke-width:.05rem}.edgePath .arrowheadPath{fill:var(--md-mermaid-edge-color);stroke:none}.cluster rect{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}.cluster span{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}g #flowchart-circleEnd,g #flowchart-circleStart,g #flowchart-crossEnd,g #flowchart-crossStart,g #flowchart-pointEnd,g #flowchart-pointStart{stroke:none}g.classGroup line,g.classGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.classGroup text{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.classLabel .box{fill:var(--md-mermaid-label-bg-color);background-color:var(--md-mermaid-label-bg-color);opacity:1}.classLabel .label{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.node .divider{stroke:var(--md-mermaid-node-fg-color)}.relation{stroke:var(--md-mermaid-edge-color)}.cardinality{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.cardinality text{fill:inherit!important}defs #classDiagram-compositionEnd,defs #classDiagram-compositionStart,defs #classDiagram-dependencyEnd,defs #classDiagram-dependencyStart,defs #classDiagram-extensionEnd,defs #classDiagram-extensionStart{fill:var(--md-mermaid-edge-color)!important;stroke:var(--md-mermaid-edge-color)!important}defs #classDiagram-aggregationEnd,defs #classDiagram-aggregationStart{fill:var(--md-mermaid-label-bg-color)!important;stroke:var(--md-mermaid-edge-color)!important}g.stateGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.stateGroup .state-title{fill:var(--md-mermaid-label-fg-color)!important;font-family:var(--md-mermaid-font-family)}g.stateGroup .composit{fill:var(--md-mermaid-label-bg-color)}.nodeLabel,.nodeLabel p{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}a .nodeLabel{text-decoration:underline}.node circle.state-end,.node circle.state-start,.start-state{fill:var(--md-mermaid-edge-color);stroke:none}.end-state-inner,.end-state-outer{fill:var(--md-mermaid-edge-color)}.end-state-inner,.node circle.state-end{stroke:var(--md-mermaid-label-bg-color)}.transition{stroke:var(--md-mermaid-edge-color)}[id^=state-fork] rect,[id^=state-join] rect{fill:var(--md-mermaid-edge-color)!important;stroke:none!important}.statediagram-cluster.statediagram-cluster .inner{fill:var(--md-default-bg-color)}.statediagram-cluster rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.statediagram-state rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\nimport themeCSS from \"./index.css\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid diagram\n */\nexport interface Mermaid {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid instance observable\n */\nlet mermaid$: Observable<void>\n\n/**\n * Global sequence number for diagrams\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch Mermaid script\n *\n * @returns Mermaid scripts observable\n */\nfunction fetchScripts(): Observable<void> {\n  return typeof mermaid === \"undefined\" || mermaid instanceof Element\n    ? watchScript(\"https://unpkg.com/mermaid@10/dist/mermaid.min.js\")\n    : of(undefined)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount Mermaid diagram\n *\n * @param el - Code block element\n *\n * @returns Mermaid diagram component observable\n */\nexport function mountMermaid(\n  el: HTMLElement\n): Observable<Component<Mermaid>> {\n  el.classList.remove(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n  mermaid$ ||= fetchScripts()\n    .pipe(\n      tap(() => mermaid.initialize({\n        startOnLoad: false,\n        themeCSS,\n        sequence: {\n          actorFontSize: \"16px\", // Hack: mitigate https://bit.ly/3y0NEi3\n          messageFontSize: \"16px\",\n          noteFontSize: \"16px\"\n        }\n      })),\n      map(() => undefined),\n      shareReplay(1)\n    )\n\n  /* Render diagram */\n  mermaid$.subscribe(async () => {\n    el.classList.add(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n    const id = `__mermaid_${sequence++}`\n\n    /* Create host element to replace code block */\n    const host = h(\"div\", { class: \"mermaid\" })\n    const text = el.textContent\n\n    /* Render and inject diagram */\n    const { svg, fn } = await mermaid.render(id, text)\n\n    /* Create a shadow root and inject diagram */\n    const shadow = host.attachShadow({ mode: \"closed\" })\n    shadow.innerHTML = svg\n\n    /* Replace code block with diagram and bind functions */\n    el.replaceWith(host)\n    fn?.(shadow)\n  })\n\n  /* Create and return component */\n  return mermaid$\n    .pipe(\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, of } from \"rxjs\"\n\nimport { renderTable } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Data table\n */\nexport interface DataTable {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Sentinel for replacement\n */\nconst sentinel = h(\"table\")\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount data table\n *\n * This function wraps a data table in another scrollable container, so it can\n * be smoothly scrolled on smaller screen sizes and won't break the layout.\n *\n * @param el - Data table element\n *\n * @returns Data table component observable\n */\nexport function mountDataTable(\n  el: HTMLElement\n): Observable<Component<DataTable>> {\n  el.replaceWith(sentinel)\n  sentinel.replaceWith(renderTable(el))\n\n  /* Create and return component */\n  return of({ ref: el })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  skip,\n  startWith,\n  subscribeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContentOffset,\n  getElementContentSize,\n  getElementOffset,\n  getElementSize,\n  getElements,\n  watchElementContentOffset,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport { renderTabbedControl } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content tabs\n */\nexport interface ContentTabs {\n  active: HTMLLabelElement             /* Active tab label */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch content tabs\n *\n * @param inputs - Content tabs input elements\n *\n * @returns Content tabs observable\n */\nexport function watchContentTabs(\n  inputs: HTMLInputElement[]\n): Observable<ContentTabs> {\n  const initial = inputs.find(input => input.checked) || inputs[0]\n  return merge(...inputs.map(input => fromEvent(input, \"change\")\n    .pipe(\n      map(() => getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`))\n    )\n  ))\n    .pipe(\n      startWith(getElement<HTMLLabelElement>(`label[for=\"${initial.id}\"]`)),\n      map(active => ({ active }))\n    )\n}\n\n/**\n * Mount content tabs\n *\n * @param el - Content tabs element\n * @param options - Options\n *\n * @returns Content tabs component observable\n */\nexport function mountContentTabs(\n  el: HTMLElement, { viewport$, target$ }: MountOptions\n): Observable<Component<ContentTabs>> {\n  const container = getElement(\".tabbed-labels\", el)\n  const inputs = getElements<HTMLInputElement>(\":scope > input\", el)\n\n  /* Render content tab previous button for pagination */\n  const prev = renderTabbedControl(\"prev\")\n  el.append(prev)\n\n  /* Render content tab next button for pagination */\n  const next = renderTabbedControl(\"next\")\n  el.append(next)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<ContentTabs>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    combineLatest([push$, watchElementSize(el), watchElementVisibility(el)])\n      .pipe(\n        takeUntil(done$),\n        auditTime(1, animationFrameScheduler)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ active }, size]) {\n            const offset = getElementOffset(active)\n            const { width } = getElementSize(active)\n\n            /* Set tab indicator offset and width */\n            el.style.setProperty(\"--md-indicator-x\", `${offset.x}px`)\n            el.style.setProperty(\"--md-indicator-width\", `${width}px`)\n\n            /* Scroll container to active content tab */\n            const content = getElementContentOffset(container)\n            if (\n              offset.x         < content.x              ||\n              offset.x + width > content.x + size.width\n            )\n              container.scrollTo({\n                left: Math.max(0, offset.x - 16),\n                behavior: \"smooth\"\n              })\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-indicator-x\")\n            el.style.removeProperty(\"--md-indicator-width\")\n          }\n        })\n\n    /* Hide content tab buttons on borders */\n    combineLatest([\n      watchElementContentOffset(container),\n      watchElementSize(container)\n    ])\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(([offset, size]) => {\n          const content = getElementContentSize(container)\n          prev.hidden = offset.x < 16\n          next.hidden = offset.x > content.width - size.width - 16\n        })\n\n    /* Paginate content tab container on click */\n    merge(\n      fromEvent(prev, \"click\").pipe(map(() => -1)),\n      fromEvent(next, \"click\").pipe(map(() => +1))\n    )\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(direction => {\n          const { width } = getElementSize(container)\n          container.scrollBy({\n            left: width * direction,\n            behavior: \"smooth\"\n          })\n        })\n\n    /* Switch to content tab target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(input => inputs.includes(input as HTMLInputElement))\n      )\n        .subscribe(input => input.click())\n\n    /* Add link to each content tab label */\n    container.classList.add(\"tabbed-labels--linked\")\n    for (const input of inputs) {\n      const label = getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`)\n      label.replaceChildren(h(\"a\", {\n        href: `#${label.htmlFor}`,\n        tabIndex: -1\n      }, ...Array.from(label.childNodes)))\n\n      /* Allow to copy link without scrolling to anchor */\n      fromEvent<MouseEvent>(label.firstElementChild!, \"click\")\n        .pipe(\n          takeUntil(done$),\n          filter(ev => !(ev.metaKey || ev.ctrlKey)),\n          tap(ev => {\n            ev.preventDefault()\n            ev.stopPropagation()\n          })\n        )\n          // @todo we might need to remove the anchor link on complete\n          .subscribe(() => {\n            history.replaceState({}, \"\", `#${label.htmlFor}`)\n            label.click()\n          })\n    }\n\n    /* Set up linking of content tabs, if enabled */\n    if (feature(\"content.tabs.link\"))\n      push$.pipe(\n        skip(1),\n        withLatestFrom(viewport$)\n      )\n        .subscribe(([{ active }, { offset }]) => {\n          const tab = active.innerText.trim()\n          if (active.hasAttribute(\"data-md-switching\")) {\n            active.removeAttribute(\"data-md-switching\")\n\n          /* Determine viewport offset of active tab */\n          } else {\n            const y = el.offsetTop - offset.y\n\n            /* Passively activate other tabs */\n            for (const set of getElements(\"[data-tabs]\"))\n              for (const input of getElements<HTMLInputElement>(\n                \":scope > input\", set\n              )) {\n                const label = getElement(`label[for=\"${input.id}\"]`)\n                if (\n                  label !== active &&\n                  label.innerText.trim() === tab\n                ) {\n                  label.setAttribute(\"data-md-switching\", \"\")\n                  input.click()\n                  break\n                }\n              }\n\n            /* Bring active tab into view */\n            window.scrollTo({\n              top: el.offsetTop - y\n            })\n\n            /* Persist active tabs in local storage */\n            const tabs = __md_get<string[]>(\"__tabs\") || []\n            __md_set(\"__tabs\", [...new Set([tab, ...tabs])])\n          }\n        })\n\n    /* Pause media (audio, video) on switch - see https://bit.ly/3Bk6cel */\n    push$.pipe(takeUntil(done$))\n      .subscribe(() => {\n        for (const media of getElements<HTMLAudioElement>(\"audio, video\", el))\n          media.pause()\n      })\n\n    /* Create and return component */\n    return watchContentTabs(inputs)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, merge } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { Viewport, getElements } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"../../tooltip2\"\nimport {\n  Annotation,\n  mountAnnotationBlock\n} from \"../annotation\"\nimport {\n  CodeBlock,\n  mountCodeBlock\n} from \"../code\"\nimport {\n  Details,\n  mountDetails\n} from \"../details\"\nimport {\n  Mermaid,\n  mountMermaid\n} from \"../mermaid\"\nimport {\n  DataTable,\n  mountDataTable\n} from \"../table\"\nimport {\n  ContentTabs,\n  mountContentTabs\n} from \"../tabs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content\n */\nexport type Content =\n  | Annotation\n  | CodeBlock\n  | ContentTabs\n  | DataTable\n  | Details\n  | Mermaid\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount content\n *\n * This function mounts all components that are found in the content of the\n * actual article, including code blocks, data tables and details.\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Content component observable\n */\nexport function mountContent(\n  el: HTMLElement, { viewport$, target$, print$ }: MountOptions\n): Observable<Component<Content>> {\n  return merge(\n\n    /* Annotations */\n    ...getElements(\".annotate:not(.highlight)\", el)\n      .map(child => mountAnnotationBlock(child, { target$, print$ })),\n\n    /* Code blocks */\n    ...getElements(\"pre:not(.mermaid) > code\", el)\n      .map(child => mountCodeBlock(child, { target$, print$ })),\n\n    /* Mermaid diagrams */\n    ...getElements(\"pre.mermaid\", el)\n      .map(child => mountMermaid(child)),\n\n    /* Data tables */\n    ...getElements(\"table:not([class])\", el)\n      .map(child => mountDataTable(child)),\n\n    /* Details */\n    ...getElements(\"details\", el)\n      .map(child => mountDetails(child, { target$, print$ })),\n\n    /* Content tabs */\n    ...getElements(\"[data-tabs]\", el)\n      .map(child => mountContentTabs(child, { viewport$, target$ })),\n\n    /* Tooltips */\n    ...getElements(\"[title]\", el)\n      .filter(() => feature(\"content.tooltips\"))\n      .map(child => mountInlineTooltip2(child, { viewport$ }))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  delay,\n  finalize,\n  map,\n  merge,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dialog\n */\nexport interface Dialog {\n  message: string                      /* Dialog message */\n  active: boolean                      /* Dialog is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch dialog\n *\n * @param _el - Dialog element\n * @param options - Options\n *\n * @returns Dialog observable\n */\nexport function watchDialog(\n  _el: HTMLElement, { alert$ }: WatchOptions\n): Observable<Dialog> {\n  return alert$\n    .pipe(\n      switchMap(message => merge(\n        of(true),\n        of(false).pipe(delay(2000))\n      )\n        .pipe(\n          map(active => ({ message, active }))\n        )\n      )\n    )\n}\n\n/**\n * Mount dialog\n *\n * This function reveals the dialog in the right corner when a new alert is\n * emitted through the subject that is passed as part of the options.\n *\n * @param el - Dialog element\n * @param options - Options\n *\n * @returns Dialog component observable\n */\nexport function mountDialog(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Dialog>> {\n  const inner = getElement(\".md-typeset\", el)\n  return defer(() => {\n    const push$ = new Subject<Dialog>()\n    push$.subscribe(({ message, active }) => {\n      el.classList.toggle(\"md-dialog--active\", active)\n      inner.textContent = message\n    })\n\n    /* Create and return component */\n    return watchDialog(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  subscribeOn,\n  tap,\n  throttleTime\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getElement,\n  getElementContainer,\n  getElementOffset,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderTooltip } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      /* Tooltip is active */\n  offset: ElementOffset                /* Tooltip offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function will append the tooltip temporarily to compute its width,\n * which is necessary for correct centering, and then removing it again.\n *\n * @param el - Tooltip element\n * @param host - Host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip(\n  el: HTMLElement, host: HTMLElement\n): Observable<Tooltip> {\n  document.body.append(el)\n\n  /* Compute width and remove tooltip immediately */\n  const { width } = getElementSize(el)\n  el.style.setProperty(\"--md-tooltip-width\", `${width}px`)\n  el.remove()\n\n  /* Retrieve and watch containing element */\n  const container = getElementContainer(host)\n  const scroll$ =\n    typeof container !== \"undefined\"\n      ? watchElementContentOffset(container)\n      : of({ x: 0, y: 0 })\n\n  /* Compute tooltip visibility */\n  const active$ = merge(\n    watchElementFocus(host),\n    watchElementHover(host)\n  )\n    .pipe(\n      distinctUntilChanged()\n    )\n\n  /* Compute tooltip offset */\n  return combineLatest([active$, scroll$])\n    .pipe(\n      map(([active, scroll]) => {\n        let { x, y } = getElementOffset(host)\n        const size = getElementSize(host)\n\n        /**\n         * Experimental: fix handling of tables - see https://bit.ly/3TQEj5O\n         *\n         * If this proves to be a viable fix, we should refactor tooltip\n         * positioning and somehow streamline the current process. This might\n         * also fix positioning for annotations inside tables, which is another\n         * limitation.\n         */\n        const table = host.closest(\"table\")\n        if (table && host.parentElement) {\n          x += table.offsetLeft + host.parentElement.offsetLeft\n          y += table.offsetTop  + host.parentElement.offsetTop\n        }\n        return {\n          active,\n          offset: {\n            x: x - scroll.x + size.width  / 2 - width / 2,\n            y: y - scroll.y + size.height + 8\n          }\n        }\n      })\n    )\n}\n\n/**\n * Mount tooltip\n *\n * @param el - Host element\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip(\n  el: HTMLElement\n): Observable<Component<Tooltip>> {\n  const title = el.title\n  if (!title.length)\n    return EMPTY\n\n  /* Render tooltip and set title from host element */\n  const id = `__tooltip_${sequence++}`\n  const tooltip = renderTooltip(id, \"inline\")\n  const typeset = getElement(\".md-typeset\", tooltip)\n  typeset.innerHTML = title\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        tooltip.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        tooltip.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        tooltip.style.removeProperty(\"--md-tooltip-x\")\n        tooltip.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active) {\n            el.insertAdjacentElement(\"afterend\", tooltip)\n            el.setAttribute(\"aria-describedby\", id)\n            el.removeAttribute(\"title\")\n          } else {\n            tooltip.remove()\n            el.removeAttribute(\"aria-describedby\")\n            el.setAttribute(\"title\", title)\n          }\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.remove()\n          el.removeAttribute(\"aria-describedby\")\n          el.setAttribute(\"title\", title)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    // @todo - refactor positioning together with annotations \u2013 there are\n    // several things that overlap and are identical in handling\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n      .subscribe({\n\n        /* Handle emission */\n        next(origin) {\n          if (origin)\n            tooltip.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n          else\n            tooltip.style.removeProperty(\"--md-tooltip-0\")\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.style.removeProperty(\"--md-tooltip-0\")\n        }\n      })\n\n    /* Create and return component */\n    return watchTooltip(tooltip, el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  combineLatestWith,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  from,\n  ignoreElements,\n  map,\n  mergeMap,\n  mergeWith,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementSize,\n  watchToggle\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Main } from \"../../main\"\nimport {\n  Tooltip,\n  mountTooltip\n} from \"../../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface Header {\n  height: number                       /* Header visible height */\n  hidden: boolean                      /* Header is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute whether the header is hidden\n *\n * If the user scrolls past a certain threshold, the header can be hidden when\n * scrolling down, and shown when scrolling up.\n *\n * @param options - Options\n *\n * @returns Toggle observable\n */\nfunction isHidden({ viewport$ }: WatchOptions): Observable<boolean> {\n  if (!feature(\"header.autohide\"))\n    return of(false)\n\n  /* Compute direction and turning point */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => [a < b, b] as const),\n      distinctUntilKeyChanged(0)\n    )\n\n  /* Compute whether header should be hidden */\n  const hidden$ = combineLatest([viewport$, direction$])\n    .pipe(\n      filter(([{ offset }, [, y]]) => Math.abs(y - offset.y) > 100),\n      map(([, [direction]]) => direction),\n      distinctUntilChanged()\n    )\n\n  /* Compute threshold for hiding */\n  const search$ = watchToggle(\"search\")\n  return combineLatest([viewport$, search$])\n    .pipe(\n      map(([{ offset }, search]) => offset.y > 400 && !search),\n      distinctUntilChanged(),\n      switchMap(active => active ? hidden$ : of(false)),\n      startWith(false)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header observable\n */\nexport function watchHeader(\n  el: HTMLElement, options: WatchOptions\n): Observable<Header> {\n  return defer(() => combineLatest([\n    watchElementSize(el),\n    isHidden(options)\n  ]))\n    .pipe(\n      map(([{ height }, hidden]) => ({\n        height,\n        hidden\n      })),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.hidden === b.hidden\n      )),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount header\n *\n * This function manages the different states of the header, i.e. whether it's\n * hidden or rendered with a shadow. This depends heavily on the main area.\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header component observable\n */\nexport function mountHeader(\n  el: HTMLElement, { header$, main$ }: MountOptions\n): Observable<Component<Header | Tooltip>> {\n  return defer(() => {\n    const push$ = new Subject<Main>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$\n      .pipe(\n        distinctUntilKeyChanged(\"active\"),\n        combineLatestWith(header$)\n      )\n        .subscribe(([{ active }, { hidden }]) => {\n          el.classList.toggle(\"md-header--shadow\", active && !hidden)\n          el.hidden = hidden\n        })\n\n    /* Mount tooltips, if enabled */\n    const tooltips = from(getElements(\"[title]\", el))\n      .pipe(\n        filter(() => feature(\"content.tooltips\")),\n        mergeMap(child => mountTooltip(child))\n      )\n\n    /* Link to main area */\n    main$.subscribe(push$)\n\n    /* Create and return component */\n    return header$\n      .pipe(\n        takeUntil(done$),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(tooltips.pipe(takeUntil(done$)))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElementSize,\n  getOptionalElement,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Header } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface HeaderTitle {\n  active: boolean                      /* Header title is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header title\n *\n * @param el - Heading element\n * @param options - Options\n *\n * @returns Header title observable\n */\nexport function watchHeaderTitle(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<HeaderTitle> {\n  return watchViewportAt(el, { viewport$, header$ })\n    .pipe(\n      map(({ offset: { y } }) => {\n        const { height } = getElementSize(el)\n        return {\n          active: y >= height\n        }\n      }),\n      distinctUntilKeyChanged(\"active\")\n    )\n}\n\n/**\n * Mount header title\n *\n * This function swaps the header title from the site title to the title of the\n * current page when the user scrolls past the first headline.\n *\n * @param el - Header title element\n * @param options - Options\n *\n * @returns Header title component observable\n */\nexport function mountHeaderTitle(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<HeaderTitle>> {\n  return defer(() => {\n    const push$ = new Subject<HeaderTitle>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ active }) {\n        el.classList.toggle(\"md-header__title--active\", active)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.classList.remove(\"md-header__title--active\")\n      }\n    })\n\n    /* Obtain headline, if any */\n    const heading = getOptionalElement(\".md-content h1\")\n    if (typeof heading === \"undefined\")\n      return EMPTY\n\n    /* Create and return component */\n    return watchHeaderTitle(heading, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  map,\n  switchMap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Main area\n */\nexport interface Main {\n  offset: number                       /* Main area top offset */\n  height: number                       /* Main area visible height */\n  active: boolean                      /* Main area is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch main area\n *\n * This function returns an observable that computes the visual parameters of\n * the main area which depends on the viewport vertical offset and height, as\n * well as the height of the header element, if the header is fixed.\n *\n * @param el - Main area element\n * @param options - Options\n *\n * @returns Main area observable\n */\nexport function watchMain(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Main> {\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      map(({ height }) => height),\n      distinctUntilChanged()\n    )\n\n  /* Compute the main area's top and bottom borders */\n  const border$ = adjust$\n    .pipe(\n      switchMap(() => watchElementSize(el)\n        .pipe(\n          map(({ height }) => ({\n            top:    el.offsetTop,\n            bottom: el.offsetTop + height\n          })),\n          distinctUntilKeyChanged(\"bottom\")\n        )\n      )\n    )\n\n  /* Compute the main area's offset, visible height and if we scrolled past */\n  return combineLatest([adjust$, border$, viewport$])\n    .pipe(\n      map(([header, { top, bottom }, { offset: { y }, size: { height } }]) => {\n        height = Math.max(0, height\n          - Math.max(0, top    - y,  header)\n          - Math.max(0, height + y - bottom)\n        )\n        return {\n          offset: top - header,\n          height,\n          active: top - header <= y\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.offset === b.offset &&\n        a.height === b.height &&\n        a.active === b.active\n      ))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  defer,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  mergeMap,\n  observeOn,\n  of,\n  repeat,\n  shareReplay,\n  skip,\n  startWith,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements, watchMedia } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Palette colors\n */\nexport interface PaletteColor {\n  media?: string                       /* Media query */\n  scheme?: string                      /* Color scheme */\n  primary?: string                     /* Primary color */\n  accent?: string                      /* Accent color */\n}\n\n/**\n * Palette\n */\nexport interface Palette {\n  index: number                        /* Palette index */\n  color: PaletteColor                  /* Palette colors */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch color palette\n *\n * @param inputs - Color palette element\n *\n * @returns Color palette observable\n */\nexport function watchPalette(\n  inputs: HTMLInputElement[]\n): Observable<Palette> {\n  const current = __md_get<Palette>(\"__palette\") || {\n    index: inputs.findIndex(input => matchMedia(\n      input.getAttribute(\"data-md-color-media\")!\n    ).matches)\n  }\n\n  /* Emit changes in color palette */\n  const index = Math.max(0, Math.min(current.index, inputs.length - 1))\n  return of(...inputs)\n    .pipe(\n      mergeMap(input => fromEvent(input, \"change\").pipe(map(() => input))),\n      startWith(inputs[index]),\n      map(input => ({\n        index: inputs.indexOf(input),\n        color: {\n          media:   input.getAttribute(\"data-md-color-media\"),\n          scheme:  input.getAttribute(\"data-md-color-scheme\"),\n          primary: input.getAttribute(\"data-md-color-primary\"),\n          accent:  input.getAttribute(\"data-md-color-accent\")\n        }\n      } as Palette)),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount color palette\n *\n * @param el - Color palette element\n *\n * @returns Color palette component observable\n */\nexport function mountPalette(\n  el: HTMLElement\n): Observable<Component<Palette>> {\n  const inputs = getElements<HTMLInputElement>(\"input\", el)\n  const meta = h(\"meta\", { name: \"theme-color\" })\n  document.head.appendChild(meta)\n\n  // Add color scheme meta tag\n  const scheme = h(\"meta\", { name: \"color-scheme\" })\n  document.head.appendChild(scheme)\n\n  /* Mount component on subscription */\n  const media$ = watchMedia(\"(prefers-color-scheme: light)\")\n  return defer(() => {\n    const push$ = new Subject<Palette>()\n    push$.subscribe(palette => {\n      document.body.setAttribute(\"data-md-color-switching\", \"\")\n\n      /* Retrieve color palette for system preference */\n      if (palette.color.media === \"(prefers-color-scheme)\") {\n        const media = matchMedia(\"(prefers-color-scheme: light)\")\n        const input = document.querySelector(media.matches\n          ? \"[data-md-color-media='(prefers-color-scheme: light)']\"\n          : \"[data-md-color-media='(prefers-color-scheme: dark)']\"\n        )!\n\n        /* Retrieve colors for system preference */\n        palette.color.scheme  = input.getAttribute(\"data-md-color-scheme\")!\n        palette.color.primary = input.getAttribute(\"data-md-color-primary\")!\n        palette.color.accent  = input.getAttribute(\"data-md-color-accent\")!\n      }\n\n      /* Set color palette */\n      for (const [key, value] of Object.entries(palette.color))\n        document.body.setAttribute(`data-md-color-${key}`, value)\n\n      /* Set toggle visibility */\n      for (let index = 0; index < inputs.length; index++) {\n        const label = inputs[index].nextElementSibling\n        if (label instanceof HTMLElement)\n          label.hidden = palette.index !== index\n      }\n\n      /* Persist preference in local storage */\n      __md_set(\"__palette\", palette)\n    })\n\n    // Handle color switch on Enter or Space - see https://t.ly/YIhVj\n    fromEvent<KeyboardEvent>(el, \"keydown\").pipe(\n      filter(ev => ev.key === \"Enter\"),\n      withLatestFrom(push$, (_, palette) => palette)\n    )\n      .subscribe(({ index }) => {\n        index = (index + 1) % inputs.length\n        inputs[index].click()\n        inputs[index].focus()\n      })\n\n    /* Update theme-color meta tag */\n    push$\n      .pipe(\n        map(() => {\n          const header = getComponentElement(\"header\")\n          const style  = window.getComputedStyle(header)\n\n          // Set color scheme\n          scheme.content = style.colorScheme\n\n          /* Return color in hexadecimal format */\n          return style.backgroundColor.match(/\\d+/g)!\n            .map(value => (+value).toString(16).padStart(2, \"0\"))\n            .join(\"\")\n        })\n      )\n        .subscribe(color => meta.content = `#${color}`)\n\n    /* Revert transition durations after color switch */\n    push$.pipe(observeOn(asyncScheduler))\n      .subscribe(() => {\n        document.body.removeAttribute(\"data-md-color-switching\")\n      })\n\n    /* Create and return component */\n    return watchPalette(inputs)\n      .pipe(\n        takeUntil(media$.pipe(skip(1))),\n        repeat(),\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Progress indicator\n */\nexport interface Progress {\n  value: number                        // Progress value\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount progress indicator\n *\n * @param el - Progress indicator element\n * @param options - Options\n *\n * @returns Progress indicator component observable\n */\nexport function mountProgress(\n  el: HTMLElement, { progress$ }: MountOptions\n): Observable<Component<Progress>> {\n\n  // Mount component on subscription\n  return defer(() => {\n    const push$ = new Subject<Progress>()\n    push$.subscribe(({ value }) => {\n      el.style.setProperty(\"--md-progress-value\", `${value}`)\n    })\n\n    // Create and return component\n    return progress$\n      .pipe(\n        tap(value => push$.next({ value })),\n        finalize(() => push$.complete()),\n        map(value => ({ ref: el, value }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  Observable,\n  Subject,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Extract text to copy\n *\n * @param el - HTML element\n *\n * @returns Extracted text\n */\nfunction extract(el: HTMLElement): string {\n  el.setAttribute(\"data-md-copying\", \"\")\n  const copy = el.closest(\"[data-copy]\")\n  const text = copy\n    ? copy.getAttribute(\"data-copy\")!\n    : el.innerText\n  el.removeAttribute(\"data-md-copying\")\n  return text.trimEnd()\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up Clipboard.js integration\n *\n * @param options - Options\n */\nexport function setupClipboardJS(\n  { alert$ }: SetupOptions\n): void {\n  if (ClipboardJS.isSupported()) {\n    new Observable<ClipboardJS.Event>(subscriber => {\n      new ClipboardJS(\"[data-clipboard-target], [data-clipboard-text]\", {\n        text: el => (\n          el.getAttribute(\"data-clipboard-text\")! ||\n          extract(getElement(\n            el.getAttribute(\"data-clipboard-target\")!\n          ))\n        )\n      })\n        .on(\"success\", ev => subscriber.next(ev))\n    })\n      .pipe(\n        tap(ev => {\n          const trigger = ev.trigger as HTMLElement\n          trigger.focus()\n        }),\n        map(() => translation(\"clipboard.copied\"))\n      )\n        .subscribe(alert$)\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  catchError,\n  map,\n  of\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  requestXML\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sitemap, i.e. a list of URLs\n */\nexport type Sitemap = Map<string, URL[]>\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Resolve URL to the given base URL\n *\n * When serving the site with instant navigation, MkDocs will set the hostname\n * to the value as specified in `dev_addr`, but the browser allows for several\n * hostnames to be used: `localhost`, `127.0.0.1` or even `0.0.0.0`, depending\n * on configuration. This function resolves the URL to the given hostname.\n *\n * @param url - URL\n * @param base - Base URL\n *\n * @returns Resolved URL\n */\nfunction resolve(url: URL, base: URL) {\n  url.protocol = base.protocol\n  url.hostname = base.hostname\n  return url\n}\n\n/**\n * Extract sitemap from document\n *\n * This function extracts the URLs and alternate links from the document, and\n * associates alternate links to the original URL as found in `loc`, allowing\n * the browser to navigate to the correct page when switching languages. The\n * format of the sitemap is expected to adhere to:\n *\n * ``` xml\n * <urlset>\n *   <url>\n *     <loc>...</loc>\n *     <xhtml:link rel=\"alternate\" hreflang=\"en\" href=\"...\"/>\n *     <xhtml:link rel=\"alternate\" hreflang=\"de\" href=\"...\"/>\n *     ...\n *   </url>\n *   ...\n * </urlset>\n * ```\n *\n * @param document - Document\n * @param base - Base URL\n *\n * @returns Sitemap\n */\nfunction extract(document: Document, base: URL): Sitemap {\n  const sitemap: Sitemap = new Map()\n  for (const el of getElements(\"url\", document)) {\n    const url = getElement(\"loc\", el)\n\n    // Create entry for location and add it to the list of links\n    const links = [resolve(new URL(url.textContent!), base)]\n    sitemap.set(`${links[0]}`, links)\n\n    // Attach alternate links to current entry\n    for (const link of getElements(\"[rel=alternate]\", el)) {\n      const href = link.getAttribute(\"href\")\n      if (href != null)\n        links.push(resolve(new URL(href), base))\n    }\n  }\n\n  // Return sitemap\n  return sitemap\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the sitemap for the given base URL\n *\n * If a network or parsing error occurs, we just default to an empty sitemap,\n * which means the caller should fall back to regular navigation.\n *\n * @param base - Base URL\n *\n * @returns Sitemap observable\n */\nexport function fetchSitemap(base: URL | string): Observable<Sitemap> {\n  return requestXML(new URL(\"sitemap.xml\", base))\n    .pipe(\n      map(document => extract(document, new URL(base))),\n      catchError(() => of(new Map())),\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  combineLatestWith,\n  concat,\n  debounceTime,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  of,\n  share,\n  switchMap,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration, feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  requestHTML,\n  setLocation,\n  setLocationHash\n} from \"~/browser\"\nimport { getComponentElement } from \"~/components\"\n\nimport { Sitemap, fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  location$: Subject<URL>              // Location subject\n  viewport$: Observable<Viewport>      // Viewport observable\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Handle clicks on internal URLs while skipping external URLs\n *\n * @param ev - Mouse event\n * @param sitemap - Sitemap\n *\n * @returns URL observable\n */\nfunction handle(\n  ev: MouseEvent, sitemap: Sitemap\n): Observable<URL> {\n  if (!(ev.target instanceof Element))\n    return EMPTY\n\n  // Skip, as target is not within a link - clicks on non-link elements are\n  // also captured, which we need to exclude from processing\n  const el = ev.target.closest(\"a\")\n  if (el === null)\n    return EMPTY\n\n  // Skip, as link opens in new window - we now know we have captured a click\n  // on a link, but the link either has a `target` property defined, or the\n  // user pressed the `meta` or `ctrl` key to open it in a new window. Thus,\n  // we need to filter this event as well.\n  if (el.target || ev.metaKey || ev.ctrlKey)\n    return EMPTY\n\n  // Next, we must check if the URL is relevant for us, i.e., if it's an\n  // internal link to a page that is managed by MkDocs. Only then we can be\n  // sure that the structure of the page to be loaded adheres to the current\n  // document structure and can subsequently be injected into it without doing\n  // a full reload. For this reason, we must canonicalize the URL by removing\n  // all search parameters and hash fragments.\n  const url = new URL(el.href)\n  url.search = url.hash = \"\"\n\n  // Skip, if URL is not included in the sitemap - this could be the case when\n  // linking between versions or languages, or to another page that the author\n  // included as part of the build, but that is not managed by MkDocs. In that\n  // case we must not continue with instant navigation.\n  if (!sitemap.has(`${url}`))\n    return EMPTY\n\n  // We now know that we have a link to an internal page, so we prevent the\n  // browser from navigation and emit the URL for instant navigation. Note that\n  // this also includes anchor links, which means we need to implement anchor\n  // positioning ourselves. The reason for this is that if we wouldn't manage\n  // anchor links as well, scroll restoration will not work correctly (e.g.\n  // following an anchor link and scrolling).\n  ev.preventDefault()\n  return of(new URL(el.href))\n}\n\n/**\n * Create a map of head elements for lookup and replacement\n *\n * @param document - Document\n *\n * @returns Tag map\n */\nfunction head(document: Document): Map<string, HTMLElement> {\n  const tags = new Map<string, HTMLElement>()\n  for (const el of getElements(\":scope > *\", document.head))\n    tags.set(el.outerHTML, el)\n\n  // Return tag map\n  return tags\n}\n\n/**\n * Resolve relative URLs in the given document\n *\n * This function resolves relative `href` and `src` attributes, which can belong\n * to all sorts of tags, like meta tags, links, images, scripts and more.\n *\n * @param document - Document\n *\n * @returns Document observable\n */\nfunction resolve(document: Document): Observable<Document> {\n  for (const el of getElements(\"[href], [src]\", document))\n    for (const key of [\"href\", \"src\"]) {\n      const value = el.getAttribute(key)\n      if (value && !/^(?:[a-z]+:)?\\/\\//i.test(value)) {\n        // @ts-expect-error - trick: self-assign to resolve URL\n        el[key] = el[key]\n        break\n      }\n    }\n\n  // Return document observable\n  return of(document)\n}\n\n/**\n * Inject the contents of a document into the current one\n *\n * @param next - Next document\n *\n * @returns Document observable\n */\nfunction inject(next: Document): Observable<Document> {\n  for (const selector of [\n    \"[data-md-component=announce]\",\n    \"[data-md-component=container]\",\n    \"[data-md-component=header-topic]\",\n    \"[data-md-component=outdated]\",\n    \"[data-md-component=logo]\",\n    \"[data-md-component=skip]\",\n    ...feature(\"navigation.tabs.sticky\")\n      ? [\"[data-md-component=tabs]\"]\n      : []\n  ]) {\n    const source = getOptionalElement(selector)\n    const target = getOptionalElement(selector, next)\n    if (\n      typeof source !== \"undefined\" &&\n      typeof target !== \"undefined\"\n    ) {\n      source.replaceWith(target)\n    }\n  }\n\n  // Update meta tags\n  const tags = head(document)\n  for (const [html, el] of head(next))\n    if (tags.has(html))\n      tags.delete(html)\n    else\n      document.head.appendChild(el)\n\n  // Remove meta tags that are not present in the new document\n  for (const el of tags.values()) {\n    const name = el.getAttribute(\"name\")\n    // @todo - find a better way to handle attributes we add dynamically in\n    // other components without mounting components on every navigation, as\n    // this might impact overall performance - see https://t.ly/ehp_O\n    if (name !== \"theme-color\" && name !== \"color-scheme\")\n      el.remove()\n  }\n\n  // After components and meta tags were replaced, re-evaluate scripts\n  // that were provided by the author as part of Markdown files\n  const container = getComponentElement(\"container\")\n  return concat(getElements(\"script\", container))\n    .pipe(\n      switchMap(el => {\n        const script = next.createElement(\"script\")\n        if (el.src) {\n          for (const name of el.getAttributeNames())\n            script.setAttribute(name, el.getAttribute(name)!)\n          el.replaceWith(script)\n\n          // Complete when script is loaded\n          return new Observable(observer => {\n            script.onload = () => observer.complete()\n          })\n\n        // Complete immediately\n        } else {\n          script.textContent = el.textContent\n          el.replaceWith(script)\n          return EMPTY\n        }\n      }),\n      ignoreElements(),\n      endWith(document)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up instant navigation\n *\n * This is a heavily orchestrated operation - see inline comments to learn how\n * this works with Material for MkDocs, and how you can hook into it.\n *\n * @param options - Options\n *\n * @returns Document observable\n */\nexport function setupInstantNavigation(\n  { location$, viewport$, progress$ }: SetupOptions\n): Observable<Document> {\n  const config = configuration()\n  if (location.protocol === \"file:\")\n    return EMPTY\n\n  // Load sitemap immediately, so we have it available when the user initiates\n  // the first navigation request without any perceivable delay\n  const sitemap$ = fetchSitemap(config.base)\n\n  // Since we might be on a slow connection, the user might trigger multiple\n  // instant navigation events that overlap. MkDocs produces relative URLs for\n  // all internal links, which becomes a problem in this case, because we need\n  // to change the base URL the moment the user clicks a link that should be\n  // intercepted in order to be consistent with popstate, which means that the\n  // base URL would now be incorrect when resolving another relative link from\n  // the same site. For this reason we always resolve all relative links to\n  // absolute links, so we can be sure this never happens.\n  of(document)\n    .subscribe(resolve)\n\n  // --------------------------------------------------------------------------\n  // Navigation interception\n  // --------------------------------------------------------------------------\n\n  // Intercept navigation - to keep the number of event listeners down we use\n  // the fact that uncaptured events bubble up to the body. This has the nice\n  // property that we don't need to detach and then re-attach event listeners\n  // when the document is replaced after a navigation event.\n  const instant$ =\n    fromEvent<MouseEvent>(document.body, \"click\")\n      .pipe(\n        combineLatestWith(sitemap$),\n        switchMap(([ev, sitemap]) => handle(ev, sitemap)),\n        share()\n      )\n\n  // Intercept history change events, e.g. when the user uses the browser's\n  // back or forward buttons, and emit new location for fetching and parsing\n  const history$ =\n    fromEvent<PopStateEvent>(window, \"popstate\")\n      .pipe(\n        map(getLocation),\n        share()\n      )\n\n  // While it would be better UX to defer navigation events until the document\n  // is fully fetched and parsed, we must schedule it here to synchronize with\n  // popstate events, as they are emitted immediately. Moreover we need to\n  // store the current viewport offset for scroll restoration later on.\n  instant$.pipe(withLatestFrom(viewport$))\n    .subscribe(([url, { offset }]) => {\n      history.replaceState(offset, \"\")\n      history.pushState(null, \"\", url)\n    })\n\n  // Emit URLs that should be fetched via instant navigation on location subject\n  // which was passed into this function. The state of instant navigation can be\n  // intercepted by other parts of the application, which can synchronously back\n  // up or restore state before or after instant navigation happens.\n  merge(instant$, history$)\n    .subscribe(location$)\n\n  // --------------------------------------------------------------------------\n  // Fetching and parsing\n  // --------------------------------------------------------------------------\n\n  // Fetch document - we deduplicate requests to the same location, so we don't\n  // end up with multiple requests for the same page. We use `switchMap`, since\n  // we want to cancel the previous request when a new one is triggered, which\n  // is automatically handled by the observable returned by `request`. This is\n  // essential to ensure a good user experience, as we don't want to load pages\n  // that are not needed anymore, e.g., when the user clicks multiple links in\n  // quick succession or on slow connections. If the request fails for some\n  // reason, we fall back and use regular navigation, forcing a reload.\n  const document$ =\n    location$.pipe(\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(url => requestHTML(url, { progress$ })\n        .pipe(\n          catchError(() => {\n            setLocation(url, true)\n            return EMPTY\n          })\n        )\n      ),\n\n      // The document was successfully fetched and parsed, so we can inject its\n      // contents into the currently active document\n      switchMap(resolve),\n      switchMap(inject),\n      share()\n    )\n\n  // --------------------------------------------------------------------------\n  // Scroll restoration\n  // --------------------------------------------------------------------------\n\n  // Handle scroll restoration - we must restore the viewport offset after the\n  // document has been fetched and injected, and every time the user clicks an\n  // anchor that leads to an element on the same page, which might also happen\n  // when the user uses the back or forward button.\n  merge(\n    document$.pipe(withLatestFrom(location$, (_, url) => url)),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with a hash fragment different from the current one, as\n    // well as from popstate events, which are emitted when the user navigates\n    // back and forth between pages. We use a two-layered subscription to scope\n    // the scroll restoration to the current page, as we don't need to restore\n    // the viewport offset when the user navigates to a different page, as this\n    // is already handled by the previous observable.\n    document$.pipe(\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"hash\")\n    ),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with the same hash fragment as the current one in the\n    // URL. It is essential that we only intercept those from instant navigation\n    // events and not from history change events, or we'll end up in and endless\n    // loop. The top-level history entry must be removed, as it will be replaced\n    // with a new one, which would otherwise lead to a duplicate entry.\n    location$.pipe(\n      distinctUntilChanged((a, b) => (\n        a.pathname === b.pathname &&\n        a.hash     === b.hash\n      )),\n      switchMap(() => instant$),\n      tap(() => history.back())\n    )\n  )\n    .subscribe(url => {\n\n      // Check if the current history entry has a state, which happens when the\n      // user presses the back or forward button to visit a page we've already\n      // seen. If there's no state, it means a new page was visited and we must\n      // scroll to the top, unless an anchor is given.\n      if (history.state !== null || !url.hash) {\n        window.scrollTo(0, history.state?.y ?? 0)\n      } else {\n        history.scrollRestoration = \"auto\"\n        setLocationHash(url.hash)\n        history.scrollRestoration = \"manual\"\n      }\n    })\n\n  // Disable scroll restoration when an instant navigation event occurs, so the\n  // browser does not immediately set the viewport offset to the prior history\n  // entry, scrolling to the position on the same page, which would look odd.\n  // Instead, we manually restore the position once the page has loaded.\n  location$.subscribe(() => {\n    history.scrollRestoration = \"manual\"\n  })\n\n  // Enable scroll restoration before window unloads - this is essential to\n  // ensure that full reloads (F5) restore the viewport offset correctly. If\n  // only popstate events wouldn't reset the viewport offset prior to their\n  // emission, we could just reset this in popstate. Meh.\n  fromEvent(window, \"beforeunload\")\n    .subscribe(() => {\n      history.scrollRestoration = \"auto\"\n    })\n\n  // Track viewport offset, so we can restore it when the user navigates back\n  // and forth between pages. Note that this must be debounced and cannot be\n  // done in popstate, as popstate has already removed the entry from the\n  // history, which means it is too late.\n  viewport$.pipe(\n    distinctUntilKeyChanged(\"offset\"),\n    debounceTime(100)\n  )\n    .subscribe(({ offset }) => {\n      history.replaceState(offset, \"\")\n    })\n\n  // Return document observable\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchConfig } from \"../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search configuration\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchConfig\n): SearchHighlightFactoryFn {\n  // Hack: temporarily remove pure lookaheads and lookbehinds\n  const regex = config.separator.split(\"|\").map(term => {\n    const temp = term.replace(/(\\(\\?[!=<][^)]+\\))/g, \"\")\n    return temp.length === 0 ? \"\uFFFD\" : term\n  })\n    .join(\"|\")\n\n  const separator = new RegExp(regex, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator}|)(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => escapeHTML(value)\n      .replace(match, highlight)\n      .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SearchResult } from \"../../_\"\nimport { SearchIndex } from \"../../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search message type\n */\nexport const enum SearchMessageType {\n  SETUP,                               /* Search index setup */\n  READY,                               /* Search index ready */\n  QUERY,                               /* Search query */\n  RESULT                               /* Search results */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message containing the data necessary to setup the search index\n */\nexport interface SearchSetupMessage {\n  type: SearchMessageType.SETUP        /* Message type */\n  data: SearchIndex                    /* Message data */\n}\n\n/**\n * Message indicating the search index is ready\n */\nexport interface SearchReadyMessage {\n  type: SearchMessageType.READY        /* Message type */\n}\n\n/**\n * Message containing a search query\n */\nexport interface SearchQueryMessage {\n  type: SearchMessageType.QUERY        /* Message type */\n  data: string                         /* Message data */\n}\n\n/**\n * Message containing results for a search query\n */\nexport interface SearchResultMessage {\n  type: SearchMessageType.RESULT       /* Message type */\n  data: SearchResult                   /* Message data */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message exchanged with the search worker\n */\nexport type SearchMessage =\n  | SearchSetupMessage\n  | SearchReadyMessage\n  | SearchQueryMessage\n  | SearchResultMessage\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Type guard for search ready messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchReadyMessage(\n  message: SearchMessage\n): message is SearchReadyMessage {\n  return message.type === SearchMessageType.READY\n}\n\n/**\n * Type guard for search result messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchResultMessage(\n  message: SearchMessage\n): message is SearchResultMessage {\n  return message.type === SearchMessageType.RESULT\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ObservableInput,\n  Subject,\n  first,\n  merge,\n  of,\n  switchMap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { watchToggle, watchWorker } from \"~/browser\"\n\nimport { SearchIndex } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search worker\n *\n * This function creates and initializes a web worker that is used for search,\n * so that the user interface doesn't freeze. In general, the application does\n * not care how search is implemented, as long as the web worker conforms to\n * the format expected by the application as defined in `SearchMessage`. This\n * allows the author to implement custom search functionality, by providing a\n * custom web worker via configuration.\n *\n * Material for MkDocs' built-in search implementation makes use of Lunr.js, an\n * efficient and fast implementation for client-side search. Leveraging a tiny\n * iframe-based web worker shim, search is even supported for the `file://`\n * protocol, enabling search for local non-hosted builds.\n *\n * If the protocol is `file://`, search initialization is deferred to mitigate\n * freezing, as it's now synchronous by design - see https://bit.ly/3C521EO\n *\n * @see https://bit.ly/3igvtQv - How to implement custom search\n *\n * @param url - Worker URL\n * @param index$ - Search index observable input\n *\n * @returns Search worker\n */\nexport function setupSearchWorker(\n  url: string, index$: ObservableInput<SearchIndex>\n): Subject<SearchMessage> {\n  const worker$ = watchWorker<SearchMessage>(url)\n  merge(\n    of(location.protocol !== \"file:\"),\n    watchToggle(\"search\")\n  )\n    .pipe(\n      first(active => active),\n      switchMap(() => index$)\n    )\n      .subscribe(({ config, docs }) => worker$.next({\n        type: SearchMessageType.SETUP,\n        data: {\n          config,\n          docs,\n          options: {\n            suggest: feature(\"search.suggest\")\n          }\n        }\n      }))\n\n  /* Return search worker */\n  return worker$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Subject,\n  catchError,\n  combineLatest,\n  filter,\n  fromEvent,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  getElement,\n  getLocation,\n  requestJSON,\n  setLocation\n} from \"~/browser\"\nimport { getComponentElements } from \"~/components\"\nimport {\n  Version,\n  renderVersionSelector\n} from \"~/templates\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up version selector\n *\n * @param options - Options\n */\nexport function setupVersionSelector(\n  { document$ }: SetupOptions\n): void {\n  const config = configuration()\n  const versions$ = requestJSON<Version[]>(\n    new URL(\"../versions.json\", config.base)\n  )\n    .pipe(\n      catchError(() => EMPTY) // @todo refactor instant loading\n    )\n\n  /* Determine current version */\n  const current$ = versions$\n    .pipe(\n      map(versions => {\n        const [, current] = config.base.match(/([^/]+)\\/?$/)!\n        return versions.find(({ version, aliases }) => (\n          version === current || aliases.includes(current)\n        )) || versions[0]\n      })\n    )\n\n  /* Intercept inter-version navigation */\n  versions$\n    .pipe(\n      map(versions => new Map(versions.map(version => [\n        `${new URL(`../${version.version}/`, config.base)}`,\n        version\n      ]))),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          withLatestFrom(current$),\n          switchMap(([ev, current]) => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target && urls.has(el.href)) {\n                const url = el.href\n                // This is a temporary hack to detect if a version inside the\n                // version selector or on another part of the site was clicked.\n                // If we're inside the version selector, we definitely want to\n                // find the same page, as we might have different deployments\n                // due to aliases. However, if we're outside the version\n                // selector, we must abort here, because we might otherwise\n                // interfere with instant navigation. We need to refactor this\n                // at some point together with instant navigation.\n                //\n                // See https://github.com/squidfunk/mkdocs-material/issues/4012\n                if (!ev.target.closest(\".md-version\")) {\n                  const version = urls.get(url)!\n                  if (version === current)\n                    return EMPTY\n                }\n                ev.preventDefault()\n                return of(url)\n              }\n            }\n            return EMPTY\n          }),\n          switchMap(url => {\n            return fetchSitemap(new URL(url))\n              .pipe(\n                map(sitemap => {\n                  const location = getLocation()\n                  const path = location.href.replace(config.base, url)\n                  return sitemap.has(path.split(\"#\")[0])\n                    ? new URL(path)\n                    : new URL(url)\n                })\n              )\n          })\n        )\n      )\n    )\n      .subscribe(url => setLocation(url, true))\n\n  /* Render version selector and warning */\n  combineLatest([versions$, current$])\n    .subscribe(([versions, current]) => {\n      const topic = getElement(\".md-header__topic\")\n      topic.appendChild(renderVersionSelector(versions, current))\n    })\n\n  /* Integrate outdated version banner with instant navigation */\n  document$.pipe(switchMap(() => current$))\n    .subscribe(current => {\n\n      /* Check if version state was already determined */\n      let outdated = __md_get(\"__outdated\", sessionStorage)\n      if (outdated === null) {\n        outdated = true\n\n        /* Obtain and normalize default versions */\n        let ignored = config.version?.default || \"latest\"\n        if (!Array.isArray(ignored))\n          ignored = [ignored]\n\n        /* Check if version is considered a default */\n        main: for (const ignore of ignored)\n          for (const version of current.aliases.concat(current.version))\n            if (new RegExp(ignore, \"i\").test(version)) {\n              outdated = false\n              break main\n            }\n\n        /* Persist version state in session storage */\n        __md_set(\"__outdated\", outdated, sessionStorage)\n      }\n\n      /* Unhide outdated version banner */\n      if (outdated)\n        for (const warning of getComponentElements(\"outdated\"))\n          warning.hidden = false\n    })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  first,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  shareReplay,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getLocation,\n  setToggle,\n  watchElementFocus,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchMessageType,\n  isSearchReadyMessage\n} from \"~/integrations\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query\n */\nexport interface SearchQuery {\n  value: string                        /* Query value */\n  focus: boolean                       /* Query focus */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch search query\n *\n * Note that the focus event which triggers re-reading the current query value\n * is delayed by `1ms` so the input's empty state is allowed to propagate.\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query observable\n */\nexport function watchSearchQuery(\n  el: HTMLInputElement, { worker$ }: WatchOptions\n): Observable<SearchQuery> {\n\n  /* Support search deep linking */\n  const { searchParams } = getLocation()\n  if (searchParams.has(\"q\")) {\n    setToggle(\"search\", true)\n\n    /* Set query from parameter */\n    el.value = searchParams.get(\"q\")!\n    el.focus()\n\n    /* Remove query parameter on close */\n    watchToggle(\"search\")\n      .pipe(\n        first(active => !active)\n      )\n        .subscribe(() => {\n          const url = getLocation()\n          url.searchParams.delete(\"q\")\n          history.replaceState({}, \"\", `${url}`)\n        })\n  }\n\n  /* Intercept focus and input events */\n  const focus$ = watchElementFocus(el)\n  const value$ = merge(\n    worker$.pipe(first(isSearchReadyMessage)),\n    fromEvent(el, \"keyup\"),\n    focus$\n  )\n    .pipe(\n      map(() => el.value),\n      distinctUntilChanged()\n    )\n\n  /* Combine into single observable */\n  return combineLatest([value$, focus$])\n    .pipe(\n      map(([value, focus]) => ({ value, focus })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount search query\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query component observable\n */\nexport function mountSearchQuery(\n  el: HTMLInputElement, { worker$ }: MountOptions\n): Observable<Component<SearchQuery, HTMLInputElement>> {\n  const push$ = new Subject<SearchQuery>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n  /* Handle value change */\n  combineLatest([\n    worker$.pipe(first(isSearchReadyMessage)),\n    push$\n  ], (_, query) => query)\n    .pipe(\n      distinctUntilKeyChanged(\"value\")\n    )\n      .subscribe(({ value }) => worker$.next({\n        type: SearchMessageType.QUERY,\n        data: value\n      }))\n\n  /* Handle focus change */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"focus\")\n    )\n      .subscribe(({ focus }) => {\n        if (focus)\n          setToggle(\"search\", focus)\n      })\n\n  /* Handle reset */\n  fromEvent(el.form!, \"reset\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(() => el.focus())\n\n  // Focus search query on label click - note that this is necessary to bring\n  // up the keyboard on iOS and other mobile platforms, as the search dialog is\n  // not visible at first, and programatically focusing an input element must\n  // be triggered by a user interaction - see https://t.ly/Cb30n\n  const label = getElement(\"header [for=__search]\")\n  fromEvent(label, \"click\")\n    .subscribe(() => el.focus())\n\n  /* Create and return component */\n  return watchSearchQuery(el, { worker$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  bufferCount,\n  filter,\n  finalize,\n  first,\n  fromEvent,\n  map,\n  merge,\n  mergeMap,\n  of,\n  share,\n  skipUntil,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom,\n  zipWith\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getElement,\n  getOptionalElement,\n  watchElementBoundary,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchReadyMessage,\n  isSearchResultMessage\n} from \"~/integrations\"\nimport { renderSearchResultItem } from \"~/templates\"\nimport { round } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search result list\n *\n * This function performs a lazy rendering of the search results, depending on\n * the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchResult(\n  el: HTMLElement, { worker$, query$ }: MountOptions\n): Observable<Component<SearchResult>> {\n  const push$ = new Subject<SearchResult>()\n  const boundary$ = watchElementBoundary(el.parentElement!)\n    .pipe(\n      filter(Boolean)\n    )\n\n  /* Retrieve container */\n  const container = el.parentElement!\n\n  /* Retrieve nested components */\n  const meta = getElement(\":scope > :first-child\", el)\n  const list = getElement(\":scope > :last-child\", el)\n\n  /* Reveal to accessibility tree \u2013 see https://bit.ly/3iAA7t8 */\n  watchToggle(\"search\")\n    .subscribe(active => list.setAttribute(\n      \"role\", active ? \"list\" : \"presentation\"\n    ))\n\n  /* Update search result metadata */\n  push$\n    .pipe(\n      withLatestFrom(query$),\n      skipUntil(worker$.pipe(first(isSearchReadyMessage)))\n    )\n      .subscribe(([{ items }, { value }]) => {\n        switch (items.length) {\n\n          /* No results */\n          case 0:\n            meta.textContent = value.length\n              ? translation(\"search.result.none\")\n              : translation(\"search.result.placeholder\")\n            break\n\n          /* One result */\n          case 1:\n            meta.textContent = translation(\"search.result.one\")\n            break\n\n          /* Multiple result */\n          default:\n            const count = round(items.length)\n            meta.textContent = translation(\"search.result.other\", count)\n        }\n      })\n\n  /* Render search result item */\n  const render$ = push$\n    .pipe(\n      tap(() => list.innerHTML = \"\"),\n      switchMap(({ items }) => merge(\n        of(...items.slice(0, 10)),\n        of(...items.slice(10))\n          .pipe(\n            bufferCount(4),\n            zipWith(boundary$),\n            switchMap(([chunk]) => chunk)\n          )\n      )),\n      map(renderSearchResultItem),\n      share()\n    )\n\n  /* Update search result list */\n  render$.subscribe(item => list.appendChild(item))\n  render$\n    .pipe(\n      mergeMap(item => {\n        const details = getOptionalElement(\"details\", item)\n        if (typeof details === \"undefined\")\n          return EMPTY\n\n        /* Keep position of details element stable */\n        return fromEvent(details, \"toggle\")\n          .pipe(\n            takeUntil(push$),\n            map(() => details)\n          )\n      })\n    )\n      .subscribe(details => {\n        if (\n          details.open === false &&\n          details.offsetTop <= container.scrollTop\n        )\n          container.scrollTo({ top: details.offsetTop })\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search sharing\n */\nexport interface SearchShare {\n  url: URL                             /* Deep link for sharing */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search sharing\n *\n * @param _el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing observable\n */\nexport function watchSearchShare(\n  _el: HTMLElement, { query$ }: WatchOptions\n): Observable<SearchShare> {\n  return query$\n    .pipe(\n      map(({ value }) => {\n        const url = getLocation()\n        url.hash = \"\"\n\n        /* Compute readable query strings */\n        value = value\n          .replace(/\\s+/g, \"+\")        /* Collapse whitespace */\n          .replace(/&/g, \"%26\")        /* Escape '&' character */\n          .replace(/=/g, \"%3D\")        /* Escape '=' character */\n\n        /* Replace query string */\n        url.search = `q=${value}`\n        return { url }\n      })\n    )\n}\n\n/**\n * Mount search sharing\n *\n * @param el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing component observable\n */\nexport function mountSearchShare(\n  el: HTMLAnchorElement, options: MountOptions\n): Observable<Component<SearchShare>> {\n  const push$ = new Subject<SearchShare>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe(({ url }) => {\n    el.setAttribute(\"data-clipboard-text\", el.href)\n    el.href = `${url}`\n  })\n\n  /* Prevent following of link */\n  fromEvent(el, \"click\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(ev => ev.preventDefault())\n\n  /* Create and return component */\n  return watchSearchShare(el, options)\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  combineLatestWith,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  observeOn,\n  tap\n} from \"rxjs\"\n\nimport { Keyboard } from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchResultMessage\n} from \"~/integrations\"\n\nimport { Component, getComponentElement } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search suggestions\n */\nexport interface SearchSuggest {}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search suggestions\n *\n * This function will perform a lazy rendering of the search results, depending\n * on the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchSuggest(\n  el: HTMLElement, { worker$, keyboard$ }: MountOptions\n): Observable<Component<SearchSuggest>> {\n  const push$ = new Subject<SearchResult>()\n\n  /* Retrieve query component and track all changes */\n  const query  = getComponentElement(\"search-query\")\n  const query$ = merge(\n    fromEvent(query, \"keydown\"),\n    fromEvent(query, \"focus\")\n  )\n    .pipe(\n      observeOn(asyncScheduler),\n      map(() => query.value),\n      distinctUntilChanged(),\n    )\n\n  /* Update search suggestions */\n  push$\n    .pipe(\n      combineLatestWith(query$),\n      map(([{ suggest }, value]) => {\n        const words = value.split(/([\\s-]+)/)\n        if (suggest?.length && words[words.length - 1]) {\n          const last = suggest[suggest.length - 1]\n          if (last.startsWith(words[words.length - 1]))\n            words[words.length - 1] = last\n        } else {\n          words.length = 0\n        }\n        return words\n      })\n    )\n      .subscribe(words => el.innerHTML = words\n        .join(\"\")\n        .replace(/\\s/g, \"&nbsp;\")\n      )\n\n  /* Set up search keyboard handlers */\n  keyboard$\n    .pipe(\n      filter(({ mode }) => mode === \"search\")\n    )\n      .subscribe(key => {\n        switch (key.type) {\n\n          /* Right arrow: accept current suggestion */\n          case \"ArrowRight\":\n            if (\n              el.innerText.length &&\n              query.selectionStart === query.value.length\n            )\n              query.value = el.innerText\n            break\n        }\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  ObservableInput,\n  filter,\n  fromEvent,\n  merge,\n  mergeWith\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  Keyboard,\n  getActiveElement,\n  getElements,\n  setToggle\n} from \"~/browser\"\nimport {\n  SearchIndex,\n  SearchResult,\n  setupSearchWorker\n} from \"~/integrations\"\n\nimport {\n  Component,\n  getComponentElement,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SearchQuery,\n  mountSearchQuery\n} from \"../query\"\nimport { mountSearchResult } from \"../result\"\nimport {\n  SearchShare,\n  mountSearchShare\n} from \"../share\"\nimport {\n  SearchSuggest,\n  mountSearchSuggest\n} from \"../suggest\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search\n */\nexport type Search =\n  | SearchQuery\n  | SearchResult\n  | SearchShare\n  | SearchSuggest\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search\n *\n * This function sets up the search functionality, including the underlying\n * web worker and all keyboard bindings.\n *\n * @param el - Search element\n * @param options - Options\n *\n * @returns Search component observable\n */\nexport function mountSearch(\n  el: HTMLElement, { index$, keyboard$ }: MountOptions\n): Observable<Component<Search>> {\n  const config = configuration()\n  try {\n    const worker$ = setupSearchWorker(config.search, index$)\n\n    /* Retrieve query and result components */\n    const query  = getComponentElement(\"search-query\", el)\n    const result = getComponentElement(\"search-result\", el)\n\n    /* Always close search on result selection */\n    fromEvent<PointerEvent>(el, \"click\")\n      .pipe(\n        filter(({ target }) => (\n          target instanceof Element && !!target.closest(\"a\")\n        ))\n      )\n        .subscribe(() => setToggle(\"search\", false))\n\n    /* Set up search keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"search\")\n      )\n        .subscribe(key => {\n          const active = getActiveElement()\n          switch (key.type) {\n\n            /* Enter: go to first (best) result */\n            case \"Enter\":\n              if (active === query) {\n                const anchors = new Map<HTMLAnchorElement, number>()\n                for (const anchor of getElements<HTMLAnchorElement>(\n                  \":first-child [href]\", result\n                )) {\n                  const article = anchor.firstElementChild!\n                  anchors.set(anchor, parseFloat(\n                    article.getAttribute(\"data-md-score\")!\n                  ))\n                }\n\n                /* Go to result with highest score, if any */\n                if (anchors.size) {\n                  const [[best]] = [...anchors].sort(([, a], [, b]) => b - a)\n                  best.click()\n                }\n\n                /* Otherwise omit form submission */\n                key.claim()\n              }\n              break\n\n            /* Escape or Tab: close search */\n            case \"Escape\":\n            case \"Tab\":\n              setToggle(\"search\", false)\n              query.blur()\n              break\n\n            /* Vertical arrows: select previous or next search result */\n            case \"ArrowUp\":\n            case \"ArrowDown\":\n              if (typeof active === \"undefined\") {\n                query.focus()\n              } else {\n                const els = [query, ...getElements(\n                  \":not(details) > [href], summary, details[open] [href]\",\n                  result\n                )]\n                const i = Math.max(0, (\n                  Math.max(0, els.indexOf(active)) + els.length + (\n                    key.type === \"ArrowUp\" ? -1 : +1\n                  )\n                ) % els.length)\n                els[i].focus()\n              }\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n\n            /* All other keys: hand to search query */\n            default:\n              if (query !== getActiveElement())\n                query.focus()\n          }\n        })\n\n    /* Set up global keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"global\")\n      )\n        .subscribe(key => {\n          switch (key.type) {\n\n            /* Open search and select query */\n            case \"f\":\n            case \"s\":\n            case \"/\":\n              query.focus()\n              query.select()\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n          }\n        })\n\n    /* Create and return component */\n    const query$ = mountSearchQuery(query, { worker$ })\n    return merge(\n      query$,\n      mountSearchResult(result, { worker$, query$ })\n    )\n      .pipe(\n        mergeWith(\n\n          /* Search sharing */\n          ...getComponentElements(\"search-share\", el)\n            .map(child => mountSearchShare(child, { query$ })),\n\n          /* Search suggestions */\n          ...getComponentElements(\"search-suggest\", el)\n            .map(child => mountSearchSuggest(child, { worker$, keyboard$ }))\n        )\n      )\n\n  /* Gracefully handle broken search */\n  } catch (err) {\n    el.hidden = true\n    return NEVER\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  ObservableInput,\n  combineLatest,\n  filter,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\nimport {\n  SearchIndex,\n  setupSearchHighlighter\n} from \"~/integrations\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlighting\n */\nexport interface SearchHighlight {\n  nodes: Map<ChildNode, string>        /* Map of replacements */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  location$: Observable<URL>           /* Location observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search highlighting\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Search highlighting component observable\n */\nexport function mountSearchHiglight(\n  el: HTMLElement, { index$, location$ }: MountOptions\n): Observable<Component<SearchHighlight>> {\n  return combineLatest([\n    index$,\n    location$\n      .pipe(\n        startWith(getLocation()),\n        filter(url => !!url.searchParams.get(\"h\"))\n      )\n  ])\n    .pipe(\n      map(([index, url]) => setupSearchHighlighter(index.config)(\n        url.searchParams.get(\"h\")!\n      )),\n      map(fn => {\n        const nodes = new Map<ChildNode, string>()\n\n        /* Traverse text nodes and collect matches */\n        const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n        for (let node = it.nextNode(); node; node = it.nextNode()) {\n          if (node.parentElement?.offsetHeight) {\n            const original = node.textContent!\n            const replaced = fn(original)\n            if (replaced.length > original.length)\n              nodes.set(node as ChildNode, replaced)\n          }\n        }\n\n        /* Replace original nodes with matches */\n        for (const [node, text] of nodes) {\n          const { childNodes } = h(\"span\", null, text)\n          node.replaceWith(...Array.from(childNodes))\n        }\n\n        /* Return component */\n        return { ref: el, nodes }\n      })\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  finalize,\n  first,\n  from,\n  fromEvent,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElement,\n  getElementOffset,\n  getElementSize,\n  getElements\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sidebar\n */\nexport interface Sidebar {\n  height: number                       /* Sidebar height */\n  locked: boolean                      /* Sidebar is locked */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch sidebar\n *\n * This function returns an observable that computes the visual parameters of\n * the sidebar which depends on the vertical viewport offset, as well as the\n * height of the main area. When the page is scrolled beyond the header, the\n * sidebar is locked and fills the remaining space.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar observable\n */\nexport function watchSidebar(\n  el: HTMLElement, { viewport$, main$ }: WatchOptions\n): Observable<Sidebar> {\n  const parent = el.closest<HTMLElement>(\".md-grid\")!\n  const adjust =\n    parent.offsetTop -\n    parent.parentElement!.offsetTop\n\n  /* Compute the sidebar's available height and if it should be locked */\n  return combineLatest([main$, viewport$])\n    .pipe(\n      map(([{ offset, height }, { offset: { y } }]) => {\n        height = height\n          + Math.min(adjust, Math.max(0, y - offset))\n          - adjust\n        return {\n          height,\n          locked: y >= offset + adjust\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.locked === b.locked\n      ))\n    )\n}\n\n/**\n * Mount sidebar\n *\n * This function doesn't set the height of the actual sidebar, but of its first\n * child \u2013 the `.md-sidebar__scrollwrap` element in order to mitigiate jittery\n * sidebars when the footer is scrolled into view. At some point we switched\n * from `absolute` / `fixed` positioning to `sticky` positioning, significantly\n * reducing jitter in some browsers (respectively Firefox and Safari) when\n * scrolling from the top. However, top-aligned sticky positioning means that\n * the sidebar snaps to the bottom when the end of the container is reached.\n * This is what leads to the mentioned jitter, as the sidebar's height may be\n * updated too slowly.\n *\n * This behaviour can be mitigiated by setting the height of the sidebar to `0`\n * while preserving the padding, and the height on its first element.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar component observable\n */\nexport function mountSidebar(\n  el: HTMLElement, { header$, ...options }: MountOptions\n): Observable<Component<Sidebar>> {\n  const inner = getElement(\".md-sidebar__scrollwrap\", el)\n  const { y } = getElementOffset(inner)\n  return defer(() => {\n    const push$ = new Subject<Sidebar>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    const next$ = push$\n      .pipe(\n        auditTime(0, animationFrameScheduler)\n      )\n\n    /* Update sidebar height and offset */\n    next$.pipe(withLatestFrom(header$))\n      .subscribe({\n\n        /* Handle emission */\n        next([{ height }, { height: offset }]) {\n          inner.style.height = `${height - 2 * y}px`\n          el.style.top       = `${offset}px`\n        },\n\n        /* Handle complete */\n        complete() {\n          inner.style.height = \"\"\n          el.style.top       = \"\"\n        }\n      })\n\n    /* Bring active item into view on initial load */\n    next$.pipe(first())\n      .subscribe(() => {\n        for (const item of getElements(\".md-nav__link--active[href]\", el)) {\n          if (!item.clientHeight) // skip invisible toc in left sidebar\n            continue\n          const container = item.closest<HTMLElement>(\".md-sidebar__scrollwrap\")!\n          if (typeof container !== \"undefined\") {\n            const offset = item.offsetTop - container.offsetTop\n            const { height } = getElementSize(container)\n            container.scrollTo({\n              top: offset - height / 2\n            })\n          }\n        }\n      })\n\n    /* Handle accessibility for expandable items, see https://bit.ly/3jaod9p */\n    from(getElements<HTMLLabelElement>(\"label[tabindex]\", el))\n      .pipe(\n        mergeMap(label => fromEvent(label, \"click\")\n          .pipe(\n            observeOn(asyncScheduler),\n            map(() => label),\n            takeUntil(done$)\n          )\n        )\n      )\n        .subscribe(label => {\n          const input = getElement<HTMLInputElement>(`[id=\"${label.htmlFor}\"]`)\n          const nav = getElement(`[aria-labelledby=\"${label.id}\"]`)\n          nav.setAttribute(\"aria-expanded\", `${input.checked}`)\n        })\n\n    /* Create and return component */\n    return watchSidebar(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Repo, User } from \"github-types\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitHub release (partial)\n */\ninterface Release {\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitHub repository facts\n *\n * @param user - GitHub user or organization\n * @param repo - GitHub repository\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitHub(\n  user: string, repo?: string\n): Observable<SourceFacts> {\n  if (typeof repo !== \"undefined\") {\n    const url = `https://api.github.com/repos/${user}/${repo}`\n    return zip(\n\n      /* Fetch version */\n      requestJSON<Release>(`${url}/releases/latest`)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(release => ({\n            version: release.tag_name\n          })),\n          defaultIfEmpty({})\n        ),\n\n      /* Fetch stars and forks */\n      requestJSON<Repo>(url)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(info => ({\n            stars: info.stargazers_count,\n            forks: info.forks_count\n          })),\n          defaultIfEmpty({})\n        )\n    )\n      .pipe(\n        map(([release, info]) => ({ ...release, ...info }))\n      )\n\n  /* User or organization */\n  } else {\n    const url = `https://api.github.com/users/${user}`\n    return requestJSON<User>(url)\n      .pipe(\n        map(info => ({\n          repositories: info.public_repos\n        })),\n        defaultIfEmpty({})\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ProjectSchema } from \"gitlab\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitLab release (partial)\n */\ninterface Release { // @todo remove and use the ReleaseSchema type instead after switching from gitlab to @gitbeaker/rest\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitLab repository facts\n *\n * @param base - GitLab base\n * @param project - GitLab project\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitLab(\n  base: string, project: string\n): Observable<SourceFacts> {\n  const url = `https://${base}/api/v4/projects/${encodeURIComponent(project)}`\n  return zip(\n\n    /* Fetch version */\n    requestJSON<Release>(`${url}/releases/permalink/latest`)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ tag_name }) => ({\n          version: tag_name\n        })),\n        defaultIfEmpty({})\n      ),\n\n    /* Fetch stars and forks */\n    requestJSON<ProjectSchema>(url)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ star_count, forks_count }) => ({\n          stars: star_count,\n          forks: forks_count\n        })),\n        defaultIfEmpty({})\n      )\n  )\n    .pipe(\n      map(([release, info]) => ({ ...release, ...info }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable } from \"rxjs\"\n\nimport { fetchSourceFactsFromGitHub } from \"../github\"\nimport { fetchSourceFactsFromGitLab } from \"../gitlab\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository facts for repositories\n */\nexport interface RepositoryFacts {\n  stars?: number                       /* Number of stars */\n  forks?: number                       /* Number of forks */\n  version?: string                     /* Latest version */\n}\n\n/**\n * Repository facts for organizations\n */\nexport interface OrganizationFacts {\n  repositories?: number                /* Number of repositories */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Repository facts\n */\nexport type SourceFacts =\n  | RepositoryFacts\n  | OrganizationFacts\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch repository facts\n *\n * @param url - Repository URL\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFacts(\n  url: string\n): Observable<SourceFacts> {\n\n  /* Try to match GitHub repository */\n  let match = url.match(/^.+github\\.com\\/([^/]+)\\/?([^/]+)?/i)\n  if (match) {\n    const [, user, repo] = match\n    return fetchSourceFactsFromGitHub(user, repo)\n  }\n\n  /* Try to match GitLab repository */\n  match = url.match(/^.+?([^/]*gitlab[^/]+)\\/(.+?)\\/?$/i)\n  if (match) {\n    const [, base, slug] = match\n    return fetchSourceFactsFromGitLab(base, slug)\n  }\n\n  /* Fallback */\n  return EMPTY\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  defer,\n  filter,\n  finalize,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\nimport { ConsentDefaults } from \"~/components/consent\"\nimport { renderSourceFacts } from \"~/templates\"\n\nimport {\n  Component,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SourceFacts,\n  fetchSourceFacts\n} from \"../facts\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information\n */\nexport interface Source {\n  facts: SourceFacts                   /* Repository facts */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information observable\n */\nlet fetch$: Observable<Source>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch repository information\n *\n * This function tries to read the repository facts from session storage, and\n * if unsuccessful, fetches them from the underlying provider.\n *\n * @param el - Repository information element\n *\n * @returns Repository information observable\n */\nexport function watchSource(\n  el: HTMLAnchorElement\n): Observable<Source> {\n  return fetch$ ||= defer(() => {\n    const cached = __md_get<SourceFacts>(\"__source\", sessionStorage)\n    if (cached) {\n      return of(cached)\n    } else {\n\n      /* Check if consent is configured and was given */\n      const els = getComponentElements(\"consent\")\n      if (els.length) {\n        const consent = __md_get<ConsentDefaults>(\"__consent\")\n        if (!(consent && consent.github))\n          return EMPTY\n      }\n\n      /* Fetch repository facts */\n      return fetchSourceFacts(el.href)\n        .pipe(\n          tap(facts => __md_set(\"__source\", facts, sessionStorage))\n        )\n    }\n  })\n    .pipe(\n      catchError(() => EMPTY),\n      filter(facts => Object.keys(facts).length > 0),\n      map(facts => ({ facts })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount repository information\n *\n * @param el - Repository information element\n *\n * @returns Repository information component observable\n */\nexport function mountSource(\n  el: HTMLAnchorElement\n): Observable<Component<Source>> {\n  const inner = getElement(\":scope > :last-child\", el)\n  return defer(() => {\n    const push$ = new Subject<Source>()\n    push$.subscribe(({ facts }) => {\n      inner.appendChild(renderSourceFacts(facts))\n      inner.classList.add(\"md-source__repository--active\")\n    })\n\n    /* Create and return component */\n    return watchSource(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Navigation tabs\n */\nexport interface Tabs {\n  hidden: boolean                      /* Navigation tabs are hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch navigation tabs\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs observable\n */\nexport function watchTabs(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Tabs> {\n  return watchElementSize(document.body)\n    .pipe(\n      switchMap(() => watchViewportAt(el, { header$, viewport$ })),\n      map(({ offset: { y } }) => {\n        return {\n          hidden: y >= 10\n        }\n      }),\n      distinctUntilKeyChanged(\"hidden\")\n    )\n}\n\n/**\n * Mount navigation tabs\n *\n * This function hides the navigation tabs when scrolling past the threshold\n * and makes them reappear in a nice CSS animation when scrolling back up.\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs component observable\n */\nexport function mountTabs(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Tabs>> {\n  return defer(() => {\n    const push$ = new Subject<Tabs>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ hidden }) {\n        el.hidden = hidden\n      },\n\n      /* Handle complete */\n      complete() {\n        el.hidden = false\n      }\n    })\n\n    /* Create and return component */\n    return (\n      feature(\"navigation.tabs.sticky\")\n        ? of({ hidden: false })\n        : watchTabs(el, options)\n    )\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  bufferCount,\n  combineLatestWith,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  finalize,\n  ignoreElements,\n  map,\n  merge,\n  observeOn,\n  of,\n  repeat,\n  scan,\n  share,\n  skip,\n  startWith,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContainer,\n  getElementSize,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  watchElementSize\n} from \"~/browser\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Table of contents\n */\nexport interface TableOfContents {\n  prev: HTMLAnchorElement[][]          /* Anchors (previous) */\n  next: HTMLAnchorElement[][]          /* Anchors (next) */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch table of contents\n *\n * This is effectively a scroll spy implementation which will account for the\n * fixed header and automatically re-calculate anchor offsets when the viewport\n * is resized. The returned observable will only emit if the table of contents\n * needs to be repainted.\n *\n * This implementation tracks an anchor element's entire path starting from its\n * level up to the top-most anchor element, e.g. `[h3, h2, h1]`. Although the\n * Material theme currently doesn't make use of this information, it enables\n * the styling of the entire hierarchy through customization.\n *\n * Note that the current anchor is the last item of the `prev` anchor list.\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents observable\n */\nexport function watchTableOfContents(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<TableOfContents> {\n  const table = new Map<HTMLAnchorElement, HTMLElement>()\n\n  /* Compute anchor-to-target mapping */\n  const anchors = getElements<HTMLAnchorElement>(\".md-nav__link\", el)\n  for (const anchor of anchors) {\n    const id = decodeURIComponent(anchor.hash.substring(1))\n    const target = getOptionalElement(`[id=\"${id}\"]`)\n    if (typeof target !== \"undefined\")\n      table.set(anchor, target)\n  }\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n      map(({ height }) => {\n        const main = getComponentElement(\"main\")\n        const grid = getElement(\":scope > :first-child\", main)\n        return height + 0.8 * (\n          grid.offsetTop -\n          main.offsetTop\n        )\n      }),\n      share()\n    )\n\n  /* Compute partition of previous and next anchors */\n  const partition$ = watchElementSize(document.body)\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n\n      /* Build index to map anchor paths to vertical offsets */\n      switchMap(body => defer(() => {\n        let path: HTMLAnchorElement[] = []\n        return of([...table].reduce((index, [anchor, target]) => {\n          while (path.length) {\n            const last = table.get(path[path.length - 1])!\n            if (last.tagName >= target.tagName) {\n              path.pop()\n            } else {\n              break\n            }\n          }\n\n          /* If the current anchor is hidden, continue with its parent */\n          let offset = target.offsetTop\n          while (!offset && target.parentElement) {\n            target = target.parentElement\n            offset = target.offsetTop\n          }\n\n          /* Fix anchor offsets in tables - see https://bit.ly/3CUFOcn */\n          let parent = target.offsetParent as HTMLElement\n          for (; parent; parent = parent.offsetParent as HTMLElement)\n            offset += parent.offsetTop\n\n          /* Map reversed anchor path to vertical offset */\n          return index.set(\n            [...path = [...path, anchor]].reverse(),\n            offset\n          )\n        }, new Map<HTMLAnchorElement[], number>()))\n      })\n        .pipe(\n\n          /* Sort index by vertical offset (see https://bit.ly/30z6QSO) */\n          map(index => new Map([...index].sort(([, a], [, b]) => a - b))),\n          combineLatestWith(adjust$),\n\n          /* Re-compute partition when viewport offset changes */\n          switchMap(([index, adjust]) => viewport$\n            .pipe(\n              scan(([prev, next], { offset: { y }, size }) => {\n                const last = y + size.height >= Math.floor(body.height)\n\n                /* Look forward */\n                while (next.length) {\n                  const [, offset] = next[0]\n                  if (offset - adjust < y || last) {\n                    prev = [...prev, next.shift()!]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Look backward */\n                while (prev.length) {\n                  const [, offset] = prev[prev.length - 1]\n                  if (offset - adjust >= y && !last) {\n                    next = [prev.pop()!, ...next]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Return partition */\n                return [prev, next]\n              }, [[], [...index]]),\n              distinctUntilChanged((a, b) => (\n                a[0] === b[0] &&\n                a[1] === b[1]\n              ))\n            )\n          )\n        )\n      )\n    )\n\n  /* Compute and return anchor list migrations */\n  return partition$\n    .pipe(\n      map(([prev, next]) => ({\n        prev: prev.map(([path]) => path),\n        next: next.map(([path]) => path)\n      })),\n\n      /* Extract anchor list migrations */\n      startWith({ prev: [], next: [] }),\n      bufferCount(2, 1),\n      map(([a, b]) => {\n\n        /* Moving down */\n        if (a.prev.length < b.prev.length) {\n          return {\n            prev: b.prev.slice(Math.max(0, a.prev.length - 1), b.prev.length),\n            next: []\n          }\n\n        /* Moving up */\n        } else {\n          return {\n            prev: b.prev.slice(-1),\n            next: b.next.slice(0, b.next.length - a.next.length)\n          }\n        }\n      })\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount table of contents\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents component observable\n */\nexport function mountTableOfContents(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<TableOfContents>> {\n  return defer(() => {\n    const push$ = new Subject<TableOfContents>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe(({ prev, next }) => {\n\n      /* Look forward */\n      for (const [anchor] of next) {\n        anchor.classList.remove(\"md-nav__link--passed\")\n        anchor.classList.remove(\"md-nav__link--active\")\n      }\n\n      /* Look backward */\n      for (const [index, [anchor]] of prev.entries()) {\n        anchor.classList.add(\"md-nav__link--passed\")\n        anchor.classList.toggle(\n          \"md-nav__link--active\",\n          index === prev.length - 1\n        )\n      }\n    })\n\n    /* Set up following, if enabled */\n    if (feature(\"toc.follow\")) {\n\n      /* Toggle smooth scrolling only for anchor clicks */\n      const smooth$ = merge(\n        viewport$.pipe(debounceTime(1), map(() => undefined)),\n        viewport$.pipe(debounceTime(250), map(() => \"smooth\" as const))\n      )\n\n      /* Bring active anchor into view */ // @todo: refactor\n      push$\n        .pipe(\n          filter(({ prev }) => prev.length > 0),\n          combineLatestWith(main$.pipe(observeOn(asyncScheduler))),\n          withLatestFrom(smooth$)\n        )\n          .subscribe(([[{ prev }], behavior]) => {\n            const [anchor] = prev[prev.length - 1]\n            if (anchor.offsetHeight) {\n\n              /* Retrieve overflowing container and scroll */\n              const container = getElementContainer(anchor)\n              if (typeof container !== \"undefined\") {\n                const offset = anchor.offsetTop - container.offsetTop\n                const { height } = getElementSize(container)\n                container.scrollTo({\n                  top: offset - height / 2,\n                  behavior\n                })\n              }\n            }\n          })\n    }\n\n    /* Set up anchor tracking, if enabled */\n    if (feature(\"navigation.tracking\"))\n      viewport$\n        .pipe(\n          takeUntil(done$),\n          distinctUntilKeyChanged(\"offset\"),\n          debounceTime(250),\n          skip(1),\n          takeUntil(target$.pipe(skip(1))),\n          repeat({ delay: 250 }),\n          withLatestFrom(push$)\n        )\n          .subscribe(([, { prev }]) => {\n            const url = getLocation()\n\n            /* Set hash fragment to active anchor */\n            const anchor = prev[prev.length - 1]\n            if (anchor && anchor.length) {\n              const [active] = anchor\n              const { hash } = new URL(active.href)\n              if (url.hash !== hash) {\n                url.hash = hash\n                history.replaceState({}, \"\", `${url}`)\n              }\n\n            /* Reset anchor when at the top */\n            } else {\n              url.hash = \"\"\n              history.replaceState({}, \"\", `${url}`)\n            }\n          })\n\n    /* Create and return component */\n    return watchTableOfContents(el, { viewport$, header$ })\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  repeat,\n  skip,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { Viewport } from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Back-to-top button\n */\nexport interface BackToTop {\n  hidden: boolean                      /* Back-to-top button is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch back-to-top\n *\n * @param _el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top observable\n */\nexport function watchBackToTop(\n  _el: HTMLElement, { viewport$, main$, target$ }: WatchOptions\n): Observable<BackToTop> {\n\n  /* Compute direction */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => a > b && b > 0),\n      distinctUntilChanged()\n    )\n\n  /* Compute whether main area is active */\n  const active$ = main$\n    .pipe(\n      map(({ active }) => active)\n    )\n\n  /* Compute threshold for hiding */\n  return combineLatest([active$, direction$])\n    .pipe(\n      map(([active, direction]) => !(active && direction)),\n      distinctUntilChanged(),\n      takeUntil(target$.pipe(skip(1))),\n      endWith(true),\n      repeat({ delay: 250 }),\n      map(hidden => ({ hidden }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount back-to-top\n *\n * @param el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top component observable\n */\nexport function mountBackToTop(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<BackToTop>> {\n  const push$ = new Subject<BackToTop>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe({\n\n    /* Handle emission */\n    next({ hidden }) {\n      el.hidden = hidden\n      if (hidden) {\n        el.setAttribute(\"tabindex\", \"-1\")\n        el.blur()\n      } else {\n        el.removeAttribute(\"tabindex\")\n      }\n    },\n\n    /* Handle complete */\n    complete() {\n      el.style.top = \"\"\n      el.hidden = true\n      el.removeAttribute(\"tabindex\")\n    }\n  })\n\n  /* Watch header height */\n  header$\n    .pipe(\n      takeUntil(done$),\n      distinctUntilKeyChanged(\"height\")\n    )\n      .subscribe(({ height }) => {\n        el.style.top = `${height + 16}px`\n      })\n\n  /* Go back to top */\n  fromEvent(el, \"click\")\n    .subscribe(ev => {\n      ev.preventDefault()\n      window.scrollTo({ top: 0 })\n    })\n\n  /* Create and return component */\n  return watchBackToTop(el, { viewport$, main$, target$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  finalize,\n  map,\n  mergeMap,\n  skip,\n  switchMap,\n  take,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementVisibility\n} from \"~/browser\"\nimport { mountInlineTooltip2 } from \"~/components/tooltip2\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch ellipsis\n *\n * This function will fetch all elements that are shortened with ellipsis, and\n * filter those which are visible. Once they become visible, they stay in that\n * state, even though they may be hidden again. This optimization is necessary\n * to reduce pressure on the browser, with elements fading in and out of view.\n *\n * @param options - Options\n */\nexport function patchEllipsis(\n  { document$, viewport$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\".md-ellipsis\")),\n      mergeMap(el => watchElementVisibility(el)\n        .pipe(\n          takeUntil(document$.pipe(skip(1))),\n          filter(visible => visible),\n          map(() => el),\n          take(1)\n        )\n      ),\n      filter(el => el.offsetWidth < el.scrollWidth),\n      mergeMap(el => {\n        const text = el.innerText\n        const host = el.closest(\"a\") || el\n        host.title = text\n\n        // Do not mount improved tooltip if feature is disabled\n        if (!feature(\"content.tooltips\"))\n          return EMPTY\n\n        /* Mount tooltip */\n        return mountInlineTooltip2(host, { viewport$ })\n          .pipe(\n            takeUntil(document$.pipe(skip(1))),\n            finalize(() => host.removeAttribute(\"title\"))\n          )\n      })\n    )\n      .subscribe()\n\n  // @todo move this outside of here and fix memleaks\n  if (feature(\"content.tooltips\"))\n    document$\n      .pipe(\n        switchMap(() => getElements(\".md-status\")),\n        mergeMap(el => mountInlineTooltip2(el, { viewport$ }))\n      )\n        .subscribe()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  takeWhile,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch indeterminate checkboxes\n *\n * This function replaces the indeterminate \"pseudo state\" with the actual\n * indeterminate state, which is used to keep navigation always expanded.\n *\n * @param options - Options\n */\nexport function patchIndeterminate(\n  { document$, tablet$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements<HTMLInputElement>(\n        \".md-toggle--indeterminate\"\n      )),\n      tap(el => {\n        el.indeterminate = true\n        el.checked = false\n      }),\n      mergeMap(el => fromEvent(el, \"change\")\n        .pipe(\n          takeWhile(() => el.classList.contains(\"md-toggle--indeterminate\")),\n          map(() => el)\n        )\n      ),\n      withLatestFrom(tablet$)\n    )\n      .subscribe(([el, tablet]) => {\n        el.classList.remove(\"md-toggle--indeterminate\")\n        if (tablet)\n          el.checked = false\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether the given device is an Apple device\n *\n * @returns Test result\n */\nfunction isAppleDevice(): boolean {\n  return /(iPad|iPhone|iPod)/.test(navigator.userAgent)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch all elements with `data-md-scrollfix` attributes\n *\n * This is a year-old patch which ensures that overflow scrolling works at the\n * top and bottom of containers on iOS by ensuring a `1px` scroll offset upon\n * the start of a touch event.\n *\n * @see https://bit.ly/2SCtAOO - Original source\n *\n * @param options - Options\n */\nexport function patchScrollfix(\n  { document$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\"[data-md-scrollfix]\")),\n      tap(el => el.removeAttribute(\"data-md-scrollfix\")),\n      filter(isAppleDevice),\n      mergeMap(el => fromEvent(el, \"touchstart\")\n        .pipe(\n          map(() => el)\n        )\n      )\n    )\n      .subscribe(el => {\n        const top = el.scrollTop\n\n        /* We're at the top of the container */\n        if (top === 0) {\n          el.scrollTop = 1\n\n        /* We're at the bottom of the container */\n        } else if (top + el.offsetHeight === el.scrollHeight) {\n          el.scrollTop = top - 1\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  delay,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchToggle\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch the document body to lock when search is open\n *\n * For mobile and tablet viewports, the search is rendered full screen, which\n * leads to scroll leaking when at the top or bottom of the search result. This\n * function locks the body when the search is in full screen mode, and restores\n * the scroll position when leaving.\n *\n * @param options - Options\n */\nexport function patchScrolllock(\n  { viewport$, tablet$ }: PatchOptions\n): void {\n  combineLatest([watchToggle(\"search\"), tablet$])\n    .pipe(\n      map(([active, tablet]) => active && !tablet),\n      switchMap(active => of(active)\n        .pipe(\n          delay(active ? 400 : 100)\n        )\n      ),\n      withLatestFrom(viewport$)\n    )\n      .subscribe(([active, { offset: { y }}]) => {\n        if (active) {\n          document.body.setAttribute(\"data-md-scrolllock\", \"\")\n          document.body.style.top = `-${y}px`\n        } else {\n          const value = -1 * parseInt(document.body.style.top, 10)\n          document.body.removeAttribute(\"data-md-scrolllock\")\n          document.body.style.top = \"\"\n          if (value)\n            window.scrollTo(0, value)\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n"],
+  "mappings": 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diff --git a/assets/javascripts/lunr/min/lunr.ar.min.js b/assets/javascripts/lunr/min/lunr.ar.min.js
new file mode 100644
index 00000000..9b06c26c
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ar.min.js
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.da.min.js b/assets/javascripts/lunr/min/lunr.da.min.js
new file mode 100644
index 00000000..b9d85098
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.da.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Danish` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.da=function(){this.pipeline.reset(),this.pipeline.add(e.da.trimmer,e.da.stopWordFilter,e.da.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.da.stemmer))},e.da.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.da.trimmer=e.trimmerSupport.generateTrimmer(e.da.wordCharacters),e.Pipeline.registerFunction(e.da.trimmer,"trimmer-da"),e.da.stemmer=function(){var r=e.stemmerSupport.Among,i=e.stemmerSupport.SnowballProgram,n=new function(){function e(){var e,r=f.cursor+3;if(d=f.limit,0<=r&&r<=f.limit){for(a=r;;){if(e=f.cursor,f.in_grouping(w,97,248)){f.cursor=e;break}if(f.cursor=e,e>=f.limit)return;f.cursor++}for(;!f.out_grouping(w,97,248);){if(f.cursor>=f.limit)return;f.cursor++}d=f.cursor,d<a&&(d=a)}}function n(){var e,r;if(f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(c,32),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del();break;case 2:f.in_grouping_b(p,97,229)&&f.slice_del()}}function t(){var e,r=f.limit-f.cursor;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.find_among_b(l,4)?(f.bra=f.cursor,f.limit_backward=e,f.cursor=f.limit-r,f.cursor>f.limit_backward&&(f.cursor--,f.bra=f.cursor,f.slice_del())):f.limit_backward=e)}function s(){var e,r,i,n=f.limit-f.cursor;if(f.ket=f.cursor,f.eq_s_b(2,"st")&&(f.bra=f.cursor,f.eq_s_b(2,"ig")&&f.slice_del()),f.cursor=f.limit-n,f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(m,5),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del(),i=f.limit-f.cursor,t(),f.cursor=f.limit-i;break;case 2:f.slice_from("løs")}}function o(){var e;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.out_grouping_b(w,97,248)?(f.bra=f.cursor,u=f.slice_to(u),f.limit_backward=e,f.eq_v_b(u)&&f.slice_del()):f.limit_backward=e)}var a,d,u,c=[new r("hed",-1,1),new r("ethed",0,1),new r("ered",-1,1),new r("e",-1,1),new r("erede",3,1),new r("ende",3,1),new r("erende",5,1),new r("ene",3,1),new r("erne",3,1),new r("ere",3,1),new r("en",-1,1),new r("heden",10,1),new r("eren",10,1),new r("er",-1,1),new r("heder",13,1),new r("erer",13,1),new r("s",-1,2),new r("heds",16,1),new r("es",16,1),new r("endes",18,1),new r("erendes",19,1),new r("enes",18,1),new r("ernes",18,1),new r("eres",18,1),new r("ens",16,1),new r("hedens",24,1),new r("erens",24,1),new r("ers",16,1),new r("ets",16,1),new r("erets",28,1),new r("et",-1,1),new r("eret",30,1)],l=[new r("gd",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("elig",1,1),new r("els",-1,1),new r("løst",-1,2)],w=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],p=[239,254,42,3,0,0,0,0,0,0,0,0,0,0,0,0,16],f=new i;this.setCurrent=function(e){f.setCurrent(e)},this.getCurrent=function(){return f.getCurrent()},this.stem=function(){var r=f.cursor;return e(),f.limit_backward=r,f.cursor=f.limit,n(),f.cursor=f.limit,t(),f.cursor=f.limit,s(),f.cursor=f.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return n.setCurrent(e),n.stem(),n.getCurrent()}):(n.setCurrent(e),n.stem(),n.getCurrent())}}(),e.Pipeline.registerFunction(e.da.stemmer,"stemmer-da"),e.da.stopWordFilter=e.generateStopWordFilter("ad af alle alt anden at blev blive bliver da de dem den denne der deres det dette dig din disse dog du efter eller en end er et for fra ham han hans har havde have hende hendes her hos hun hvad hvis hvor i ikke ind jeg jer jo kunne man mange med meget men mig min mine mit mod ned noget nogle nu når og også om op os over på selv sig sin sine sit skal skulle som sådan thi til ud under var vi vil ville vor være været".split(" ")),e.Pipeline.registerFunction(e.da.stopWordFilter,"stopWordFilter-da")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.de.min.js b/assets/javascripts/lunr/min/lunr.de.min.js
new file mode 100644
index 00000000..f3b5c108
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.de.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `German` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.de=function(){this.pipeline.reset(),this.pipeline.add(e.de.trimmer,e.de.stopWordFilter,e.de.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.de.stemmer))},e.de.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.de.trimmer=e.trimmerSupport.generateTrimmer(e.de.wordCharacters),e.Pipeline.registerFunction(e.de.trimmer,"trimmer-de"),e.de.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,i=new function(){function e(e,r,n){return!(!v.eq_s(1,e)||(v.ket=v.cursor,!v.in_grouping(p,97,252)))&&(v.slice_from(r),v.cursor=n,!0)}function i(){for(var r,n,i,s,t=v.cursor;;)if(r=v.cursor,v.bra=r,v.eq_s(1,"ß"))v.ket=v.cursor,v.slice_from("ss");else{if(r>=v.limit)break;v.cursor=r+1}for(v.cursor=t;;)for(n=v.cursor;;){if(i=v.cursor,v.in_grouping(p,97,252)){if(s=v.cursor,v.bra=s,e("u","U",i))break;if(v.cursor=s,e("y","Y",i))break}if(i>=v.limit)return void(v.cursor=n);v.cursor=i+1}}function s(){for(;!v.in_grouping(p,97,252);){if(v.cursor>=v.limit)return!0;v.cursor++}for(;!v.out_grouping(p,97,252);){if(v.cursor>=v.limit)return!0;v.cursor++}return!1}function t(){m=v.limit,l=m;var e=v.cursor+3;0<=e&&e<=v.limit&&(d=e,s()||(m=v.cursor,m<d&&(m=d),s()||(l=v.cursor)))}function o(){for(var e,r;;){if(r=v.cursor,v.bra=r,!(e=v.find_among(h,6)))return;switch(v.ket=v.cursor,e){case 1:v.slice_from("y");break;case 2:case 5:v.slice_from("u");break;case 3:v.slice_from("a");break;case 4:v.slice_from("o");break;case 6:if(v.cursor>=v.limit)return;v.cursor++}}}function c(){return m<=v.cursor}function u(){return l<=v.cursor}function a(){var e,r,n,i,s=v.limit-v.cursor;if(v.ket=v.cursor,(e=v.find_among_b(w,7))&&(v.bra=v.cursor,c()))switch(e){case 1:v.slice_del();break;case 2:v.slice_del(),v.ket=v.cursor,v.eq_s_b(1,"s")&&(v.bra=v.cursor,v.eq_s_b(3,"nis")&&v.slice_del());break;case 3:v.in_grouping_b(g,98,116)&&v.slice_del()}if(v.cursor=v.limit-s,v.ket=v.cursor,(e=v.find_among_b(f,4))&&(v.bra=v.cursor,c()))switch(e){case 1:v.slice_del();break;case 2:if(v.in_grouping_b(k,98,116)){var t=v.cursor-3;v.limit_backward<=t&&t<=v.limit&&(v.cursor=t,v.slice_del())}}if(v.cursor=v.limit-s,v.ket=v.cursor,(e=v.find_among_b(_,8))&&(v.bra=v.cursor,u()))switch(e){case 1:v.slice_del(),v.ket=v.cursor,v.eq_s_b(2,"ig")&&(v.bra=v.cursor,r=v.limit-v.cursor,v.eq_s_b(1,"e")||(v.cursor=v.limit-r,u()&&v.slice_del()));break;case 2:n=v.limit-v.cursor,v.eq_s_b(1,"e")||(v.cursor=v.limit-n,v.slice_del());break;case 3:if(v.slice_del(),v.ket=v.cursor,i=v.limit-v.cursor,!v.eq_s_b(2,"er")&&(v.cursor=v.limit-i,!v.eq_s_b(2,"en")))break;v.bra=v.cursor,c()&&v.slice_del();break;case 4:v.slice_del(),v.ket=v.cursor,e=v.find_among_b(b,2),e&&(v.bra=v.cursor,u()&&1==e&&v.slice_del())}}var d,l,m,h=[new r("",-1,6),new r("U",0,2),new r("Y",0,1),new r("ä",0,3),new r("ö",0,4),new r("ü",0,5)],w=[new r("e",-1,2),new r("em",-1,1),new r("en",-1,2),new r("ern",-1,1),new r("er",-1,1),new r("s",-1,3),new r("es",5,2)],f=[new r("en",-1,1),new r("er",-1,1),new r("st",-1,2),new r("est",2,1)],b=[new r("ig",-1,1),new r("lich",-1,1)],_=[new r("end",-1,1),new r("ig",-1,2),new r("ung",-1,1),new r("lich",-1,3),new r("isch",-1,2),new r("ik",-1,2),new r("heit",-1,3),new r("keit",-1,4)],p=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,8,0,32,8],g=[117,30,5],k=[117,30,4],v=new n;this.setCurrent=function(e){v.setCurrent(e)},this.getCurrent=function(){return v.getCurrent()},this.stem=function(){var e=v.cursor;return i(),v.cursor=e,t(),v.limit_backward=e,v.cursor=v.limit,a(),v.cursor=v.limit_backward,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.de.stemmer,"stemmer-de"),e.de.stopWordFilter=e.generateStopWordFilter("aber alle allem allen aller alles als also am an ander andere anderem anderen anderer anderes anderm andern anderr anders auch auf aus bei bin bis bist da damit dann das dasselbe dazu daß dein deine deinem deinen deiner deines dem demselben den denn denselben der derer derselbe derselben des desselben dessen dich die dies diese dieselbe dieselben diesem diesen dieser dieses dir doch dort du durch ein eine einem einen einer eines einig einige einigem einigen einiger einiges einmal er es etwas euch euer eure eurem euren eurer eures für gegen gewesen hab habe haben hat hatte hatten hier hin hinter ich ihm ihn ihnen ihr ihre ihrem ihren ihrer ihres im in indem ins ist jede jedem jeden jeder jedes jene jenem jenen jener jenes jetzt kann kein keine keinem keinen keiner keines können könnte machen man manche manchem manchen mancher manches mein meine meinem meinen meiner meines mich mir mit muss musste nach nicht nichts noch nun nur ob oder ohne sehr sein seine seinem seinen seiner seines selbst sich sie sind so solche solchem solchen solcher solches soll sollte sondern sonst um und uns unse unsem unsen unser unses unter viel vom von vor war waren warst was weg weil weiter welche welchem welchen welcher welches wenn werde werden wie wieder will wir wird wirst wo wollen wollte während würde würden zu zum zur zwar zwischen über".split(" ")),e.Pipeline.registerFunction(e.de.stopWordFilter,"stopWordFilter-de")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.du.min.js b/assets/javascripts/lunr/min/lunr.du.min.js
new file mode 100644
index 00000000..49a0f3f0
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.du.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Dutch` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");console.warn('[Lunr Languages] Please use the "nl" instead of the "du". The "nl" code is the standard code for Dutch language, and "du" will be removed in the next major versions.'),e.du=function(){this.pipeline.reset(),this.pipeline.add(e.du.trimmer,e.du.stopWordFilter,e.du.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.du.stemmer))},e.du.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.du.trimmer=e.trimmerSupport.generateTrimmer(e.du.wordCharacters),e.Pipeline.registerFunction(e.du.trimmer,"trimmer-du"),e.du.stemmer=function(){var r=e.stemmerSupport.Among,i=e.stemmerSupport.SnowballProgram,n=new function(){function e(){for(var e,r,i,o=C.cursor;;){if(C.bra=C.cursor,e=C.find_among(b,11))switch(C.ket=C.cursor,e){case 1:C.slice_from("a");continue;case 2:C.slice_from("e");continue;case 3:C.slice_from("i");continue;case 4:C.slice_from("o");continue;case 5:C.slice_from("u");continue;case 6:if(C.cursor>=C.limit)break;C.cursor++;continue}break}for(C.cursor=o,C.bra=o,C.eq_s(1,"y")?(C.ket=C.cursor,C.slice_from("Y")):C.cursor=o;;)if(r=C.cursor,C.in_grouping(q,97,232)){if(i=C.cursor,C.bra=i,C.eq_s(1,"i"))C.ket=C.cursor,C.in_grouping(q,97,232)&&(C.slice_from("I"),C.cursor=r);else if(C.cursor=i,C.eq_s(1,"y"))C.ket=C.cursor,C.slice_from("Y"),C.cursor=r;else if(n(r))break}else if(n(r))break}function n(e){return C.cursor=e,e>=C.limit||(C.cursor++,!1)}function o(){_=C.limit,f=_,t()||(_=C.cursor,_<3&&(_=3),t()||(f=C.cursor))}function t(){for(;!C.in_grouping(q,97,232);){if(C.cursor>=C.limit)return!0;C.cursor++}for(;!C.out_grouping(q,97,232);){if(C.cursor>=C.limit)return!0;C.cursor++}return!1}function s(){for(var e;;)if(C.bra=C.cursor,e=C.find_among(p,3))switch(C.ket=C.cursor,e){case 1:C.slice_from("y");break;case 2:C.slice_from("i");break;case 3:if(C.cursor>=C.limit)return;C.cursor++}}function u(){return _<=C.cursor}function c(){return f<=C.cursor}function a(){var e=C.limit-C.cursor;C.find_among_b(g,3)&&(C.cursor=C.limit-e,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del()))}function l(){var e;w=!1,C.ket=C.cursor,C.eq_s_b(1,"e")&&(C.bra=C.cursor,u()&&(e=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-e,C.slice_del(),w=!0,a())))}function m(){var e;u()&&(e=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-e,C.eq_s_b(3,"gem")||(C.cursor=C.limit-e,C.slice_del(),a())))}function d(){var e,r,i,n,o,t,s=C.limit-C.cursor;if(C.ket=C.cursor,e=C.find_among_b(h,5))switch(C.bra=C.cursor,e){case 1:u()&&C.slice_from("heid");break;case 2:m();break;case 3:u()&&C.out_grouping_b(z,97,232)&&C.slice_del()}if(C.cursor=C.limit-s,l(),C.cursor=C.limit-s,C.ket=C.cursor,C.eq_s_b(4,"heid")&&(C.bra=C.cursor,c()&&(r=C.limit-C.cursor,C.eq_s_b(1,"c")||(C.cursor=C.limit-r,C.slice_del(),C.ket=C.cursor,C.eq_s_b(2,"en")&&(C.bra=C.cursor,m())))),C.cursor=C.limit-s,C.ket=C.cursor,e=C.find_among_b(k,6))switch(C.bra=C.cursor,e){case 1:if(c()){if(C.slice_del(),i=C.limit-C.cursor,C.ket=C.cursor,C.eq_s_b(2,"ig")&&(C.bra=C.cursor,c()&&(n=C.limit-C.cursor,!C.eq_s_b(1,"e")))){C.cursor=C.limit-n,C.slice_del();break}C.cursor=C.limit-i,a()}break;case 2:c()&&(o=C.limit-C.cursor,C.eq_s_b(1,"e")||(C.cursor=C.limit-o,C.slice_del()));break;case 3:c()&&(C.slice_del(),l());break;case 4:c()&&C.slice_del();break;case 5:c()&&w&&C.slice_del()}C.cursor=C.limit-s,C.out_grouping_b(j,73,232)&&(t=C.limit-C.cursor,C.find_among_b(v,4)&&C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-t,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del())))}var f,_,w,b=[new r("",-1,6),new r("á",0,1),new r("ä",0,1),new r("é",0,2),new r("ë",0,2),new r("í",0,3),new r("ï",0,3),new r("ó",0,4),new r("ö",0,4),new r("ú",0,5),new r("ü",0,5)],p=[new r("",-1,3),new r("I",0,2),new r("Y",0,1)],g=[new r("dd",-1,-1),new r("kk",-1,-1),new r("tt",-1,-1)],h=[new r("ene",-1,2),new r("se",-1,3),new r("en",-1,2),new r("heden",2,1),new r("s",-1,3)],k=[new r("end",-1,1),new r("ig",-1,2),new r("ing",-1,1),new r("lijk",-1,3),new r("baar",-1,4),new r("bar",-1,5)],v=[new r("aa",-1,-1),new r("ee",-1,-1),new r("oo",-1,-1),new r("uu",-1,-1)],q=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],j=[1,0,0,17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],z=[17,67,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],C=new i;this.setCurrent=function(e){C.setCurrent(e)},this.getCurrent=function(){return C.getCurrent()},this.stem=function(){var r=C.cursor;return e(),C.cursor=r,o(),C.limit_backward=r,C.cursor=C.limit,d(),C.cursor=C.limit_backward,s(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return n.setCurrent(e),n.stem(),n.getCurrent()}):(n.setCurrent(e),n.stem(),n.getCurrent())}}(),e.Pipeline.registerFunction(e.du.stemmer,"stemmer-du"),e.du.stopWordFilter=e.generateStopWordFilter(" aan al alles als altijd andere ben bij daar dan dat de der deze die dit doch doen door dus een eens en er ge geen geweest haar had heb hebben heeft hem het hier hij hoe hun iemand iets ik in is ja je kan kon kunnen maar me meer men met mij mijn moet na naar niet niets nog nu of om omdat onder ons ook op over reeds te tegen toch toen tot u uit uw van veel voor want waren was wat werd wezen wie wil worden wordt zal ze zelf zich zij zijn zo zonder zou".split(" ")),e.Pipeline.registerFunction(e.du.stopWordFilter,"stopWordFilter-du")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.el.min.js b/assets/javascripts/lunr/min/lunr.el.min.js
new file mode 100644
index 00000000..ace017bd
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.el.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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null!==o&&(s=o[1]+l[o[2]]),null!==(o=/^(.+?)(ΑΔΕΣ|ΑΔΩΝ)$/.exec(s))&&(s=o[1],/(ΟΚ|ΜΑΜ|ΜΑΝ|ΜΠΑΜΠ|ΠΑΤΕΡ|ΓΙΑΓΙ|ΝΤΑΝΤ|ΚΥΡ|ΘΕΙ|ΠΕΘΕΡ|ΜΟΥΣΑΜ|ΚΑΠΛΑΜ|ΠΑΡ|ΨΑΡ|ΤΖΟΥΡ|ΤΑΜΠΟΥΡ|ΓΑΛΑΤ|ΦΑΦΛΑΤ)$/.test(o[1])||(s+="ΑΔ")),null!==(o=/^(.+?)(ΕΔΕΣ|ΕΔΩΝ)$/.exec(s))&&(s=o[1],/(ΟΠ|ΙΠ|ΕΜΠ|ΥΠ|ΓΗΠ|ΔΑΠ|ΚΡΑΣΠ|ΜΙΛ)$/.test(o[1])&&(s+="ΕΔ")),null!==(o=/^(.+?)(ΟΥΔΕΣ|ΟΥΔΩΝ)$/.exec(s))&&(s=o[1],/(ΑΡΚ|ΚΑΛΙΑΚ|ΠΕΤΑΛ|ΛΙΧ|ΠΛΕΞ|ΣΚ|Σ|ΦΛ|ΦΡ|ΒΕΛ|ΛΟΥΛ|ΧΝ|ΣΠ|ΤΡΑΓ|ΦΕ)$/.test(o[1])&&(s+="ΟΥΔ")),null!==(o=/^(.+?)(ΕΩΣ|ΕΩΝ|ΕΑΣ|ΕΑ)$/.exec(s))&&(s=o[1],/^(Θ|Δ|ΕΛ|ΓΑΛ|Ν|Π|ΙΔ|ΠΑΡ|ΣΤΕΡ|ΟΡΦ|ΑΝΔΡ|ΑΝΤΡ)$/.test(o[1])&&(s+="Ε")),null!==(o=/^(.+?)(ΕΙΟ|ΕΙΟΣ|ΕΙΟΙ|ΕΙΑ|ΕΙΑΣ|ΕΙΕΣ|ΕΙΟΥ|ΕΙΟΥΣ|ΕΙΩΝ)$/.exec(s))&&o[1].length>4&&(s=o[1]),null!==(o=/^(.+?)(ΙΟΥΣ|ΙΑΣ|ΙΕΣ|ΙΟΣ|ΙΟΥ|ΙΟΙ|ΙΩΝ|ΙΟΝ|ΙΑ|ΙΟ)$/.exec(s))&&(s=o[1],(t(s)||s.length<2||/^(ΑΓ|ΑΓΓΕΛ|ΑΓΡ|ΑΕΡ|ΑΘΛ|ΑΚΟΥΣ|ΑΞ|ΑΣ|Β|ΒΙΒΛ|ΒΥΤ|Γ|ΓΙΑΓ|ΓΩΝ|Δ|ΔΑΝ|ΔΗΛ|ΔΗΜ|ΔΟΚΙΜ|ΕΛ|ΖΑΧΑΡ|ΗΛ|ΗΠ|ΙΔ|ΙΣΚ|ΙΣΤ|ΙΟΝ|ΙΩΝ|ΚΙΜΩΛ|ΚΟΛΟΝ|ΚΟΡ|ΚΤΗΡ|ΚΥΡ|ΛΑΓ|ΛΟΓ|ΜΑΓ|ΜΠΑΝ|ΜΠΡ|ΝΑΥΤ|ΝΟΤ|ΟΠΑΛ|ΟΞ|ΟΡ|ΟΣ|ΠΑΝΑΓ|ΠΑΤΡ|ΠΗΛ|ΠΗΝ|ΠΛΑΙΣ|ΠΟΝΤ|ΡΑΔ|ΡΟΔ|ΣΚ|ΣΚΟΡΠ|ΣΟΥΝ|ΣΠΑΝ|ΣΤΑΔ|ΣΥΡ|ΤΗΛ|ΤΙΜ|ΤΟΚ|ΤΟΠ|ΤΡΟΧ|ΦΙΛ|ΦΩΤ|Χ|ΧΙΛ|ΧΡΩΜ|ΧΩΡ)$/.test(o[1]))&&(s+="Ι"),/^(ΠΑΛ)$/.test(o[1])&&(s+="ΑΙ")),null!==(o=/^(.+?)(ΙΚΟΣ|ΙΚΟΝ|ΙΚΕΙΣ|ΙΚΟΙ|ΙΚΕΣ|ΙΚΟΥΣ|ΙΚΗ|ΙΚΗΣ|ΙΚΟ|ΙΚΑ|ΙΚΟΥ|ΙΚΩΝ|ΙΚΩΣ)$/.exec(s))&&(s=o[1],(t(s)||/^(ΑΔ|ΑΛ|ΑΜΑΝ|ΑΜΕΡ|ΑΜΜΟΧΑΛ|ΑΝΗΘ|ΑΝΤΙΔ|ΑΠΛ|ΑΤΤ|ΑΦΡ|ΒΑΣ|ΒΡΩΜ|ΓΕΝ|ΓΕΡ|Δ|ΔΙΚΑΝ|ΔΥΤ|ΕΙΔ|ΕΝΔ|ΕΞΩΔ|ΗΘ|ΘΕΤ|ΚΑΛΛΙΝ|ΚΑΛΠ|ΚΑΤΑΔ|ΚΟΥΖΙΝ|ΚΡ|ΚΩΔ|ΛΟΓ|Μ|ΜΕΡ|ΜΟΝΑΔ|ΜΟΥΛ|ΜΟΥΣ|ΜΠΑΓΙΑΤ|ΜΠΑΝ|ΜΠΟΛ|ΜΠΟΣ|ΜΥΣΤ|Ν|ΝΙΤ|ΞΙΚ|ΟΠΤ|ΠΑΝ|ΠΕΤΣ|ΠΙΚΑΝΤ|ΠΙΤΣ|ΠΛΑΣΤ|ΠΛΙΑΤΣ|ΠΟΝΤ|ΠΟΣΤΕΛΝ|ΠΡΩΤΟΔ|ΣΕΡΤ|ΣΗΜΑΝΤ|ΣΤΑΤ|ΣΥΝΑΔ|ΣΥΝΟΜΗΛ|ΤΕΛ|ΤΕΧΝ|ΤΡΟΠ|ΤΣΑΜ|ΥΠΟΔ|Φ|ΦΙΛΟΝ|ΦΥΛΟΔ|ΦΥΣ|ΧΑΣ)$/.test(o[1])||/(ΦΟΙΝ)$/.test(o[1]))&&(s+="ΙΚ")),"ΑΓΑΜΕ"===s&&(s="ΑΓΑΜ"),null!==(o=/^(.+?)(ΑΓΑΜΕ|ΗΣΑΜΕ|ΟΥΣΑΜΕ|ΗΚΑΜΕ|ΗΘΗΚΑΜΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΑΜΕ)$/.exec(s))&&(s=o[1],/^(ΑΝΑΠ|ΑΠΟΘ|ΑΠΟΚ|ΑΠΟΣΤ|ΒΟΥΒ|ΞΕΘ|ΟΥΛ|ΠΕΘ|ΠΙΚΡ|ΠΟΤ|ΣΙΧ|Χ)$/.test(o[1])&&(s+="ΑΜ")),null!==(o=/^(.+?)(ΑΓΑΝΕ|ΗΣΑΝΕ|ΟΥΣΑΝΕ|ΙΟΝΤΑΝΕ|ΙΟΤΑΝΕ|ΙΟΥΝΤΑΝΕ|ΟΝΤΑΝΕ|ΟΤΑΝΕ|ΟΥΝΤΑΝΕ|ΗΚΑΝΕ|ΗΘΗΚΑΝΕ)$/.exec(s))&&(s=o[1],/^(ΤΡ|ΤΣ)$/.test(o[1])&&(s+="ΑΓΑΝ")),null!==(o=/^(.+?)(ΑΝΕ)$/.exec(s))&&(s=o[1],(r(s)||/^(ΒΕΤΕΡ|ΒΟΥΛΚ|ΒΡΑΧΜ|Γ|ΔΡΑΔΟΥΜ|Θ|ΚΑΛΠΟΥΖ|ΚΑΣΤΕΛ|ΚΟΡΜΟΡ|ΛΑΟΠΛ|ΜΩΑΜΕΘ|Μ|ΜΟΥΣΟΥΛΜΑΝ|ΟΥΛ|Π|ΠΕΛΕΚ|ΠΛ|ΠΟΛΙΣ|ΠΟΡΤΟΛ|ΣΑΡΑΚΑΤΣ|ΣΟΥΛΤ|ΤΣΑΡΛΑΤ|ΟΡΦ|ΤΣΙΓΓ|ΤΣΟΠ|ΦΩΤΟΣΤΕΦ|Χ|ΨΥΧΟΠΛ|ΑΓ|ΟΡΦ|ΓΑΛ|ΓΕΡ|ΔΕΚ|ΔΙΠΛ|ΑΜΕΡΙΚΑΝ|ΟΥΡ|ΠΙΘ|ΠΟΥΡΙΤ|Σ|ΖΩΝΤ|ΙΚ|ΚΑΣΤ|ΚΟΠ|ΛΙΧ|ΛΟΥΘΗΡ|ΜΑΙΝΤ|ΜΕΛ|ΣΙΓ|ΣΠ|ΣΤΕΓ|ΤΡΑΓ|ΤΣΑΓ|Φ|ΕΡ|ΑΔΑΠ|ΑΘΙΓΓ|ΑΜΗΧ|ΑΝΙΚ|ΑΝΟΡΓ|ΑΠΗΓ|ΑΠΙΘ|ΑΤΣΙΓΓ|ΒΑΣ|ΒΑΣΚ|ΒΑΘΥΓΑΛ|ΒΙΟΜΗΧ|ΒΡΑΧΥΚ|ΔΙΑΤ|ΔΙΑΦ|ΕΝΟΡΓ|ΘΥΣ|ΚΑΠΝΟΒΙΟΜΗΧ|ΚΑΤΑΓΑΛ|ΚΛΙΒ|ΚΟΙΛΑΡΦ|ΛΙΒ|ΜΕΓΛΟΒΙΟΜΗΧ|ΜΙΚΡΟΒΙΟΜΗΧ|ΝΤΑΒ|ΞΗΡΟΚΛΙΒ|ΟΛΙΓΟΔΑΜ|ΟΛΟΓΑΛ|ΠΕΝΤΑΡΦ|ΠΕΡΗΦ|ΠΕΡΙΤΡ|ΠΛΑΤ|ΠΟΛΥΔΑΠ|ΠΟΛΥΜΗΧ|ΣΤΕΦ|ΤΑΒ|ΤΕΤ|ΥΠΕΡΗΦ|ΥΠΟΚΟΠ|ΧΑΜΗΛΟΔΑΠ|ΨΗΛΟΤΑΒ)$/.test(o[1]))&&(s+="ΑΝ")),null!==(o=/^(.+?)(ΗΣΕΤΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΕΤΕ)$/.exec(s))&&(s=o[1],(r(s)||/(ΟΔ|ΑΙΡ|ΦΟΡ|ΤΑΘ|ΔΙΑΘ|ΣΧ|ΕΝΔ|ΕΥΡ|ΤΙΘ|ΥΠΕΡΘ|ΡΑΘ|ΕΝΘ|ΡΟΘ|ΣΘ|ΠΥΡ|ΑΙΝ|ΣΥΝΔ|ΣΥΝ|ΣΥΝΘ|ΧΩΡ|ΠΟΝ|ΒΡ|ΚΑΘ|ΕΥΘ|ΕΚΘ|ΝΕΤ|ΡΟΝ|ΑΡΚ|ΒΑΡ|ΒΟΛ|ΩΦΕΛ)$/.test(o[1])||/^(ΑΒΑΡ|ΒΕΝ|ΕΝΑΡ|ΑΒΡ|ΑΔ|ΑΘ|ΑΝ|ΑΠΛ|ΒΑΡΟΝ|ΝΤΡ|ΣΚ|ΚΟΠ|ΜΠΟΡ|ΝΙΦ|ΠΑΓ|ΠΑΡΑΚΑΛ|ΣΕΡΠ|ΣΚΕΛ|ΣΥΡΦ|ΤΟΚ|Υ|Δ|ΕΜ|ΘΑΡΡ|Θ)$/.test(o[1]))&&(s+="ΕΤ")),null!==(o=/^(.+?)(ΟΝΤΑΣ|ΩΝΤΑΣ)$/.exec(s))&&(s=o[1],/^ΑΡΧ$/.test(o[1])&&(s+="ΟΝΤ"),/ΚΡΕ$/.test(o[1])&&(s+="ΩΝΤ")),null!==(o=/^(.+?)(ΟΜΑΣΤΕ|ΙΟΜΑΣΤΕ)$/.exec(s))&&(s=o[1],/^ΟΝ$/.test(o[1])&&(s+="ΟΜΑΣΤ")),null!==(o=/^(.+?)(ΙΕΣΤΕ)$/.exec(s))&&(s=o[1],/^(Π|ΑΠ|ΣΥΜΠ|ΑΣΥΜΠ|ΑΚΑΤΑΠ|ΑΜΕΤΑΜΦ)$/.test(o[1])&&(s+="ΙΕΣΤ")),null!==(o=/^(.+?)(ΕΣΤΕ)$/.exec(s))&&(s=o[1],/^(ΑΛ|ΑΡ|ΕΚΤΕΛ|Ζ|Μ|Ξ|ΠΑΡΑΚΑΛ|ΠΡΟ|ΝΙΣ)$/.test(o[1])&&(s+="ΕΣΤ")),null!==(o=/^(.+?)(ΗΘΗΚΑ|ΗΘΗΚΕΣ|ΗΘΗΚΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΗΚΑ|ΗΚΕΣ|ΗΚΕ)$/.exec(s))&&(s=o[1],(/(ΣΚΩΛ|ΣΚΟΥΛ|ΝΑΡΘ|ΣΦ|ΟΘ|ΠΙΘ)$/.test(o[1])||/^(ΔΙΑΘ|Θ|ΠΑΡΑΚΑΤΑΘ|ΠΡΟΣΘ|ΣΥΝΘ)$/.test(o[1]))&&(s+="ΗΚ")),null!==(o=/^(.+?)(ΟΥΣΑ|ΟΥΣΕΣ|ΟΥΣΕ)$/.exec(s))&&(s=o[1],(t(s)||/^(ΦΑΡΜΑΚ|ΧΑΔ|ΑΓΚ|ΑΝΑΡΡ|ΒΡΟΜ|ΕΚΛΙΠ|ΛΑΜΠΙΔ|ΛΕΧ|Μ|ΠΑΤ|Ρ|Λ|ΜΕΔ|ΜΕΣΑΖ|ΥΠΟΤΕΙΝ|ΑΜ|ΑΙΘ|ΑΝΗΚ|ΔΕΣΠΟΖ|ΕΝΔΙΑΦΕΡ)$/.test(o[1])||/(ΠΟΔΑΡ|ΒΛΕΠ|ΠΑΝΤΑΧ|ΦΡΥΔ|ΜΑΝΤΙΛ|ΜΑΛΛ|ΚΥΜΑΤ|ΛΑΧ|ΛΗΓ|ΦΑΓ|ΟΜ|ΠΡΩΤ)$/.test(o[1]))&&(s+="ΟΥΣ")),null!==(o=/^(.+?)(ΑΓΑ|ΑΓΕΣ|ΑΓΕ)$/.exec(s))&&(s=o[1],(/^(ΑΒΑΣΤ|ΠΟΛΥΦ|ΑΔΗΦ|ΠΑΜΦ|Ρ|ΑΣΠ|ΑΦ|ΑΜΑΛ|ΑΜΑΛΛΙ|ΑΝΥΣΤ|ΑΠΕΡ|ΑΣΠΑΡ|ΑΧΑΡ|ΔΕΡΒΕΝ|ΔΡΟΣΟΠ|ΞΕΦ|ΝΕΟΠ|ΝΟΜΟΤ|ΟΛΟΠ|ΟΜΟΤ|ΠΡΟΣΤ|ΠΡΟΣΩΠΟΠ|ΣΥΜΠ|ΣΥΝΤ|Τ|ΥΠΟΤ|ΧΑΡ|ΑΕΙΠ|ΑΙΜΟΣΤ|ΑΝΥΠ|ΑΠΟΤ|ΑΡΤΙΠ|ΔΙΑΤ|ΕΝ|ΕΠΙΤ|ΚΡΟΚΑΛΟΠ|ΣΙΔΗΡΟΠ|Λ|ΝΑΥ|ΟΥΛΑΜ|ΟΥΡ|Π|ΤΡ|Μ)$/.test(o[1])||/(ΟΦ|ΠΕΛ|ΧΟΡΤ|ΛΛ|ΣΦ|ΡΠ|ΦΡ|ΠΡ|ΛΟΧ|ΣΜΗΝ)$/.test(o[1])&&!/^(ΨΟΦ|ΝΑΥΛΟΧ)$/.test(o[1])||/(ΚΟΛΛ)$/.test(o[1]))&&(s+="ΑΓ")),null!==(o=/^(.+?)(ΗΣΕ|ΗΣΟΥ|ΗΣΑ)$/.exec(s))&&(s=o[1],/^(Ν|ΧΕΡΣΟΝ|ΔΩΔΕΚΑΝ|ΕΡΗΜΟΝ|ΜΕΓΑΛΟΝ|ΕΠΤΑΝ|Ι)$/.test(o[1])&&(s+="ΗΣ")),null!==(o=/^(.+?)(ΗΣΤΕ)$/.exec(s))&&(s=o[1],/^(ΑΣΒ|ΣΒ|ΑΧΡ|ΧΡ|ΑΠΛ|ΑΕΙΜΝ|ΔΥΣΧΡ|ΕΥΧΡ|ΚΟΙΝΟΧΡ|ΠΑΛΙΜΨ)$/.test(o[1])&&(s+="ΗΣΤ")),null!==(o=/^(.+?)(ΟΥΝΕ|ΗΣΟΥΝΕ|ΗΘΟΥΝΕ)$/.exec(s))&&(s=o[1],/^(Ν|Ρ|ΣΠΙ|ΣΤΡΑΒΟΜΟΥΤΣ|ΚΑΚΟΜΟΥΤΣ|ΕΞΩΝ)$/.test(o[1])&&(s+="ΟΥΝ")),null!==(o=/^(.+?)(ΟΥΜΕ|ΗΣΟΥΜΕ|ΗΘΟΥΜΕ)$/.exec(s))&&(s=o[1],/^(ΠΑΡΑΣΟΥΣ|Φ|Χ|ΩΡΙΟΠΛ|ΑΖ|ΑΛΛΟΣΟΥΣ|ΑΣΟΥΣ)$/.test(o[1])&&(s+="ΟΥΜ")),null!=(o=/^(.+?)(ΜΑΤΟΙ|ΜΑΤΟΥΣ|ΜΑΤΟ|ΜΑΤΑ|ΜΑΤΩΣ|ΜΑΤΩΝ|ΜΑΤΟΣ|ΜΑΤΕΣ|ΜΑΤΗ|ΜΑΤΗΣ|ΜΑΤΟΥ)$/.exec(s))&&(s=o[1]+"Μ",/^(ΓΡΑΜ)$/.test(o[1])?s+="Α":/^(ΓΕ|ΣΤΑ)$/.test(o[1])&&(s+="ΑΤ")),null!==(o=/^(.+?)(ΟΥΑ)$/.exec(s))&&(s=o[1]+"ΟΥ"),n.length===s.length&&null!==(o=/^(.+?)(Α|ΑΓΑΤΕ|ΑΓΑΝ|ΑΕΙ|ΑΜΑΙ|ΑΝ|ΑΣ|ΑΣΑΙ|ΑΤΑΙ|ΑΩ|Ε|ΕΙ|ΕΙΣ|ΕΙΤΕ|ΕΣΑΙ|ΕΣ|ΕΤΑΙ|Ι|ΙΕΜΑΙ|ΙΕΜΑΣΤΕ|ΙΕΤΑΙ|ΙΕΣΑΙ|ΙΕΣΑΣΤΕ|ΙΟΜΑΣΤΑΝ|ΙΟΜΟΥΝ|ΙΟΜΟΥΝΑ|ΙΟΝΤΑΝ|ΙΟΝΤΟΥΣΑΝ|ΙΟΣΑΣΤΑΝ|ΙΟΣΑΣΤΕ|ΙΟΣΟΥΝ|ΙΟΣΟΥΝΑ|ΙΟΤΑΝ|ΙΟΥΜΑ|ΙΟΥΜΑΣΤΕ|ΙΟΥΝΤΑΙ|ΙΟΥΝΤΑΝ|Η|ΗΔΕΣ|ΗΔΩΝ|ΗΘΕΙ|ΗΘΕΙΣ|ΗΘΕΙΤΕ|ΗΘΗΚΑΤΕ|ΗΘΗΚΑΝ|ΗΘΟΥΝ|ΗΘΩ|ΗΚΑΤΕ|ΗΚΑΝ|ΗΣ|ΗΣΑΝ|ΗΣΑΤΕ|ΗΣΕΙ|ΗΣΕΣ|ΗΣΟΥΝ|ΗΣΩ|Ο|ΟΙ|ΟΜΑΙ|ΟΜΑΣΤΑΝ|ΟΜΟΥΝ|ΟΜΟΥΝΑ|ΟΝΤΑΙ|ΟΝΤΑΝ|ΟΝΤΟΥΣΑΝ|ΟΣ|ΟΣΑΣΤΑΝ|ΟΣΑΣΤΕ|ΟΣΟΥΝ|ΟΣΟΥΝΑ|ΟΤΑΝ|ΟΥ|ΟΥΜΑΙ|ΟΥΜΑΣΤΕ|ΟΥΝ|ΟΥΝΤΑΙ|ΟΥΝΤΑΝ|ΟΥΣ|ΟΥΣΑΝ|ΟΥΣΑΤΕ|Υ||ΥΑ|ΥΣ|Ω|ΩΝ|ΟΙΣ)$/.exec(s))&&(s=o[1]),null!=(o=/^(.+?)(ΕΣΤΕΡ|ΕΣΤΑΤ|ΟΤΕΡ|ΟΤΑΤ|ΥΤΕΡ|ΥΤΑΤ|ΩΤΕΡ|ΩΤΑΤ)$/.exec(s))&&(/^(ΕΞ|ΕΣ|ΑΝ|ΚΑΤ|Κ|ΠΡ)$/.test(o[1])||(s=o[1]),/^(ΚΑ|Μ|ΕΛΕ|ΛΕ|ΔΕ)$/.test(o[1])&&(s+="ΥΤ")),s}var 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t.update(function(t){for(var r="",n=0;n<t.length;n++)r+=e[t.charAt(n)]||t.charAt(n);return r});for(var r="",n=0;n<t.length;n++)r+=e[t.charAt(n)]||t.charAt(n);return r}}(),e.Pipeline.registerFunction(e.el.normilizer,"normilizer-el")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.es.min.js b/assets/javascripts/lunr/min/lunr.es.min.js
new file mode 100644
index 00000000..2989d342
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.es.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Spanish` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,s){"function"==typeof define&&define.amd?define(s):"object"==typeof exports?module.exports=s():s()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.fi.min.js b/assets/javascripts/lunr/min/lunr.fi.min.js
new file mode 100644
index 00000000..29f5dfce
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.fi.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Finnish` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(i,e){"function"==typeof define&&define.amd?define(e):"object"==typeof exports?module.exports=e():e()(i.lunr)}(this,function(){return function(i){if(void 0===i)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===i.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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i(),k=!1,A.limit_backward=e,A.cursor=A.limit,s(),A.cursor=A.limit,o(),A.cursor=A.limit,u(),A.cursor=A.limit,c(),A.cursor=A.limit,k?(m(),A.cursor=A.limit):(A.cursor=A.limit,w(),A.cursor=A.limit),_(),!0}};return function(i){return"function"==typeof i.update?i.update(function(i){return n.setCurrent(i),n.stem(),n.getCurrent()}):(n.setCurrent(i),n.stem(),n.getCurrent())}}(),i.Pipeline.registerFunction(i.fi.stemmer,"stemmer-fi"),i.fi.stopWordFilter=i.generateStopWordFilter("ei eivät emme en et ette että he heidän heidät heihin heille heillä heiltä heissä heistä heitä hän häneen hänelle hänellä häneltä hänen hänessä hänestä hänet häntä itse ja johon joiden joihin joiksi joilla joille joilta joina joissa joista joita joka joksi jolla jolle jolta jona jonka jos jossa josta jota jotka kanssa keiden keihin keiksi keille keillä keiltä keinä keissä keistä keitä keneen keneksi kenelle kenellä keneltä kenen kenenä kenessä kenestä kenet ketkä ketkä ketä koska kuin kuka kun me meidän meidät meihin meille meillä meiltä meissä meistä meitä mihin miksi mikä mille millä miltä minkä minkä minua minulla minulle minulta minun minussa minusta minut minuun minä minä missä mistä mitkä mitä mukaan mutta ne niiden niihin niiksi niille niillä niiltä niin niin niinä niissä niistä niitä noiden noihin noiksi noilla noille noilta noin noina noissa noista noita nuo nyt näiden näihin näiksi näille näillä näiltä näinä näissä näistä näitä nämä ole olemme olen olet olette oli olimme olin olisi olisimme olisin olisit olisitte olisivat olit olitte olivat olla olleet ollut on ovat poikki se sekä sen siihen siinä siitä siksi sille sillä sillä siltä sinua sinulla sinulle sinulta sinun sinussa sinusta sinut sinuun sinä sinä sitä tai te teidän teidät teihin teille teillä teiltä teissä teistä teitä tuo tuohon tuoksi tuolla tuolle tuolta tuon tuona tuossa tuosta tuota tähän täksi tälle tällä tältä tämä tämän tänä tässä tästä tätä vaan vai vaikka yli".split(" ")),i.Pipeline.registerFunction(i.fi.stopWordFilter,"stopWordFilter-fi")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.fr.min.js b/assets/javascripts/lunr/min/lunr.fr.min.js
new file mode 100644
index 00000000..68cd0094
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.fr.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `French` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.he.min.js b/assets/javascripts/lunr/min/lunr.he.min.js
new file mode 100644
index 00000000..b863d3ea
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.he.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.he=function(){this.pipeline.reset(),this.pipeline.add(e.he.trimmer,e.he.stopWordFilter,e.he.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.he.stemmer))},e.he.wordCharacters="֑-״א-תa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.he.trimmer=e.trimmerSupport.generateTrimmer(e.he.wordCharacters),e.Pipeline.registerFunction(e.he.trimmer,"trimmer-he"),e.he.stemmer=function(){var e=this;return e.result=!1,e.preRemoved=!1,e.sufRemoved=!1,e.pre={pre1:"ה ו י ת",pre2:"ב כ ל מ ש כש",pre3:"הב הכ הל המ הש בש לכ",pre4:"וב וכ ול ומ וש",pre5:"מה שה כל",pre6:"מב מכ מל ממ מש",pre7:"בה בו בי בת כה כו כי כת לה לו לי לת",pre8:"ובה ובו ובי ובת וכה וכו וכי וכת ולה ולו ולי ולת"},e.suf={suf1:"ך כ ם ן נ",suf2:"ים ות וך וכ ום ון ונ הם הן יכ יך ינ ים",suf3:"תי תך תכ תם תן תנ",suf4:"ותי ותך ותכ ותם ותן ותנ",suf5:"נו כם כן הם הן",suf6:"ונו וכם וכן והם והן",suf7:"תכם תכן תנו תהם תהן",suf8:"הוא היא הם הן אני אתה את אנו אתם אתן",suf9:"ני נו כי כו כם כן תי תך תכ תם תן",suf10:"י ך כ ם ן נ ת"},e.patterns=JSON.parse('{"hebrewPatterns": [{"pt1": [{"c": "ה", "l": 0}]}, {"pt2": [{"c": "ו", "l": 0}]}, {"pt3": [{"c": "י", "l": 0}]}, {"pt4": [{"c": "ת", "l": 0}]}, {"pt5": [{"c": "מ", "l": 0}]}, {"pt6": [{"c": "ל", "l": 0}]}, {"pt7": [{"c": "ב", "l": 0}]}, {"pt8": [{"c": "כ", "l": 0}]}, {"pt9": [{"c": "ש", "l": 0}]}, {"pt10": [{"c": "כש", "l": 0}]}, {"pt11": [{"c": "בה", "l": 0}]}, {"pt12": [{"c": "וב", "l": 0}]}, {"pt13": [{"c": "וכ", "l": 0}]}, {"pt14": [{"c": "ול", "l": 0}]}, {"pt15": [{"c": "ומ", "l": 0}]}, {"pt16": [{"c": "וש", "l": 0}]}, {"pt17": [{"c": "הב", "l": 0}]}, {"pt18": [{"c": "הכ", "l": 0}]}, {"pt19": [{"c": "הל", "l": 0}]}, {"pt20": [{"c": "המ", "l": 0}]}, {"pt21": [{"c": "הש", "l": 0}]}, {"pt22": [{"c": "מה", "l": 0}]}, {"pt23": [{"c": "שה", "l": 0}]}, {"pt24": [{"c": "כל", "l": 0}]}]}'),e.execArray=["cleanWord","removeDiacritics","removeStopWords","normalizeHebrewCharacters"],e.stem=function(){var r=0;for(e.result=!1,e.preRemoved=!1,e.sufRemoved=!1;r<e.execArray.length&&1!=e.result;)e.result=e[e.execArray[r]](),r++},e.setCurrent=function(r){e.word=r},e.getCurrent=function(){return e.word},e.cleanWord=function(){return!!new RegExp("[^֑-״א-ת]").test("")},e.removeDiacritics=function(){var r=new RegExp("[ְ-ֿ]","g");return e.word=e.word.replace(r,""),!1},e.removeStopWords=function(){if("אבל או אולי אותו אותי אותך אותם אותן אותנו אז אחר אחרות אחרי אחריכן אחרים אחרת אי איזה איך אין איפה אל אלה אלו אם אנחנו אני אף אפשר את אתה אתכם אתכן אתם אתן באיזה באיזו בגלל בין בלבד בעבור בעזרת בכל בכן בלי במידה במקום שבו ברוב בשביל בשעה ש בתוך גם דרך הוא היא היה היי היכן היתה היתי הם הן הנה הסיבה שבגללה הרי ואילו ואת זאת זה זות יהיה יוכל יוכלו יותר מדי יכול יכולה יכולות יכולים יכל יכלה יכלו יש כאן כאשר כולם כולן כזה כי כיצד כך כל כלל כמו כן כפי כש לא לאו לאיזותך לאן לבין לה להיות להם להן לו לזה לזות לי לך לכם לכן למה למעלה למעלה מ למטה למטה מ למעט למקום שבו למרות לנו לעבר לעיכן לפיכך לפני מאד מאחורי מאיזו סיבה מאין מאיפה מבלי מבעד מדוע מה מהיכן מול מחוץ מי מידע מכאן מכל מכן מלבד מן מנין מסוגל מעט מעטים מעל מצד מקום בו מתחת מתי נגד נגר נו עד עז על עלי עליו עליה עליהם עליך עלינו עם עצמה עצמהם עצמהן עצמו עצמי עצמם עצמן עצמנו פה רק שוב של שלה שלהם שלהן שלו שלי שלך שלכה שלכם שלכן שלנו שם תהיה תחת".split(" ").indexOf(e.word)>=0)return!0},e.normalizeHebrewCharacters=function(){return e.word=e.word.replace("ך","כ"),e.word=e.word.replace("ם","מ"),e.word=e.word.replace("ן","נ"),e.word=e.word.replace("ף","פ"),e.word=e.word.replace("ץ","צ"),!1},function(r){return"function"==typeof r.update?r.update(function(r){return e.setCurrent(r),e.stem(),e.getCurrent()}):(e.setCurrent(r),e.stem(),e.getCurrent())}}(),e.Pipeline.registerFunction(e.he.stemmer,"stemmer-he"),e.he.stopWordFilter=e.generateStopWordFilter("אבל או אולי אותו אותי אותך אותם אותן אותנו אז אחר אחרות אחרי אחריכן אחרים אחרת אי איזה איך אין איפה אל אלה אלו אם אנחנו אני אף אפשר את אתה אתכם אתכן אתם אתן באיזה באיזו בגלל בין בלבד בעבור בעזרת בכל בכן בלי במידה במקום שבו ברוב בשביל בשעה ש בתוך גם דרך הוא היא היה היי היכן היתה היתי הם הן הנה הסיבה שבגללה הרי ואילו ואת זאת זה זות יהיה יוכל יוכלו יותר מדי יכול יכולה יכולות יכולים יכל יכלה יכלו יש כאן כאשר כולם כולן כזה כי כיצד כך כל כלל כמו כן כפי כש לא לאו לאיזותך לאן לבין לה להיות להם להן לו לזה לזות לי לך לכם לכן למה למעלה למעלה מ למטה למטה מ למעט למקום שבו למרות לנו לעבר לעיכן לפיכך לפני מאד מאחורי מאיזו סיבה מאין מאיפה מבלי מבעד מדוע מה מהיכן מול מחוץ מי מידע מכאן מכל מכן מלבד מן מנין מסוגל מעט מעטים מעל מצד מקום בו מתחת מתי נגד נגר נו עד עז על עלי עליו עליה עליהם עליך עלינו עם עצמה עצמהם עצמהן עצמו עצמי עצמם עצמן עצמנו פה רק שוב של שלה שלהם שלהן שלו שלי שלך שלכה שלכם שלכן שלנו שם תהיה תחת".split(" ")),e.Pipeline.registerFunction(e.he.stopWordFilter,"stopWordFilter-he")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.hi.min.js b/assets/javascripts/lunr/min/lunr.hi.min.js
new file mode 100644
index 00000000..7dbc4140
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.hi.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hi=function(){this.pipeline.reset(),this.pipeline.add(e.hi.trimmer,e.hi.stopWordFilter,e.hi.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.hi.stemmer))},e.hi.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.hi.trimmer=e.trimmerSupport.generateTrimmer(e.hi.wordCharacters),e.Pipeline.registerFunction(e.hi.trimmer,"trimmer-hi"),e.hi.stopWordFilter=e.generateStopWordFilter("अत अपना अपनी अपने अभी अंदर आदि आप इत्यादि इन इनका इन्हीं इन्हें इन्हों इस इसका इसकी इसके इसमें इसी इसे उन उनका उनकी उनके उनको उन्हीं उन्हें उन्हों उस उसके उसी उसे एक एवं एस ऐसे और कई कर करता करते करना करने करें कहते कहा का काफ़ी कि कितना किन्हें किन्हों किया किर किस किसी किसे की कुछ कुल के को कोई कौन कौनसा गया घर जब जहाँ जा जितना जिन जिन्हें जिन्हों जिस जिसे जीधर जैसा जैसे जो तक तब तरह तिन तिन्हें तिन्हों तिस तिसे तो था थी थे दबारा दिया दुसरा दूसरे दो द्वारा न नके नहीं ना निहायत नीचे ने पर पहले पूरा पे फिर बनी बही बहुत बाद बाला बिलकुल भी भीतर मगर मानो मे में यदि यह यहाँ यही या यिह ये रखें रहा रहे ऱ्वासा लिए लिये लेकिन व वग़ैरह वर्ग वह वहाँ वहीं वाले वुह वे वो सकता सकते सबसे सभी साथ साबुत साभ सारा से सो संग ही हुआ हुई हुए है हैं हो होता होती होते होना होने".split(" ")),e.hi.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.hi.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var t=i.toString().toLowerCase().replace(/^\s+/,"");return r.cut(t).split("|")},e.Pipeline.registerFunction(e.hi.stemmer,"stemmer-hi"),e.Pipeline.registerFunction(e.hi.stopWordFilter,"stopWordFilter-hi")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.hu.min.js b/assets/javascripts/lunr/min/lunr.hu.min.js
new file mode 100644
index 00000000..ed9d909f
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.hu.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Hungarian` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,n){"function"==typeof define&&define.amd?define(n):"object"==typeof exports?module.exports=n():n()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hu=function(){this.pipeline.reset(),this.pipeline.add(e.hu.trimmer,e.hu.stopWordFilter,e.hu.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.hu.stemmer))},e.hu.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.hu.trimmer=e.trimmerSupport.generateTrimmer(e.hu.wordCharacters),e.Pipeline.registerFunction(e.hu.trimmer,"trimmer-hu"),e.hu.stemmer=function(){var n=e.stemmerSupport.Among,r=e.stemmerSupport.SnowballProgram,i=new function(){function e(){var e,n=L.cursor;if(d=L.limit,L.in_grouping(W,97,252))for(;;){if(e=L.cursor,L.out_grouping(W,97,252))return L.cursor=e,L.find_among(g,8)||(L.cursor=e,e<L.limit&&L.cursor++),void(d=L.cursor);if(L.cursor=e,e>=L.limit)return void(d=e);L.cursor++}if(L.cursor=n,L.out_grouping(W,97,252)){for(;!L.in_grouping(W,97,252);){if(L.cursor>=L.limit)return;L.cursor++}d=L.cursor}}function i(){return d<=L.cursor}function a(){var e;if(L.ket=L.cursor,(e=L.find_among_b(h,2))&&(L.bra=L.cursor,i()))switch(e){case 1:L.slice_from("a");break;case 2:L.slice_from("e")}}function t(){var e=L.limit-L.cursor;return!!L.find_among_b(p,23)&&(L.cursor=L.limit-e,!0)}function s(){if(L.cursor>L.limit_backward){L.cursor--,L.ket=L.cursor;var e=L.cursor-1;L.limit_backward<=e&&e<=L.limit&&(L.cursor=e,L.bra=e,L.slice_del())}}function c(){var e;if(L.ket=L.cursor,(e=L.find_among_b(_,2))&&(L.bra=L.cursor,i())){if((1==e||2==e)&&!t())return;L.slice_del(),s()}}function o(){L.ket=L.cursor,L.find_among_b(v,44)&&(L.bra=L.cursor,i()&&(L.slice_del(),a()))}function w(){var e;if(L.ket=L.cursor,(e=L.find_among_b(z,3))&&(L.bra=L.cursor,i()))switch(e){case 1:L.slice_from("e");break;case 2:case 3:L.slice_from("a")}}function l(){var e;if(L.ket=L.cursor,(e=L.find_among_b(y,6))&&(L.bra=L.cursor,i()))switch(e){case 1:case 2:L.slice_del();break;case 3:L.slice_from("a");break;case 4:L.slice_from("e")}}function u(){var e;if(L.ket=L.cursor,(e=L.find_among_b(j,2))&&(L.bra=L.cursor,i())){if((1==e||2==e)&&!t())return;L.slice_del(),s()}}function m(){var e;if(L.ket=L.cursor,(e=L.find_among_b(C,7))&&(L.bra=L.cursor,i()))switch(e){case 1:L.slice_from("a");break;case 2:L.slice_from("e");break;case 3:case 4:case 5:case 6:case 7:L.slice_del()}}function k(){var e;if(L.ket=L.cursor,(e=L.find_among_b(P,12))&&(L.bra=L.cursor,i()))switch(e){case 1:case 4:case 7:case 9:L.slice_del();break;case 2:case 5:case 8:L.slice_from("e");break;case 3:case 6:L.slice_from("a")}}function f(){var e;if(L.ket=L.cursor,(e=L.find_among_b(F,31))&&(L.bra=L.cursor,i()))switch(e){case 1:case 4:case 7:case 8:case 9:case 12:case 13:case 16:case 17:case 18:L.slice_del();break;case 2:case 5:case 10:case 14:case 19:L.slice_from("a");break;case 3:case 6:case 11:case 15:case 20:L.slice_from("e")}}function b(){var e;if(L.ket=L.cursor,(e=L.find_among_b(S,42))&&(L.bra=L.cursor,i()))switch(e){case 1:case 4:case 5:case 6:case 9:case 10:case 11:case 14:case 15:case 16:case 17:case 20:case 21:case 24:case 25:case 26:case 29:L.slice_del();break;case 2:case 7:case 12:case 18:case 22:case 27:L.slice_from("a");break;case 3:case 8:case 13:case 19:case 23:case 28:L.slice_from("e")}}var d,g=[new n("cs",-1,-1),new n("dzs",-1,-1),new n("gy",-1,-1),new n("ly",-1,-1),new n("ny",-1,-1),new n("sz",-1,-1),new n("ty",-1,-1),new n("zs",-1,-1)],h=[new n("á",-1,1),new n("é",-1,2)],p=[new n("bb",-1,-1),new n("cc",-1,-1),new n("dd",-1,-1),new n("ff",-1,-1),new n("gg",-1,-1),new n("jj",-1,-1),new n("kk",-1,-1),new n("ll",-1,-1),new n("mm",-1,-1),new n("nn",-1,-1),new n("pp",-1,-1),new n("rr",-1,-1),new n("ccs",-1,-1),new n("ss",-1,-1),new n("zzs",-1,-1),new n("tt",-1,-1),new n("vv",-1,-1),new n("ggy",-1,-1),new n("lly",-1,-1),new n("nny",-1,-1),new n("tty",-1,-1),new n("ssz",-1,-1),new n("zz",-1,-1)],_=[new n("al",-1,1),new n("el",-1,2)],v=[new n("ba",-1,-1),new n("ra",-1,-1),new n("be",-1,-1),new n("re",-1,-1),new n("ig",-1,-1),new n("nak",-1,-1),new n("nek",-1,-1),new n("val",-1,-1),new n("vel",-1,-1),new n("ul",-1,-1),new n("nál",-1,-1),new n("nél",-1,-1),new n("ból",-1,-1),new n("ról",-1,-1),new n("tól",-1,-1),new n("bõl",-1,-1),new n("rõl",-1,-1),new n("tõl",-1,-1),new n("ül",-1,-1),new n("n",-1,-1),new n("an",19,-1),new n("ban",20,-1),new n("en",19,-1),new n("ben",22,-1),new n("képpen",22,-1),new n("on",19,-1),new n("ön",19,-1),new n("képp",-1,-1),new n("kor",-1,-1),new n("t",-1,-1),new n("at",29,-1),new n("et",29,-1),new n("ként",29,-1),new n("anként",32,-1),new n("enként",32,-1),new n("onként",32,-1),new n("ot",29,-1),new n("ért",29,-1),new n("öt",29,-1),new n("hez",-1,-1),new n("hoz",-1,-1),new n("höz",-1,-1),new n("vá",-1,-1),new n("vé",-1,-1)],z=[new n("án",-1,2),new n("én",-1,1),new n("ánként",-1,3)],y=[new n("stul",-1,2),new n("astul",0,1),new n("ástul",0,3),new n("stül",-1,2),new n("estül",3,1),new n("éstül",3,4)],j=[new n("á",-1,1),new n("é",-1,2)],C=[new n("k",-1,7),new n("ak",0,4),new n("ek",0,6),new n("ok",0,5),new 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e(),L.limit_backward=n,L.cursor=L.limit,c(),L.cursor=L.limit,o(),L.cursor=L.limit,w(),L.cursor=L.limit,l(),L.cursor=L.limit,u(),L.cursor=L.limit,k(),L.cursor=L.limit,f(),L.cursor=L.limit,b(),L.cursor=L.limit,m(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.hu.stemmer,"stemmer-hu"),e.hu.stopWordFilter=e.generateStopWordFilter("a abban ahhoz ahogy ahol aki akik akkor alatt amely amelyek amelyekben amelyeket amelyet amelynek ami amikor amit amolyan amíg annak arra arról az azok azon azonban azt aztán azután azzal azért be belül benne bár cikk cikkek cikkeket csak de e ebben eddig egy egyes egyetlen egyik egyre egyéb egész ehhez ekkor el ellen elsõ elég elõ elõször elõtt emilyen ennek erre ez ezek ezen ezt ezzel ezért fel felé hanem hiszen hogy hogyan igen ill ill. illetve ilyen ilyenkor ismét ison itt jobban jó jól kell kellett keressünk keresztül ki kívül között közül legalább legyen lehet lehetett lenne lenni lesz lett maga magát majd majd meg mellett mely melyek mert mi mikor milyen minden mindenki mindent mindig mint mintha mit mivel miért most már más másik még míg nagy nagyobb nagyon ne nekem neki nem nincs néha néhány nélkül olyan ott pedig persze rá s saját sem semmi sok sokat sokkal szemben szerint szinte számára talán tehát teljes tovább továbbá több ugyanis utolsó után utána vagy vagyis vagyok valaki valami valamint való van vannak vele vissza viszont volna volt voltak voltam voltunk által általában át én éppen és így õ õk õket össze úgy új újabb újra".split(" ")),e.Pipeline.registerFunction(e.hu.stopWordFilter,"stopWordFilter-hu")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.hy.min.js b/assets/javascripts/lunr/min/lunr.hy.min.js
new file mode 100644
index 00000000..b37f7929
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.hy.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hy=function(){this.pipeline.reset(),this.pipeline.add(e.hy.trimmer,e.hy.stopWordFilter)},e.hy.wordCharacters="[A-Za-z԰-֏ff-ﭏ]",e.hy.trimmer=e.trimmerSupport.generateTrimmer(e.hy.wordCharacters),e.Pipeline.registerFunction(e.hy.trimmer,"trimmer-hy"),e.hy.stopWordFilter=e.generateStopWordFilter("դու և եք էիր էիք հետո նաև նրանք որը վրա է որ պիտի են այս մեջ ն իր ու ի այդ որոնք այն կամ էր մի ես համար այլ իսկ էին ենք հետ ին թ էինք մենք նրա նա դուք եմ էի ըստ որպես ում".split(" ")),e.Pipeline.registerFunction(e.hy.stopWordFilter,"stopWordFilter-hy"),e.hy.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.hy.stemmer,"stemmer-hy")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.it.min.js b/assets/javascripts/lunr/min/lunr.it.min.js
new file mode 100644
index 00000000..344b6a3c
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.it.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Italian` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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r("evo",-1,1),new r("ivo",-1,1),new r("ar",-1,1),new r("ir",-1,1),new r("erà",-1,1),new r("irà",-1,1),new r("erò",-1,1),new r("irò",-1,1)],L=[17,65,16,0,0,0,0,0,0,0,0,0,0,0,0,128,128,8,2,1],y=[17,65,0,0,0,0,0,0,0,0,0,0,0,0,0,128,128,8,2],U=[17],x=new n;this.setCurrent=function(e){x.setCurrent(e)},this.getCurrent=function(){return x.getCurrent()},this.stem=function(){var e=x.cursor;return i(),x.cursor=e,u(),x.limit_backward=e,x.cursor=x.limit,f(),x.cursor=x.limit,v()||(x.cursor=x.limit,b()),x.cursor=x.limit,_(),x.cursor=x.limit_backward,c(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.it.stemmer,"stemmer-it"),e.it.stopWordFilter=e.generateStopWordFilter("a abbia abbiamo abbiano abbiate ad agl agli ai al all alla alle allo anche avemmo avendo avesse avessero avessi avessimo aveste avesti avete aveva avevamo avevano avevate avevi avevo avrai avranno avrebbe avrebbero avrei avremmo avremo avreste avresti avrete avrà avrò avuta avute avuti avuto c che chi ci coi col come con contro cui da dagl dagli dai dal dall dalla dalle dallo degl degli dei del dell della delle dello di dov dove e ebbe ebbero ebbi ed era erano eravamo eravate eri ero essendo faccia facciamo facciano facciate faccio facemmo facendo facesse facessero facessi facessimo faceste facesti faceva facevamo facevano facevate facevi facevo fai fanno farai faranno farebbe farebbero farei faremmo faremo fareste faresti farete farà farò fece fecero feci fosse fossero fossi fossimo foste fosti fu fui fummo furono gli ha hai hanno ho i il in io l la le lei li lo loro lui ma mi mia mie miei mio ne negl negli nei nel nell nella nelle nello noi non nostra nostre nostri nostro o per perché più quale quanta quante quanti quanto quella quelle quelli quello questa queste questi questo sarai saranno sarebbe sarebbero sarei saremmo saremo sareste saresti sarete sarà sarò se sei si sia siamo siano siate siete sono sta stai stando stanno starai staranno starebbe starebbero starei staremmo staremo stareste staresti starete starà starò stava stavamo stavano stavate stavi stavo stemmo stesse stessero stessi stessimo steste stesti stette stettero stetti stia stiamo stiano stiate sto su sua sue sugl sugli sui sul sull sulla sulle sullo suo suoi ti tra tu tua tue tuo tuoi tutti tutto un una uno vi voi vostra vostre vostri vostro è".split(" ")),e.Pipeline.registerFunction(e.it.stopWordFilter,"stopWordFilter-it")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ja.min.js b/assets/javascripts/lunr/min/lunr.ja.min.js
new file mode 100644
index 00000000..5f254ebe
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ja.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.ja=function(){this.pipeline.reset(),this.pipeline.add(e.ja.trimmer,e.ja.stopWordFilter,e.ja.stemmer),r?this.tokenizer=e.ja.tokenizer:(e.tokenizer&&(e.tokenizer=e.ja.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.ja.tokenizer))};var t=new e.TinySegmenter;e.ja.tokenizer=function(i){var n,o,s,p,a,u,m,l,c,f;if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t.toLowerCase()):t.toLowerCase()});for(o=i.toString().toLowerCase().replace(/^\s+/,""),n=o.length-1;n>=0;n--)if(/\S/.test(o.charAt(n))){o=o.substring(0,n+1);break}for(a=[],s=o.length,c=0,l=0;c<=s;c++)if(u=o.charAt(c),m=c-l,u.match(/\s/)||c==s){if(m>0)for(p=t.segment(o.slice(l,c)).filter(function(e){return!!e}),f=l,n=0;n<p.length;n++)r?a.push(new e.Token(p[n],{position:[f,p[n].length],index:a.length})):a.push(p[n]),f+=p[n].length;l=c+1}return a},e.ja.stemmer=function(){return function(e){return e}}(),e.Pipeline.registerFunction(e.ja.stemmer,"stemmer-ja"),e.ja.wordCharacters="一二三四五六七八九十百千万億兆一-龠々〆ヵヶぁ-んァ-ヴーｱ-ﾝﾞa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ja.trimmer=e.trimmerSupport.generateTrimmer(e.ja.wordCharacters),e.Pipeline.registerFunction(e.ja.trimmer,"trimmer-ja"),e.ja.stopWordFilter=e.generateStopWordFilter("これ それ あれ この その あの ここ そこ あそこ こちら どこ だれ なに なん 何 私 貴方 貴方方 我々 私達 あの人 あのかた 彼女 彼 です あります おります います は が の に を で え から まで より も どの と し それで しかし".split(" ")),e.Pipeline.registerFunction(e.ja.stopWordFilter,"stopWordFilter-ja"),e.jp=e.ja,e.Pipeline.registerFunction(e.jp.stemmer,"stemmer-jp"),e.Pipeline.registerFunction(e.jp.trimmer,"trimmer-jp"),e.Pipeline.registerFunction(e.jp.stopWordFilter,"stopWordFilter-jp")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.jp.min.js b/assets/javascripts/lunr/min/lunr.jp.min.js
new file mode 100644
index 00000000..c055ebaf
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.jp.min.js
@@ -0,0 +1 @@
+module.exports=require("./lunr.ja");
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.kn.min.js b/assets/javascripts/lunr/min/lunr.kn.min.js
new file mode 100644
index 00000000..1cef9bef
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.kn.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.kn=function(){this.pipeline.reset(),this.pipeline.add(e.kn.trimmer,e.kn.stopWordFilter,e.kn.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.kn.stemmer))},e.kn.wordCharacters="ಀ-಄ಅ-ಔಕ-ಹಾ-ೌ಼-ಽೕ-ೖೝ-ೞೠ-ೡೢ-ೣ೤೥೦-೯ೱ-ೳ",e.kn.trimmer=e.trimmerSupport.generateTrimmer(e.kn.wordCharacters),e.Pipeline.registerFunction(e.kn.trimmer,"trimmer-kn"),e.kn.stopWordFilter=e.generateStopWordFilter("ಮತ್ತು ಈ ಒಂದು ರಲ್ಲಿ ಹಾಗೂ ಎಂದು ಅಥವಾ ಇದು ರ ಅವರು ಎಂಬ ಮೇಲೆ ಅವರ ತನ್ನ ಆದರೆ ತಮ್ಮ ನಂತರ ಮೂಲಕ ಹೆಚ್ಚು ನ ಆ ಕೆಲವು ಅನೇಕ ಎರಡು ಹಾಗು ಪ್ರಮುಖ ಇದನ್ನು ಇದರ ಸುಮಾರು ಅದರ ಅದು ಮೊದಲ ಬಗ್ಗೆ ನಲ್ಲಿ ರಂದು ಇತರ ಅತ್ಯಂತ ಹೆಚ್ಚಿನ ಸಹ ಸಾಮಾನ್ಯವಾಗಿ ನೇ ಹಲವಾರು ಹೊಸ ದಿ ಕಡಿಮೆ ಯಾವುದೇ ಹೊಂದಿದೆ ದೊಡ್ಡ ಅನ್ನು ಇವರು ಪ್ರಕಾರ ಇದೆ ಮಾತ್ರ ಕೂಡ ಇಲ್ಲಿ ಎಲ್ಲಾ ವಿವಿಧ ಅದನ್ನು ಹಲವು ರಿಂದ ಕೇವಲ ದ ದಕ್ಷಿಣ ಗೆ ಅವನ ಅತಿ ನೆಯ ಬಹಳ ಕೆಲಸ ಎಲ್ಲ ಪ್ರತಿ ಇತ್ಯಾದಿ ಇವು ಬೇರೆ ಹೀಗೆ ನಡುವೆ ಇದಕ್ಕೆ ಎಸ್ ಇವರ ಮೊದಲು ಶ್ರೀ ಮಾಡುವ ಇದರಲ್ಲಿ ರೀತಿಯ ಮಾಡಿದ ಕಾಲ ಅಲ್ಲಿ ಮಾಡಲು ಅದೇ ಈಗ ಅವು ಗಳು ಎ ಎಂಬುದು ಅವನು ಅಂದರೆ ಅವರಿಗೆ ಇರುವ ವಿಶೇಷ ಮುಂದೆ ಅವುಗಳ ಮುಂತಾದ ಮೂಲ ಬಿ ಮೀ ಒಂದೇ ಇನ್ನೂ ಹೆಚ್ಚಾಗಿ ಮಾಡಿ ಅವರನ್ನು ಇದೇ ಯ ರೀತಿಯಲ್ಲಿ ಜೊತೆ ಅದರಲ್ಲಿ ಮಾಡಿದರು ನಡೆದ ಆಗ ಮತ್ತೆ ಪೂರ್ವ ಆತ ಬಂದ ಯಾವ ಒಟ್ಟು ಇತರೆ ಹಿಂದೆ ಪ್ರಮಾಣದ ಗಳನ್ನು ಕುರಿತು ಯು ಆದ್ದರಿಂದ ಅಲ್ಲದೆ ನಗರದ ಮೇಲಿನ ಏಕೆಂದರೆ ರಷ್ಟು ಎಂಬುದನ್ನು ಬಾರಿ ಎಂದರೆ ಹಿಂದಿನ ಆದರೂ ಆದ ಸಂಬಂಧಿಸಿದ ಮತ್ತೊಂದು ಸಿ ಆತನ ".split(" ")),e.kn.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.kn.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var n=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(n).split("|")},e.Pipeline.registerFunction(e.kn.stemmer,"stemmer-kn"),e.Pipeline.registerFunction(e.kn.stopWordFilter,"stopWordFilter-kn")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ko.min.js b/assets/javascripts/lunr/min/lunr.ko.min.js
new file mode 100644
index 00000000..eaf9dabf
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ko.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ko=function(){this.pipeline.reset(),this.pipeline.add(e.ko.trimmer,e.ko.stopWordFilter)},e.ko.wordCharacters="[A-Za-z가-힣]",e.ko.trimmer=e.trimmerSupport.generateTrimmer(e.ko.wordCharacters),e.Pipeline.registerFunction(e.ko.trimmer,"trimmer-ko"),e.ko.stopWordFilter=e.generateStopWordFilter("아 휴 아이구 아이쿠 아이고 어 나 우리 저희 따라 의해 을 를 에 의 가 으로 로 에게 뿐이다 의거하여 근거하여 입각하여 기준으로 예하면 예를 들면 예를 들자면 저 소인 소생 저희 지말고 하지마 하지마라 다른 물론 또한 그리고 비길수 없다 해서는 안된다 뿐만 아니라 만이 아니다 만은 아니다 막론하고 관계없이 그치지 않다 그러나 그런데 하지만 든간에 논하지 않다 따지지 않다 설사 비록 더라도 아니면 만 못하다 하는 편이 낫다 불문하고 향하여 향해서 향하다 쪽으로 틈타 이용하여 타다 오르다 제외하고 이 외에 이 밖에 하여야 비로소 한다면 몰라도 외에도 이곳 여기 부터 기점으로 따라서 할 생각이다 하려고하다 이리하여 그리하여 그렇게 함으로써 하지만 일때 할때 앞에서 중에서 보는데서 으로써 로써 까지 해야한다 일것이다 반드시 할줄알다 할수있다 할수있어 임에 틀림없다 한다면 등 등등 제 겨우 단지 다만 할뿐 딩동 댕그 대해서 대하여 대하면 훨씬 얼마나 얼마만큼 얼마큼 남짓 여 얼마간 약간 다소 좀 조금 다수 몇 얼마 지만 하물며 또한 그러나 그렇지만 하지만 이외에도 대해 말하자면 뿐이다 다음에 반대로 반대로 말하자면 이와 반대로 바꾸어서 말하면 바꾸어서 한다면 만약 그렇지않으면 까악 툭 딱 삐걱거리다 보드득 비걱거리다 꽈당 응당 해야한다 에 가서 각 각각 여러분 각종 각자 제각기 하도록하다 와 과 그러므로 그래서 고로 한 까닭에 하기 때문에 거니와 이지만 대하여 관하여 관한 과연 실로 아니나다를가 생각한대로 진짜로 한적이있다 하곤하였다 하 하하 허허 아하 거바 와 오 왜 어째서 무엇때문에 어찌 하겠는가 무슨 어디 어느곳 더군다나 하물며 더욱이는 어느때 언제 야 이봐 어이 여보시오 흐흐 흥 휴 헉헉 헐떡헐떡 영차 여차 어기여차 끙끙 아야 앗 아야 콸콸 졸졸 좍좍 뚝뚝 주룩주룩 솨 우르르 그래도 또 그리고 바꾸어말하면 바꾸어말하자면 혹은 혹시 답다 및 그에 따르는 때가 되어 즉 지든지 설령 가령 하더라도 할지라도 일지라도 지든지 몇 거의 하마터면 인젠 이젠 된바에야 된이상 만큼\t어찌됏든 그위에 게다가 점에서 보아 비추어 보아 고려하면 하게될것이다 일것이다 비교적 좀 보다더 비하면 시키다 하게하다 할만하다 의해서 연이서 이어서 잇따라 뒤따라 뒤이어 결국 의지하여 기대여 통하여 자마자 더욱더 불구하고 얼마든지 마음대로 주저하지 않고 곧 즉시 바로 당장 하자마자 밖에 안된다 하면된다 그래 그렇지 요컨대 다시 말하자면 바꿔 말하면 즉 구체적으로 말하자면 시작하여 시초에 이상 허 헉 허걱 바와같이 해도좋다 해도된다 게다가 더구나 하물며 와르르 팍 퍽 펄렁 동안 이래 하고있었다 이었다 에서 로부터 까지 예하면 했어요 해요 함께 같이 더불어 마저 마저도 양자 모두 습니다 가까스로 하려고하다 즈음하여 다른 다른 방면으로 해봐요 습니까 했어요 말할것도 없고 무릎쓰고 개의치않고 하는것만 못하다 하는것이 낫다 매 매번 들 모 어느것 어느 로써 갖고말하자면 어디 어느쪽 어느것 어느해 어느 년도 라 해도 언젠가 어떤것 어느것 저기 저쪽 저것 그때 그럼 그러면 요만한걸 그래 그때 저것만큼 그저 이르기까지 할 줄 안다 할 힘이 있다 너 너희 당신 어찌 설마 차라리 할지언정 할지라도 할망정 할지언정 구토하다 게우다 토하다 메쓰겁다 옆사람 퉤 쳇 의거하여 근거하여 의해 따라 힘입어 그 다음 버금 두번째로 기타 첫번째로 나머지는 그중에서 견지에서 형식으로 쓰여 입장에서 위해서 단지 의해되다 하도록시키다 뿐만아니라 반대로 전후 전자 앞의것 잠시 잠깐 하면서 그렇지만 다음에 그러한즉 그런즉 남들 아무거나 어찌하든지 같다 비슷하다 예컨대 이럴정도로 어떻게 만약 만일 위에서 서술한바와같이 인 듯하다 하지 않는다면 만약에 무엇 무슨 어느 어떤 아래윗 조차 한데 그럼에도 불구하고 여전히 심지어 까지도 조차도 하지 않도록 않기 위하여 때 시각 무렵 시간 동안 어때 어떠한 하여금 네 예 우선 누구 누가 알겠는가 아무도 줄은모른다 줄은 몰랏다 하는 김에 겸사겸사 하는바 그런 까닭에 한 이유는 그러니 그러니까 때문에 그 너희 그들 너희들 타인 것 것들 너 위하여 공동으로 동시에 하기 위하여 어찌하여 무엇때문에 붕붕 윙윙 나 우리 엉엉 휘익 윙윙 오호 아하 어쨋든 만 못하다\t하기보다는 차라리 하는 편이 낫다 흐흐 놀라다 상대적으로 말하자면 마치 아니라면 쉿 그렇지 않으면 그렇지 않다면 안 그러면 아니었다면 하든지 아니면 이라면 좋아 알았어 하는것도 그만이다 어쩔수 없다 하나 일 일반적으로 일단 한켠으로는 오자마자 이렇게되면 이와같다면 전부 한마디 한항목 근거로 하기에 아울러 하지 않도록 않기 위해서 이르기까지 이 되다 로 인하여 까닭으로 이유만으로 이로 인하여 그래서 이 때문에 그러므로 그런 까닭에 알 수 있다 결론을 낼 수 있다 으로 인하여 있다 어떤것 관계가 있다 관련이 있다 연관되다 어떤것들 에 대해 이리하여 그리하여 여부 하기보다는 하느니 하면 할수록 운운 이러이러하다 하구나 하도다 다시말하면 다음으로 에 있다 에 달려 있다 우리 우리들 오히려 하기는한데 어떻게 어떻해 어찌됏어 어때 어째서 본대로 자 이 이쪽 여기 이것 이번 이렇게말하자면 이런 이러한 이와 같은 요만큼 요만한 것 얼마 안 되는 것 이만큼 이 정도의 이렇게 많은 것 이와 같다 이때 이렇구나 것과 같이 끼익 삐걱 따위 와 같은 사람들 부류의 사람들 왜냐하면 중의하나 오직 오로지 에 한하다 하기만 하면 도착하다 까지 미치다 도달하다 정도에 이르다 할 지경이다 결과에 이르다 관해서는 여러분 하고 있다 한 후 혼자 자기 자기집 자신 우에 종합한것과같이 총적으로 보면 총적으로 말하면 총적으로 대로 하다 으로서 참 그만이다 할 따름이다 쿵 탕탕 쾅쾅 둥둥 봐 봐라 아이야 아니 와아 응 아이 참나 년 월 일 령 영 일 이 삼 사 오 육 륙 칠 팔 구 이천육 이천칠 이천팔 이천구 하나 둘 셋 넷 다섯 여섯 일곱 여덟 아홉 령 영".split(" ")),e.Pipeline.registerFunction(e.ko.stopWordFilter,"stopWordFilter-ko"),e.ko.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.ko.stemmer,"stemmer-ko")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.multi.min.js b/assets/javascripts/lunr/min/lunr.multi.min.js
new file mode 100644
index 00000000..7debad09
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.multi.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){e.multiLanguage=function(){for(var t=Array.prototype.slice.call(arguments),i=t.join("-"),r="",n=[],s=[],p=0;p<t.length;++p)"en"==t[p]?(r+="\\w",n.unshift(e.stopWordFilter),n.push(e.stemmer),s.push(e.stemmer)):(r+=e[t[p]].wordCharacters,e[t[p]].stopWordFilter&&n.unshift(e[t[p]].stopWordFilter),e[t[p]].stemmer&&(n.push(e[t[p]].stemmer),s.push(e[t[p]].stemmer)));var o=e.trimmerSupport.generateTrimmer(r);return e.Pipeline.registerFunction(o,"lunr-multi-trimmer-"+i),n.unshift(o),function(){this.pipeline.reset(),this.pipeline.add.apply(this.pipeline,n),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add.apply(this.searchPipeline,s))}}}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.nl.min.js b/assets/javascripts/lunr/min/lunr.nl.min.js
new file mode 100644
index 00000000..c4a25359
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.nl.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Dutch` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(r,e){"function"==typeof define&&define.amd?define(e):"object"==typeof exports?module.exports=e():e()(r.lunr)}(this,function(){return function(r){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");r.nl=function(){this.pipeline.reset(),this.pipeline.add(r.nl.trimmer,r.nl.stopWordFilter,r.nl.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(r.nl.stemmer))},r.nl.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",r.nl.trimmer=r.trimmerSupport.generateTrimmer(r.nl.wordCharacters),r.Pipeline.registerFunction(r.nl.trimmer,"trimmer-nl"),r.nl.stemmer=function(){var e=r.stemmerSupport.Among,i=r.stemmerSupport.SnowballProgram,n=new function(){function r(){for(var r,e,i,o=C.cursor;;){if(C.bra=C.cursor,r=C.find_among(b,11))switch(C.ket=C.cursor,r){case 1:C.slice_from("a");continue;case 2:C.slice_from("e");continue;case 3:C.slice_from("i");continue;case 4:C.slice_from("o");continue;case 5:C.slice_from("u");continue;case 6:if(C.cursor>=C.limit)break;C.cursor++;continue}break}for(C.cursor=o,C.bra=o,C.eq_s(1,"y")?(C.ket=C.cursor,C.slice_from("Y")):C.cursor=o;;)if(e=C.cursor,C.in_grouping(q,97,232)){if(i=C.cursor,C.bra=i,C.eq_s(1,"i"))C.ket=C.cursor,C.in_grouping(q,97,232)&&(C.slice_from("I"),C.cursor=e);else if(C.cursor=i,C.eq_s(1,"y"))C.ket=C.cursor,C.slice_from("Y"),C.cursor=e;else if(n(e))break}else if(n(e))break}function n(r){return C.cursor=r,r>=C.limit||(C.cursor++,!1)}function o(){_=C.limit,d=_,t()||(_=C.cursor,_<3&&(_=3),t()||(d=C.cursor))}function t(){for(;!C.in_grouping(q,97,232);){if(C.cursor>=C.limit)return!0;C.cursor++}for(;!C.out_grouping(q,97,232);){if(C.cursor>=C.limit)return!0;C.cursor++}return!1}function s(){for(var r;;)if(C.bra=C.cursor,r=C.find_among(p,3))switch(C.ket=C.cursor,r){case 1:C.slice_from("y");break;case 2:C.slice_from("i");break;case 3:if(C.cursor>=C.limit)return;C.cursor++}}function u(){return _<=C.cursor}function c(){return d<=C.cursor}function a(){var r=C.limit-C.cursor;C.find_among_b(g,3)&&(C.cursor=C.limit-r,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del()))}function l(){var r;w=!1,C.ket=C.cursor,C.eq_s_b(1,"e")&&(C.bra=C.cursor,u()&&(r=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-r,C.slice_del(),w=!0,a())))}function m(){var r;u()&&(r=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-r,C.eq_s_b(3,"gem")||(C.cursor=C.limit-r,C.slice_del(),a())))}function f(){var r,e,i,n,o,t,s=C.limit-C.cursor;if(C.ket=C.cursor,r=C.find_among_b(h,5))switch(C.bra=C.cursor,r){case 1:u()&&C.slice_from("heid");break;case 2:m();break;case 3:u()&&C.out_grouping_b(j,97,232)&&C.slice_del()}if(C.cursor=C.limit-s,l(),C.cursor=C.limit-s,C.ket=C.cursor,C.eq_s_b(4,"heid")&&(C.bra=C.cursor,c()&&(e=C.limit-C.cursor,C.eq_s_b(1,"c")||(C.cursor=C.limit-e,C.slice_del(),C.ket=C.cursor,C.eq_s_b(2,"en")&&(C.bra=C.cursor,m())))),C.cursor=C.limit-s,C.ket=C.cursor,r=C.find_among_b(k,6))switch(C.bra=C.cursor,r){case 1:if(c()){if(C.slice_del(),i=C.limit-C.cursor,C.ket=C.cursor,C.eq_s_b(2,"ig")&&(C.bra=C.cursor,c()&&(n=C.limit-C.cursor,!C.eq_s_b(1,"e")))){C.cursor=C.limit-n,C.slice_del();break}C.cursor=C.limit-i,a()}break;case 2:c()&&(o=C.limit-C.cursor,C.eq_s_b(1,"e")||(C.cursor=C.limit-o,C.slice_del()));break;case 3:c()&&(C.slice_del(),l());break;case 4:c()&&C.slice_del();break;case 5:c()&&w&&C.slice_del()}C.cursor=C.limit-s,C.out_grouping_b(z,73,232)&&(t=C.limit-C.cursor,C.find_among_b(v,4)&&C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-t,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del())))}var d,_,w,b=[new e("",-1,6),new e("á",0,1),new e("ä",0,1),new e("é",0,2),new e("ë",0,2),new e("í",0,3),new e("ï",0,3),new e("ó",0,4),new e("ö",0,4),new e("ú",0,5),new e("ü",0,5)],p=[new e("",-1,3),new e("I",0,2),new e("Y",0,1)],g=[new e("dd",-1,-1),new e("kk",-1,-1),new e("tt",-1,-1)],h=[new e("ene",-1,2),new e("se",-1,3),new e("en",-1,2),new e("heden",2,1),new e("s",-1,3)],k=[new e("end",-1,1),new e("ig",-1,2),new e("ing",-1,1),new e("lijk",-1,3),new e("baar",-1,4),new e("bar",-1,5)],v=[new e("aa",-1,-1),new e("ee",-1,-1),new e("oo",-1,-1),new e("uu",-1,-1)],q=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],z=[1,0,0,17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],j=[17,67,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],C=new i;this.setCurrent=function(r){C.setCurrent(r)},this.getCurrent=function(){return C.getCurrent()},this.stem=function(){var e=C.cursor;return r(),C.cursor=e,o(),C.limit_backward=e,C.cursor=C.limit,f(),C.cursor=C.limit_backward,s(),!0}};return function(r){return"function"==typeof r.update?r.update(function(r){return n.setCurrent(r),n.stem(),n.getCurrent()}):(n.setCurrent(r),n.stem(),n.getCurrent())}}(),r.Pipeline.registerFunction(r.nl.stemmer,"stemmer-nl"),r.nl.stopWordFilter=r.generateStopWordFilter(" aan al alles als altijd andere ben bij daar dan dat de der deze die dit doch doen door dus een eens en er ge geen geweest haar had heb hebben heeft hem het hier hij hoe hun iemand iets ik in is ja je kan kon kunnen maar me meer men met mij mijn moet na naar niet niets nog nu of om omdat onder ons ook op over reeds te tegen toch toen tot u uit uw van veel voor want waren was wat werd wezen wie wil worden wordt zal ze zelf zich zij zijn zo zonder zou".split(" ")),r.Pipeline.registerFunction(r.nl.stopWordFilter,"stopWordFilter-nl")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.no.min.js b/assets/javascripts/lunr/min/lunr.no.min.js
new file mode 100644
index 00000000..92bc7e4e
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.no.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Norwegian` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.no=function(){this.pipeline.reset(),this.pipeline.add(e.no.trimmer,e.no.stopWordFilter,e.no.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.no.stemmer))},e.no.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.no.trimmer=e.trimmerSupport.generateTrimmer(e.no.wordCharacters),e.Pipeline.registerFunction(e.no.trimmer,"trimmer-no"),e.no.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,i=new function(){function e(){var e,r=w.cursor+3;if(a=w.limit,0<=r||r<=w.limit){for(s=r;;){if(e=w.cursor,w.in_grouping(d,97,248)){w.cursor=e;break}if(e>=w.limit)return;w.cursor=e+1}for(;!w.out_grouping(d,97,248);){if(w.cursor>=w.limit)return;w.cursor++}a=w.cursor,a<s&&(a=s)}}function i(){var e,r,n;if(w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(m,29),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:n=w.limit-w.cursor,w.in_grouping_b(c,98,122)?w.slice_del():(w.cursor=w.limit-n,w.eq_s_b(1,"k")&&w.out_grouping_b(d,97,248)&&w.slice_del());break;case 3:w.slice_from("er")}}function t(){var e,r=w.limit-w.cursor;w.cursor>=a&&(e=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,w.find_among_b(u,2)?(w.bra=w.cursor,w.limit_backward=e,w.cursor=w.limit-r,w.cursor>w.limit_backward&&(w.cursor--,w.bra=w.cursor,w.slice_del())):w.limit_backward=e)}function o(){var e,r;w.cursor>=a&&(r=w.limit_backward,w.limit_backward=a,w.ket=w.cursor,e=w.find_among_b(l,11),e?(w.bra=w.cursor,w.limit_backward=r,1==e&&w.slice_del()):w.limit_backward=r)}var s,a,m=[new r("a",-1,1),new r("e",-1,1),new r("ede",1,1),new r("ande",1,1),new r("ende",1,1),new r("ane",1,1),new r("ene",1,1),new r("hetene",6,1),new r("erte",1,3),new r("en",-1,1),new r("heten",9,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",12,1),new r("s",-1,2),new r("as",14,1),new r("es",14,1),new r("edes",16,1),new r("endes",16,1),new r("enes",16,1),new r("hetenes",19,1),new r("ens",14,1),new r("hetens",21,1),new r("ers",14,1),new r("ets",14,1),new r("et",-1,1),new r("het",25,1),new r("ert",-1,3),new r("ast",-1,1)],u=[new r("dt",-1,-1),new r("vt",-1,-1)],l=[new r("leg",-1,1),new r("eleg",0,1),new r("ig",-1,1),new r("eig",2,1),new r("lig",2,1),new r("elig",4,1),new r("els",-1,1),new r("lov",-1,1),new r("elov",7,1),new r("slov",7,1),new r("hetslov",9,1)],d=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],c=[119,125,149,1],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,i(),w.cursor=w.limit,t(),w.cursor=w.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.no.stemmer,"stemmer-no"),e.no.stopWordFilter=e.generateStopWordFilter("alle at av bare begge ble blei bli blir blitt både båe da de deg dei deim deira deires dem den denne der dere deres det dette di din disse ditt du dykk dykkar då eg ein eit eitt eller elles en enn er et ett etter for fordi fra før ha hadde han hans har hennar henne hennes her hjå ho hoe honom hoss hossen hun hva hvem hver hvilke hvilken hvis hvor hvordan hvorfor i ikke ikkje ikkje ingen ingi inkje inn inni ja jeg kan kom korleis korso kun kunne kva kvar kvarhelst kven kvi kvifor man mange me med medan meg meget mellom men mi min mine mitt mot mykje ned no noe noen noka noko nokon nokor nokre nå når og også om opp oss over på samme seg selv si si sia sidan siden sin sine sitt sjøl skal skulle slik so som som somme somt så sånn til um upp ut uten var vart varte ved vere verte vi vil ville vore vors vort vår være være vært å".split(" ")),e.Pipeline.registerFunction(e.no.stopWordFilter,"stopWordFilter-no")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.pt.min.js b/assets/javascripts/lunr/min/lunr.pt.min.js
new file mode 100644
index 00000000..6c16996d
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.pt.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Portuguese` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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pelas pelo pelos por qual quando que quem se seja sejam sejamos sem serei seremos seria seriam será serão seríamos seu seus somos sou sua suas são só também te tem temos tenha tenham tenhamos tenho terei teremos teria teriam terá terão teríamos teu teus teve tinha tinham tive tivemos tiver tivera tiveram tiverem tivermos tivesse tivessem tivéramos tivéssemos tu tua tuas tém tínhamos um uma você vocês vos à às éramos".split(" ")),e.Pipeline.registerFunction(e.pt.stopWordFilter,"stopWordFilter-pt")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ro.min.js b/assets/javascripts/lunr/min/lunr.ro.min.js
new file mode 100644
index 00000000..72771401
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ro.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Romanian` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,i){"function"==typeof define&&define.amd?define(i):"object"==typeof exports?module.exports=i():i()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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dă ea ei el ele eram este eu eşti face fata fi fie fiecare fii fim fiu fiţi frumos fără graţie halbă iar ieri la le li lor lui lângă lîngă mai mea mei mele mereu meu mi mie mine mult multă mulţi mulţumesc mâine mîine mă ne nevoie nici nicăieri nimeni nimeri nimic nişte noastre noastră noi noroc nostru nouă noştri nu opt ori oricare orice oricine oricum oricând oricât oricînd oricît oriunde patra patru patrulea pe pentru peste pic poate pot prea prima primul prin puţin puţina puţină până pînă rog sa sale sau se spate spre sub sunt suntem sunteţi sută sînt sîntem sînteţi să săi său ta tale te timp tine toate toată tot totuşi toţi trei treia treilea tu tăi tău un una unde undeva unei uneia unele uneori unii unor unora unu unui unuia unul vi voastre voastră voi vostru vouă voştri vreme vreo vreun vă zece zero zi zice îi îl îmi împotriva în  înainte înaintea încotro încât încît între întrucât întrucît îţi ăla ălea ăsta ăstea ăştia şapte şase şi ştiu ţi ţie".split(" ")),e.Pipeline.registerFunction(e.ro.stopWordFilter,"stopWordFilter-ro")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ru.min.js b/assets/javascripts/lunr/min/lunr.ru.min.js
new file mode 100644
index 00000000..186cc485
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ru.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Russian` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,n){"function"==typeof define&&define.amd?define(n):"object"==typeof exports?module.exports=n():n()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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n("ыло",24,2),new n("но",-1,1),new n("ено",27,2),new n("нно",27,1),new n("ет",-1,1),new n("ует",30,2),new n("ит",-1,2),new n("ыт",-1,2),new n("ют",-1,1),new n("уют",34,2),new n("ят",-1,2),new n("ны",-1,1),new n("ены",37,2),new n("ть",-1,1),new n("ить",39,2),new n("ыть",39,2),new n("ешь",-1,1),new n("ишь",-1,2),new n("ю",-1,2),new n("ую",44,2)],v=[new n("а",-1,1),new n("ев",-1,1),new n("ов",-1,1),new n("е",-1,1),new n("ие",3,1),new n("ье",3,1),new n("и",-1,1),new n("еи",6,1),new n("ии",6,1),new n("ами",6,1),new n("ями",6,1),new n("иями",10,1),new n("й",-1,1),new n("ей",12,1),new n("ией",13,1),new n("ий",12,1),new n("ой",12,1),new n("ам",-1,1),new n("ем",-1,1),new n("ием",18,1),new n("ом",-1,1),new n("ям",-1,1),new n("иям",21,1),new n("о",-1,1),new n("у",-1,1),new n("ах",-1,1),new n("ях",-1,1),new n("иях",26,1),new n("ы",-1,1),new n("ь",-1,1),new n("ю",-1,1),new n("ию",30,1),new n("ью",30,1),new n("я",-1,1),new n("ия",33,1),new n("ья",33,1)],F=[new n("ост",-1,1),new n("ость",-1,1)],q=[new n("ейше",-1,1),new n("н",-1,2),new n("ейш",-1,1),new n("ь",-1,3)],S=[33,65,8,232],W=new r;this.setCurrent=function(e){W.setCurrent(e)},this.getCurrent=function(){return W.getCurrent()},this.stem=function(){return w(),W.cursor=W.limit,!(W.cursor<b)&&(W.limit_backward=b,o()||(W.cursor=W.limit,f()||(W.cursor=W.limit),m()||(W.cursor=W.limit,l()||(W.cursor=W.limit,a()))),W.cursor=W.limit,W.ket=W.cursor,W.eq_s_b(1,"и")?(W.bra=W.cursor,W.slice_del()):W.cursor=W.limit,p(),W.cursor=W.limit,d(),!0)}};return function(e){return"function"==typeof e.update?e.update(function(e){return t.setCurrent(e),t.stem(),t.getCurrent()}):(t.setCurrent(e),t.stem(),t.getCurrent())}}(),e.Pipeline.registerFunction(e.ru.stemmer,"stemmer-ru"),e.ru.stopWordFilter=e.generateStopWordFilter("алло без близко более больше будем будет будете будешь будто буду будут будь бы бывает бывь был была были было быть в важная важное важные важный вам вами вас ваш ваша ваше ваши вверх вдали вдруг ведь везде весь вниз внизу во вокруг вон восемнадцатый восемнадцать восемь восьмой вот впрочем времени время все всегда всего всем всеми всему всех всею всю всюду вся всё второй вы г где говорил говорит год года году да давно даже далеко дальше даром два двадцатый двадцать две двенадцатый двенадцать двух девятнадцатый девятнадцать девятый девять действительно дел день десятый десять для до довольно долго должно другая другие других друго другое другой е его ее ей ему если есть еще ещё ею её ж же жизнь за занят занята занято заняты затем зато зачем здесь значит и из или им именно иметь ими имя иногда их к каждая каждое каждые каждый кажется как какая какой кем когда кого ком кому конечно которая которого которой которые который которых кроме кругом кто куда лет ли лишь лучше люди м мало между меля менее меньше меня миллионов мимо мира мне много многочисленная многочисленное многочисленные многочисленный мной мною мог могут мож может можно можхо мои мой мор мочь моя моё мы на наверху над надо назад наиболее наконец нам нами нас начала наш наша наше наши не него недавно недалеко нее ней нельзя нем немного нему непрерывно нередко несколько нет нею неё ни нибудь ниже низко никогда никуда ними них ничего но ну нужно нх о об оба обычно один одиннадцатый одиннадцать однажды однако одного одной около он она они оно опять особенно от отовсюду отсюда очень первый перед по под пожалуйста позже пока пор пора после посреди потом потому почему почти прекрасно при про просто против процентов пятнадцатый пятнадцать пятый пять раз разве рано раньше рядом с сам сама сами самим самими самих само самого самой самом самому саму свое своего своей свои своих свою сеаой себе себя сегодня седьмой сейчас семнадцатый семнадцать семь сих сказал сказала сказать сколько слишком сначала снова со собой собою совсем спасибо стал суть т та так такая также такие такое такой там твой твоя твоё те тебе тебя тем теми теперь тех то тобой тобою тогда того тоже только том тому тот тою третий три тринадцатый тринадцать ту туда тут ты тысяч у уж уже уметь хорошо хотеть хоть хотя хочешь часто чаще чего человек чем чему через четвертый четыре четырнадцатый четырнадцать что чтоб чтобы чуть шестнадцатый шестнадцать шестой шесть эта эти этим этими этих это этого этой этом этому этот эту я \ufeffа".split(" ")),e.Pipeline.registerFunction(e.ru.stopWordFilter,"stopWordFilter-ru")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.sa.min.js b/assets/javascripts/lunr/min/lunr.sa.min.js
new file mode 100644
index 00000000..50ee5642
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.sa.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sa=function(){this.pipeline.reset(),this.pipeline.add(e.sa.trimmer,e.sa.stopWordFilter,e.sa.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sa.stemmer))},e.sa.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿ꣠-꣱ꣲ-ꣷ꣸-ꣻ꣼-ꣽꣾ-ꣿᆰ0-ᆰ9",e.sa.trimmer=e.trimmerSupport.generateTrimmer(e.sa.wordCharacters),e.Pipeline.registerFunction(e.sa.trimmer,"trimmer-sa"),e.sa.stopWordFilter=e.generateStopWordFilter('तथा अयम्‌ एकम्‌ इत्यस्मिन्‌ तथा तत्‌ वा अयम्‌ इत्यस्य ते आहूत उपरि तेषाम्‌  किन्तु तेषाम्‌ तदा इत्यनेन अधिकः इत्यस्य तत्‌ केचन बहवः द्वि तथा महत्वपूर्णः अयम्‌ अस्य  विषये अयं अस्ति तत्‌ प्रथमः विषये इत्युपरि इत्युपरि इतर अधिकतमः अधिकः अपि सामान्यतया ठ इतरेतर नूतनम्‌ द  न्यूनम्‌ कश्चित्‌ वा विशालः द  सः अस्ति तदनुसारम् तत्र अस्ति केवलम्‌ अपि अत्र सर्वे विविधाः तत्‌ बहवः यतः इदानीम्‌ द  दक्षिण इत्यस्मै तस्य उपरि नथ अतीव कार्यम्‌ सर्वे एकैकम्‌ इत्यादि। एते सन्ति  उत इत्थम्‌ मध्ये एतदर्थं . स कस्य प्रथमः श्री. करोति अस्मिन् प्रकारः निर्मिता कालः तत्र कर्तुं  समान अधुना ते सन्ति स एकः अस्ति सः अर्थात् तेषां कृते . स्थितम्  विशेषः अग्रिम तेषाम्‌ समान स्रोतः ख म समान इदानीमपि अधिकतया करोतु ते समान इत्यस्य वीथी सह यस्मिन्  कृतवान्‌ धृतः तदा पुनः पूर्वं सः आगतः किम्‌ कुल इतर पुरा  मात्रा स विषये उ अतएव अपि नगरस्य  उपरि यतः प्रतिशतं  कतरः कालः साधनानि भूत तथापि जात सम्बन्धि अन्यत्‌ ग अतः अस्माकं स्वकीयाः अस्माकं इदानीं अन्तः इत्यादयः भवन्तः इत्यादयः एते एताः तस्य अस्य इदम् एते तेषां तेषां तेषां तान् तेषां तेषां तेषां समानः सः एकः च तादृशाः बहवः अन्ये च वदन्ति यत् कियत् कस्मै  कस्मै  यस्मै  यस्मै  यस्मै  यस्मै न अतिनीचः किन्तु प्रथमं सम्पूर्णतया  ततः चिरकालानन्तरं पुस्तकं सम्पूर्णतया अन्तः  किन्तु अत्र वा इह इव श्रद्धाय अवशिष्यते  परन्तु अन्ये वर्गाः सन्ति ते सन्ति शक्नुवन्ति सर्वे मिलित्वा सर्वे एकत्र"'.split(" ")),e.sa.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.sa.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var i=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(i).split("|")},e.Pipeline.registerFunction(e.sa.stemmer,"stemmer-sa"),e.Pipeline.registerFunction(e.sa.stopWordFilter,"stopWordFilter-sa")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.stemmer.support.min.js b/assets/javascripts/lunr/min/lunr.stemmer.support.min.js
new file mode 100644
index 00000000..abd4475b
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.stemmer.support.min.js
@@ -0,0 +1 @@
+!function(r,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(r.lunr)}(this,function(){return function(r){r.stemmerSupport={Among:function(r,t,i,s){if(this.toCharArray=function(r){for(var t=r.length,i=new Array(t),s=0;s<t;s++)i[s]=r.charCodeAt(s);return i},!r&&""!=r||!t&&0!=t||!i)throw"Bad Among initialisation: s:"+r+", substring_i: "+t+", result: "+i;this.s_size=r.length,this.s=this.toCharArray(r),this.substring_i=t,this.result=i,this.method=s},SnowballProgram:function(){var r;return{bra:0,ket:0,limit:0,cursor:0,limit_backward:0,setCurrent:function(t){r=t,this.cursor=0,this.limit=t.length,this.limit_backward=0,this.bra=this.cursor,this.ket=this.limit},getCurrent:function(){var t=r;return r=null,t},in_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},in_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},out_grouping:function(t,i,s){if(this.cursor<this.limit){var e=r.charCodeAt(this.cursor);if(e>s||e<i)return this.cursor++,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},out_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e>s||e<i)return this.cursor--,!0;if(e-=i,!(t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},eq_s:function(t,i){if(this.limit-this.cursor<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor+s)!=i.charCodeAt(s))return!1;return this.cursor+=t,!0},eq_s_b:function(t,i){if(this.cursor-this.limit_backward<t)return!1;for(var s=0;s<t;s++)if(r.charCodeAt(this.cursor-t+s)!=i.charCodeAt(s))return!1;return this.cursor-=t,!0},find_among:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=l;m<_.s_size;m++){if(n+l==u){f=-1;break}if(f=r.charCodeAt(n+l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n+_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n+_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},find_among_b:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit_backward,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o<h?o:h,_=t[a],m=_.s_size-1-l;m>=0;m--){if(n-l==u){f=-1;break}if(f=r.charCodeAt(n-1-l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n-_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n-_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},replace_s:function(t,i,s){var e=s.length-(i-t),n=r.substring(0,t),u=r.substring(i);return r=n+s+u,this.limit+=e,this.cursor>=i?this.cursor+=e:this.cursor>t&&(this.cursor=t),e},slice_check:function(){if(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>r.length)throw"faulty slice operation"},slice_from:function(r){this.slice_check(),this.replace_s(this.bra,this.ket,r)},slice_del:function(){this.slice_from("")},insert:function(r,t,i){var s=this.replace_s(r,t,i);r<=this.bra&&(this.bra+=s),r<=this.ket&&(this.ket+=s)},slice_to:function(){return this.slice_check(),r.substring(this.bra,this.ket)},eq_v_b:function(r){return this.eq_s_b(r.length,r)}}}},r.trimmerSupport={generateTrimmer:function(r){var t=new RegExp("^[^"+r+"]+"),i=new RegExp("[^"+r+"]+$");return function(r){return"function"==typeof r.update?r.update(function(r){return r.replace(t,"").replace(i,"")}):r.replace(t,"").replace(i,"")}}}}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.sv.min.js b/assets/javascripts/lunr/min/lunr.sv.min.js
new file mode 100644
index 00000000..3e5eb640
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.sv.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Swedish` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sv=function(){this.pipeline.reset(),this.pipeline.add(e.sv.trimmer,e.sv.stopWordFilter,e.sv.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sv.stemmer))},e.sv.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.sv.trimmer=e.trimmerSupport.generateTrimmer(e.sv.wordCharacters),e.Pipeline.registerFunction(e.sv.trimmer,"trimmer-sv"),e.sv.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,t=new function(){function e(){var e,r=w.cursor+3;if(o=w.limit,0<=r||r<=w.limit){for(a=r;;){if(e=w.cursor,w.in_grouping(l,97,246)){w.cursor=e;break}if(w.cursor=e,w.cursor>=w.limit)return;w.cursor++}for(;!w.out_grouping(l,97,246);){if(w.cursor>=w.limit)return;w.cursor++}o=w.cursor,o<a&&(o=a)}}function t(){var e,r=w.limit_backward;if(w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(u,37),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.in_grouping_b(d,98,121)&&w.slice_del()}}function i(){var e=w.limit_backward;w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.find_among_b(c,7)&&(w.cursor=w.limit,w.ket=w.cursor,w.cursor>w.limit_backward&&(w.bra=--w.cursor,w.slice_del())),w.limit_backward=e)}function s(){var e,r;if(w.cursor>=o){if(r=w.limit_backward,w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(m,5))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.slice_from("lös");break;case 3:w.slice_from("full")}w.limit_backward=r}}var a,o,u=[new r("a",-1,1),new r("arna",0,1),new r("erna",0,1),new r("heterna",2,1),new r("orna",0,1),new r("ad",-1,1),new r("e",-1,1),new r("ade",6,1),new r("ande",6,1),new r("arne",6,1),new r("are",6,1),new r("aste",6,1),new r("en",-1,1),new r("anden",12,1),new r("aren",12,1),new r("heten",12,1),new r("ern",-1,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",18,1),new r("or",-1,1),new r("s",-1,2),new r("as",21,1),new r("arnas",22,1),new r("ernas",22,1),new r("ornas",22,1),new r("es",21,1),new r("ades",26,1),new r("andes",26,1),new r("ens",21,1),new r("arens",29,1),new r("hetens",29,1),new r("erns",21,1),new r("at",-1,1),new r("andet",-1,1),new r("het",-1,1),new r("ast",-1,1)],c=[new r("dd",-1,-1),new r("gd",-1,-1),new r("nn",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1),new r("tt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("els",-1,1),new r("fullt",-1,3),new r("löst",-1,2)],l=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,24,0,32],d=[119,127,149],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,t(),w.cursor=w.limit,i(),w.cursor=w.limit,s(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return t.setCurrent(e),t.stem(),t.getCurrent()}):(t.setCurrent(e),t.stem(),t.getCurrent())}}(),e.Pipeline.registerFunction(e.sv.stemmer,"stemmer-sv"),e.sv.stopWordFilter=e.generateStopWordFilter("alla allt att av blev bli blir blivit de dem den denna deras dess dessa det detta dig din dina ditt du där då efter ej eller en er era ert ett från för ha hade han hans har henne hennes hon honom hur här i icke ingen inom inte jag ju kan kunde man med mellan men mig min mina mitt mot mycket ni nu när någon något några och om oss på samma sedan sig sin sina sitta själv skulle som så sådan sådana sådant till under upp ut utan vad var vara varför varit varje vars vart vem vi vid vilka vilkas vilken vilket vår våra vårt än är åt över".split(" ")),e.Pipeline.registerFunction(e.sv.stopWordFilter,"stopWordFilter-sv")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ta.min.js b/assets/javascripts/lunr/min/lunr.ta.min.js
new file mode 100644
index 00000000..a644bed2
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ta.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ta=function(){this.pipeline.reset(),this.pipeline.add(e.ta.trimmer,e.ta.stopWordFilter,e.ta.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.ta.stemmer))},e.ta.wordCharacters="஀-உஊ-ஏஐ-ஙச-ட஠-னப-யர-ஹ஺-ிீ-௉ொ-௏ௐ-௙௚-௟௠-௩௪-௯௰-௹௺-௿a-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ta.trimmer=e.trimmerSupport.generateTrimmer(e.ta.wordCharacters),e.Pipeline.registerFunction(e.ta.trimmer,"trimmer-ta"),e.ta.stopWordFilter=e.generateStopWordFilter("அங்கு அங்கே அது அதை அந்த அவர் அவர்கள் அவள் அவன் அவை ஆக ஆகவே ஆகையால் ஆதலால் ஆதலினால் ஆனாலும் ஆனால் இங்கு இங்கே இது இதை இந்த இப்படி இவர் இவர்கள் இவள் இவன் இவை இவ்வளவு உனக்கு உனது உன் உன்னால் எங்கு எங்கே எது எதை எந்த எப்படி எவர் எவர்கள் எவள் எவன் எவை எவ்வளவு எனக்கு எனது எனவே என் என்ன என்னால் ஏது ஏன் தனது தன்னால் தானே தான் நாங்கள் நாம் நான் நீ நீங்கள்".split(" ")),e.ta.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.ta.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.ta.stemmer,"stemmer-ta"),e.Pipeline.registerFunction(e.ta.stopWordFilter,"stopWordFilter-ta")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.te.min.js b/assets/javascripts/lunr/min/lunr.te.min.js
new file mode 100644
index 00000000..9fa7a93b
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.te.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷౤౥",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.th.min.js b/assets/javascripts/lunr/min/lunr.th.min.js
new file mode 100644
index 00000000..dee3aac6
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.th.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.th=function(){this.pipeline.reset(),this.pipeline.add(e.th.trimmer),r?this.tokenizer=e.th.tokenizer:(e.tokenizer&&(e.tokenizer=e.th.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.th.tokenizer))},e.th.wordCharacters="[฀-๿]",e.th.trimmer=e.trimmerSupport.generateTrimmer(e.th.wordCharacters),e.Pipeline.registerFunction(e.th.trimmer,"trimmer-th");var t=e.wordcut;t.init(),e.th.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t):t});var n=i.toString().replace(/^\s+/,"");return t.cut(n).split("|")}}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.tr.min.js b/assets/javascripts/lunr/min/lunr.tr.min.js
new file mode 100644
index 00000000..563f6ec1
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.tr.min.js
@@ -0,0 +1,18 @@
+/*!
+ * Lunr languages, `Turkish` language
+ * https://github.com/MihaiValentin/lunr-languages
+ *
+ * Copyright 2014, Mihai Valentin
+ * http://www.mozilla.org/MPL/
+ */
+/*!
+ * based on
+ * Snowball JavaScript Library v0.3
+ * http://code.google.com/p/urim/
+ * http://snowball.tartarus.org/
+ *
+ * Copyright 2010, Oleg Mazko
+ * http://www.mozilla.org/MPL/
+ */
+
+!function(r,i){"function"==typeof define&&define.amd?define(i):"object"==typeof exports?module.exports=i():i()(r.lunr)}(this,function(){return function(r){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");r.tr=function(){this.pipeline.reset(),this.pipeline.add(r.tr.trimmer,r.tr.stopWordFilter,r.tr.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(r.tr.stemmer))},r.tr.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",r.tr.trimmer=r.trimmerSupport.generateTrimmer(r.tr.wordCharacters),r.Pipeline.registerFunction(r.tr.trimmer,"trimmer-tr"),r.tr.stemmer=function(){var i=r.stemmerSupport.Among,e=r.stemmerSupport.SnowballProgram,n=new function(){function r(r,i,e){for(;;){var n=Dr.limit-Dr.cursor;if(Dr.in_grouping_b(r,i,e)){Dr.cursor=Dr.limit-n;break}if(Dr.cursor=Dr.limit-n,Dr.cursor<=Dr.limit_backward)return!1;Dr.cursor--}return!0}function n(){var i,e;i=Dr.limit-Dr.cursor,r(Wr,97,305);for(var n=0;n<Br.length;n++){e=Dr.limit-Dr.cursor;var t=Br[n];if(Dr.eq_s_b(1,t[0])&&r(t[1],t[2],t[3]))return Dr.cursor=Dr.limit-i,!0;Dr.cursor=Dr.limit-e}return Dr.cursor=Dr.limit-e,!(!Dr.eq_s_b(1,"ü")||!r(Zr,246,252))&&(Dr.cursor=Dr.limit-i,!0)}function t(r,i){var e,n=Dr.limit-Dr.cursor;return r()&&(Dr.cursor=Dr.limit-n,Dr.cursor>Dr.limit_backward&&(Dr.cursor--,e=Dr.limit-Dr.cursor,i()))?(Dr.cursor=Dr.limit-e,!0):(Dr.cursor=Dr.limit-n,r()?(Dr.cursor=Dr.limit-n,!1):(Dr.cursor=Dr.limit-n,!(Dr.cursor<=Dr.limit_backward)&&(Dr.cursor--,!!i()&&(Dr.cursor=Dr.limit-n,!0))))}function u(r){return t(r,function(){return Dr.in_grouping_b(Wr,97,305)})}function o(){return u(function(){return Dr.eq_s_b(1,"n")})}function s(){return u(function(){return Dr.eq_s_b(1,"s")})}function c(){return u(function(){return Dr.eq_s_b(1,"y")})}function l(){return t(function(){return Dr.in_grouping_b(Lr,105,305)},function(){return Dr.out_grouping_b(Wr,97,305)})}function a(){return Dr.find_among_b(ur,10)&&l()}function m(){return n()&&Dr.in_grouping_b(Lr,105,305)&&s()}function d(){return Dr.find_among_b(or,2)}function f(){return n()&&Dr.in_grouping_b(Lr,105,305)&&c()}function b(){return n()&&Dr.find_among_b(sr,4)}function w(){return n()&&Dr.find_among_b(cr,4)&&o()}function _(){return n()&&Dr.find_among_b(lr,2)&&c()}function k(){return n()&&Dr.find_among_b(ar,2)}function p(){return n()&&Dr.find_among_b(mr,4)}function g(){return n()&&Dr.find_among_b(dr,2)}function y(){return n()&&Dr.find_among_b(fr,4)}function z(){return n()&&Dr.find_among_b(br,2)}function v(){return n()&&Dr.find_among_b(wr,2)&&c()}function h(){return Dr.eq_s_b(2,"ki")}function q(){return n()&&Dr.find_among_b(_r,2)&&o()}function C(){return n()&&Dr.find_among_b(kr,4)&&c()}function P(){return n()&&Dr.find_among_b(pr,4)}function F(){return n()&&Dr.find_among_b(gr,4)&&c()}function S(){return Dr.find_among_b(yr,4)}function W(){return n()&&Dr.find_among_b(zr,2)}function L(){return n()&&Dr.find_among_b(vr,4)}function x(){return n()&&Dr.find_among_b(hr,8)}function A(){return Dr.find_among_b(qr,2)}function E(){return n()&&Dr.find_among_b(Cr,32)&&c()}function j(){return Dr.find_among_b(Pr,8)&&c()}function T(){return n()&&Dr.find_among_b(Fr,4)&&c()}function Z(){return Dr.eq_s_b(3,"ken")&&c()}function B(){var r=Dr.limit-Dr.cursor;return!(T()||(Dr.cursor=Dr.limit-r,E()||(Dr.cursor=Dr.limit-r,j()||(Dr.cursor=Dr.limit-r,Z()))))}function D(){if(A()){var r=Dr.limit-Dr.cursor;if(S()||(Dr.cursor=Dr.limit-r,W()||(Dr.cursor=Dr.limit-r,C()||(Dr.cursor=Dr.limit-r,P()||(Dr.cursor=Dr.limit-r,F()||(Dr.cursor=Dr.limit-r))))),T())return!1}return!0}function G(){if(W()){Dr.bra=Dr.cursor,Dr.slice_del();var r=Dr.limit-Dr.cursor;return Dr.ket=Dr.cursor,x()||(Dr.cursor=Dr.limit-r,E()||(Dr.cursor=Dr.limit-r,j()||(Dr.cursor=Dr.limit-r,T()||(Dr.cursor=Dr.limit-r)))),nr=!1,!1}return!0}function H(){if(!L())return!0;var r=Dr.limit-Dr.cursor;return!E()&&(Dr.cursor=Dr.limit-r,!j())}function I(){var r,i=Dr.limit-Dr.cursor;return!(S()||(Dr.cursor=Dr.limit-i,F()||(Dr.cursor=Dr.limit-i,P()||(Dr.cursor=Dr.limit-i,C()))))||(Dr.bra=Dr.cursor,Dr.slice_del(),r=Dr.limit-Dr.cursor,Dr.ket=Dr.cursor,T()||(Dr.cursor=Dr.limit-r),!1)}function J(){var r,i=Dr.limit-Dr.cursor;if(Dr.ket=Dr.cursor,nr=!0,B()&&(Dr.cursor=Dr.limit-i,D()&&(Dr.cursor=Dr.limit-i,G()&&(Dr.cursor=Dr.limit-i,H()&&(Dr.cursor=Dr.limit-i,I()))))){if(Dr.cursor=Dr.limit-i,!x())return;Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,r=Dr.limit-Dr.cursor,S()||(Dr.cursor=Dr.limit-r,W()||(Dr.cursor=Dr.limit-r,C()||(Dr.cursor=Dr.limit-r,P()||(Dr.cursor=Dr.limit-r,F()||(Dr.cursor=Dr.limit-r))))),T()||(Dr.cursor=Dr.limit-r)}Dr.bra=Dr.cursor,Dr.slice_del()}function K(){var r,i,e,n;if(Dr.ket=Dr.cursor,h()){if(r=Dr.limit-Dr.cursor,p())return Dr.bra=Dr.cursor,Dr.slice_del(),i=Dr.limit-Dr.cursor,Dr.ket=Dr.cursor,W()?(Dr.bra=Dr.cursor,Dr.slice_del(),K()):(Dr.cursor=Dr.limit-i,a()&&(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K()))),!0;if(Dr.cursor=Dr.limit-r,w()){if(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,e=Dr.limit-Dr.cursor,d())Dr.bra=Dr.cursor,Dr.slice_del();else{if(Dr.cursor=Dr.limit-e,Dr.ket=Dr.cursor,!a()&&(Dr.cursor=Dr.limit-e,!m()&&(Dr.cursor=Dr.limit-e,!K())))return!0;Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K())}return!0}if(Dr.cursor=Dr.limit-r,g()){if(n=Dr.limit-Dr.cursor,d())Dr.bra=Dr.cursor,Dr.slice_del();else if(Dr.cursor=Dr.limit-n,m())Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K());else if(Dr.cursor=Dr.limit-n,!K())return!1;return!0}}return!1}function M(r){if(Dr.ket=Dr.cursor,!g()&&(Dr.cursor=Dr.limit-r,!k()))return!1;var i=Dr.limit-Dr.cursor;if(d())Dr.bra=Dr.cursor,Dr.slice_del();else if(Dr.cursor=Dr.limit-i,m())Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K());else if(Dr.cursor=Dr.limit-i,!K())return!1;return!0}function N(r){if(Dr.ket=Dr.cursor,!z()&&(Dr.cursor=Dr.limit-r,!b()))return!1;var i=Dr.limit-Dr.cursor;return!(!m()&&(Dr.cursor=Dr.limit-i,!d()))&&(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K()),!0)}function O(){var r,i=Dr.limit-Dr.cursor;return Dr.ket=Dr.cursor,!(!w()&&(Dr.cursor=Dr.limit-i,!v()))&&(Dr.bra=Dr.cursor,Dr.slice_del(),r=Dr.limit-Dr.cursor,Dr.ket=Dr.cursor,!(!W()||(Dr.bra=Dr.cursor,Dr.slice_del(),!K()))||(Dr.cursor=Dr.limit-r,Dr.ket=Dr.cursor,!(a()||(Dr.cursor=Dr.limit-r,m()||(Dr.cursor=Dr.limit-r,K())))||(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K()),!0)))}function Q(){var r,i,e=Dr.limit-Dr.cursor;if(Dr.ket=Dr.cursor,!p()&&(Dr.cursor=Dr.limit-e,!f()&&(Dr.cursor=Dr.limit-e,!_())))return!1;if(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,r=Dr.limit-Dr.cursor,a())Dr.bra=Dr.cursor,Dr.slice_del(),i=Dr.limit-Dr.cursor,Dr.ket=Dr.cursor,W()||(Dr.cursor=Dr.limit-i);else if(Dr.cursor=Dr.limit-r,!W())return!0;return Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,K(),!0}function R(){var r,i,e=Dr.limit-Dr.cursor;if(Dr.ket=Dr.cursor,W())return Dr.bra=Dr.cursor,Dr.slice_del(),void K();if(Dr.cursor=Dr.limit-e,Dr.ket=Dr.cursor,q())if(Dr.bra=Dr.cursor,Dr.slice_del(),r=Dr.limit-Dr.cursor,Dr.ket=Dr.cursor,d())Dr.bra=Dr.cursor,Dr.slice_del();else{if(Dr.cursor=Dr.limit-r,Dr.ket=Dr.cursor,!a()&&(Dr.cursor=Dr.limit-r,!m())){if(Dr.cursor=Dr.limit-r,Dr.ket=Dr.cursor,!W())return;if(Dr.bra=Dr.cursor,Dr.slice_del(),!K())return}Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K())}else if(Dr.cursor=Dr.limit-e,!M(e)&&(Dr.cursor=Dr.limit-e,!N(e))){if(Dr.cursor=Dr.limit-e,Dr.ket=Dr.cursor,y())return Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,i=Dr.limit-Dr.cursor,void(a()?(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K())):(Dr.cursor=Dr.limit-i,W()?(Dr.bra=Dr.cursor,Dr.slice_del(),K()):(Dr.cursor=Dr.limit-i,K())));if(Dr.cursor=Dr.limit-e,!O()){if(Dr.cursor=Dr.limit-e,d())return Dr.bra=Dr.cursor,void Dr.slice_del();Dr.cursor=Dr.limit-e,K()||(Dr.cursor=Dr.limit-e,Q()||(Dr.cursor=Dr.limit-e,Dr.ket=Dr.cursor,(a()||(Dr.cursor=Dr.limit-e,m()))&&(Dr.bra=Dr.cursor,Dr.slice_del(),Dr.ket=Dr.cursor,W()&&(Dr.bra=Dr.cursor,Dr.slice_del(),K()))))}}}function U(){var r;if(Dr.ket=Dr.cursor,r=Dr.find_among_b(Sr,4))switch(Dr.bra=Dr.cursor,r){case 1:Dr.slice_from("p");break;case 2:Dr.slice_from("ç");break;case 3:Dr.slice_from("t");break;case 4:Dr.slice_from("k")}}function V(){for(;;){var r=Dr.limit-Dr.cursor;if(Dr.in_grouping_b(Wr,97,305)){Dr.cursor=Dr.limit-r;break}if(Dr.cursor=Dr.limit-r,Dr.cursor<=Dr.limit_backward)return!1;Dr.cursor--}return!0}function X(r,i,e){if(Dr.cursor=Dr.limit-r,V()){var n=Dr.limit-Dr.cursor;if(!Dr.eq_s_b(1,i)&&(Dr.cursor=Dr.limit-n,!Dr.eq_s_b(1,e)))return!0;Dr.cursor=Dr.limit-r;var t=Dr.cursor;return Dr.insert(Dr.cursor,Dr.cursor,e),Dr.cursor=t,!1}return!0}function Y(){var r=Dr.limit-Dr.cursor;(Dr.eq_s_b(1,"d")||(Dr.cursor=Dr.limit-r,Dr.eq_s_b(1,"g")))&&X(r,"a","ı")&&X(r,"e","i")&&X(r,"o","u")&&X(r,"ö","ü")}function $(){for(var r,i=Dr.cursor,e=2;;){for(r=Dr.cursor;!Dr.in_grouping(Wr,97,305);){if(Dr.cursor>=Dr.limit)return Dr.cursor=r,!(e>0)&&(Dr.cursor=i,!0);Dr.cursor++}e--}}function rr(r,i,e){for(;!Dr.eq_s(i,e);){if(Dr.cursor>=Dr.limit)return!0;Dr.cursor++}return(tr=i)!=Dr.limit||(Dr.cursor=r,!1)}function ir(){var r=Dr.cursor;return!rr(r,2,"ad")||(Dr.cursor=r,!rr(r,5,"soyad"))}function er(){var r=Dr.cursor;return!ir()&&(Dr.limit_backward=r,Dr.cursor=Dr.limit,Y(),Dr.cursor=Dr.limit,U(),!0)}var nr,tr,ur=[new i("m",-1,-1),new i("n",-1,-1),new i("miz",-1,-1),new i("niz",-1,-1),new i("muz",-1,-1),new i("nuz",-1,-1),new i("müz",-1,-1),new i("nüz",-1,-1),new i("mız",-1,-1),new i("nız",-1,-1)],or=[new i("leri",-1,-1),new i("ları",-1,-1)],sr=[new i("ni",-1,-1),new i("nu",-1,-1),new i("nü",-1,-1),new i("nı",-1,-1)],cr=[new i("in",-1,-1),new i("un",-1,-1),new i("ün",-1,-1),new i("ın",-1,-1)],lr=[new i("a",-1,-1),new i("e",-1,-1)],ar=[new i("na",-1,-1),new i("ne",-1,-1)],mr=[new i("da",-1,-1),new i("ta",-1,-1),new i("de",-1,-1),new i("te",-1,-1)],dr=[new i("nda",-1,-1),new i("nde",-1,-1)],fr=[new i("dan",-1,-1),new i("tan",-1,-1),new i("den",-1,-1),new i("ten",-1,-1)],br=[new i("ndan",-1,-1),new i("nden",-1,-1)],wr=[new i("la",-1,-1),new i("le",-1,-1)],_r=[new i("ca",-1,-1),new i("ce",-1,-1)],kr=[new i("im",-1,-1),new i("um",-1,-1),new i("üm",-1,-1),new i("ım",-1,-1)],pr=[new i("sin",-1,-1),new i("sun",-1,-1),new i("sün",-1,-1),new i("sın",-1,-1)],gr=[new i("iz",-1,-1),new i("uz",-1,-1),new i("üz",-1,-1),new i("ız",-1,-1)],yr=[new i("siniz",-1,-1),new i("sunuz",-1,-1),new i("sünüz",-1,-1),new i("sınız",-1,-1)],zr=[new i("lar",-1,-1),new i("ler",-1,-1)],vr=[new i("niz",-1,-1),new i("nuz",-1,-1),new i("nüz",-1,-1),new i("nız",-1,-1)],hr=[new i("dir",-1,-1),new i("tir",-1,-1),new i("dur",-1,-1),new i("tur",-1,-1),new i("dür",-1,-1),new i("tür",-1,-1),new i("dır",-1,-1),new i("tır",-1,-1)],qr=[new i("casına",-1,-1),new i("cesine",-1,-1)],Cr=[new i("di",-1,-1),new i("ti",-1,-1),new i("dik",-1,-1),new i("tik",-1,-1),new i("duk",-1,-1),new i("tuk",-1,-1),new i("dük",-1,-1),new i("tük",-1,-1),new i("dık",-1,-1),new i("tık",-1,-1),new i("dim",-1,-1),new i("tim",-1,-1),new i("dum",-1,-1),new i("tum",-1,-1),new i("düm",-1,-1),new i("tüm",-1,-1),new i("dım",-1,-1),new i("tım",-1,-1),new i("din",-1,-1),new i("tin",-1,-1),new i("dun",-1,-1),new i("tun",-1,-1),new i("dün",-1,-1),new i("tün",-1,-1),new i("dın",-1,-1),new i("tın",-1,-1),new i("du",-1,-1),new i("tu",-1,-1),new i("dü",-1,-1),new i("tü",-1,-1),new i("dı",-1,-1),new i("tı",-1,-1)],Pr=[new i("sa",-1,-1),new i("se",-1,-1),new i("sak",-1,-1),new i("sek",-1,-1),new i("sam",-1,-1),new i("sem",-1,-1),new i("san",-1,-1),new i("sen",-1,-1)],Fr=[new i("miş",-1,-1),new i("muş",-1,-1),new i("müş",-1,-1),new i("mış",-1,-1)],Sr=[new i("b",-1,1),new i("c",-1,2),new i("d",-1,3),new i("ğ",-1,4)],Wr=[17,65,16,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,32,8,0,0,0,0,0,0,1],Lr=[1,16,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0,0,0,0,0,1],xr=[1,64,16,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],Ar=[17,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,130],Er=[1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1],jr=[17],Tr=[65],Zr=[65],Br=[["a",xr,97,305],["e",Ar,101,252],["ı",Er,97,305],["i",jr,101,105],["o",Tr,111,117],["ö",Zr,246,252],["u",Tr,111,117]],Dr=new e;this.setCurrent=function(r){Dr.setCurrent(r)},this.getCurrent=function(){return Dr.getCurrent()},this.stem=function(){return!!($()&&(Dr.limit_backward=Dr.cursor,Dr.cursor=Dr.limit,J(),Dr.cursor=Dr.limit,nr&&(R(),Dr.cursor=Dr.limit_backward,er())))}};return function(r){return"function"==typeof r.update?r.update(function(r){return n.setCurrent(r),n.stem(),n.getCurrent()}):(n.setCurrent(r),n.stem(),n.getCurrent())}}(),r.Pipeline.registerFunction(r.tr.stemmer,"stemmer-tr"),r.tr.stopWordFilter=r.generateStopWordFilter("acaba altmış altı ama ancak arada aslında ayrıca bana bazı belki ben benden beni benim beri beş bile bin bir biri birkaç birkez birçok birşey birşeyi biz bizden bize bizi bizim bu buna bunda bundan bunlar bunları bunların bunu bunun burada böyle böylece da daha dahi de defa değil diye diğer doksan dokuz dolayı dolayısıyla dört edecek eden ederek edilecek ediliyor edilmesi ediyor elli en etmesi etti ettiği ettiğini eğer gibi göre halen hangi hatta hem henüz hep hepsi her herhangi herkesin hiç hiçbir iki ile ilgili ise itibaren itibariyle için işte kadar karşın katrilyon kendi kendilerine kendini kendisi kendisine kendisini kez ki kim kimden kime kimi kimse kırk milyar milyon mu mü mı nasıl ne neden nedenle nerde nerede nereye niye niçin o olan olarak oldu olduklarını olduğu olduğunu olmadı olmadığı olmak olması olmayan olmaz olsa olsun olup olur olursa oluyor on ona ondan onlar onlardan onları onların onu onun otuz oysa pek rağmen sadece sanki sekiz seksen sen senden seni senin siz sizden sizi sizin tarafından trilyon tüm var vardı ve veya ya yani yapacak yapmak yaptı yaptıkları yaptığı yaptığını yapılan yapılması yapıyor yedi yerine yetmiş yine yirmi yoksa yüz zaten çok çünkü öyle üzere üç şey şeyden şeyi şeyler şu şuna şunda şundan şunları şunu şöyle".split(" ")),r.Pipeline.registerFunction(r.tr.stopWordFilter,"stopWordFilter-tr")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.vi.min.js b/assets/javascripts/lunr/min/lunr.vi.min.js
new file mode 100644
index 00000000..22aed28c
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.vi.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.vi=function(){this.pipeline.reset(),this.pipeline.add(e.vi.stopWordFilter,e.vi.trimmer)},e.vi.wordCharacters="[A-Za-ẓ̀͐́͑̉̃̓ÂâÊêÔôĂ-ăĐ-đƠ-ơƯ-ư]",e.vi.trimmer=e.trimmerSupport.generateTrimmer(e.vi.wordCharacters),e.Pipeline.registerFunction(e.vi.trimmer,"trimmer-vi"),e.vi.stopWordFilter=e.generateStopWordFilter("là cái nhưng mà".split(" "))}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.zh.min.js b/assets/javascripts/lunr/min/lunr.zh.min.js
new file mode 100644
index 00000000..fda66e9c
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.zh.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("@node-rs/jieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var i="2"==r.version[0];r.zh=function(){this.pipeline.reset(),this.pipeline.add(r.zh.trimmer,r.zh.stopWordFilter,r.zh.stemmer),i?this.tokenizer=r.zh.tokenizer:(r.tokenizer&&(r.tokenizer=r.zh.tokenizer),this.tokenizerFn&&(this.tokenizerFn=r.zh.tokenizer))},r.zh.tokenizer=function(n){if(!arguments.length||null==n||void 0==n)return[];if(Array.isArray(n))return n.map(function(e){return i?new r.Token(e.toLowerCase()):e.toLowerCase()});t&&e.load(t);var o=n.toString().trim().toLowerCase(),s=[];e.cut(o,!0).forEach(function(e){s=s.concat(e.split(" "))}),s=s.filter(function(e){return!!e});var u=0;return s.map(function(e,t){if(i){var n=o.indexOf(e,u),s={};return s.position=[n,e.length],s.index=t,u=n,new r.Token(e,s)}return e})},r.zh.wordCharacters="\\w一-龥",r.zh.trimmer=r.trimmerSupport.generateTrimmer(r.zh.wordCharacters),r.Pipeline.registerFunction(r.zh.trimmer,"trimmer-zh"),r.zh.stemmer=function(){return function(e){return e}}(),r.Pipeline.registerFunction(r.zh.stemmer,"stemmer-zh"),r.zh.stopWordFilter=r.generateStopWordFilter("的 一 不 在 人 有 是 为 為 以 于 於 上 他 而 后 後 之 来 來 及 了 因 下 可 到 由 这 這 与 與 也 此 但 并 並 个 個 其 已 无 無 小 我 们 們 起 最 再 今 去 好 只 又 或 很 亦 某 把 那 你 乃 它 吧 被 比 别 趁 当 當 从 從 得 打 凡 儿 兒 尔 爾 该 該 各 给 給 跟 和 何 还 還 即 几 幾 既 看 据 據 距 靠 啦 另 么 麽 每 嘛 拿 哪 您 凭 憑 且 却 卻 让 讓 仍 啥 如 若 使 谁 誰 虽 雖 随 隨 同 所 她 哇 嗡 往 些 向 沿 哟 喲 用 咱 则 則 怎 曾 至 致 着 著 诸 諸 自".split(" ")),r.Pipeline.registerFunction(r.zh.stopWordFilter,"stopWordFilter-zh")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/tinyseg.js b/assets/javascripts/lunr/tinyseg.js
new file mode 100644
index 00000000..167fa6dd
--- /dev/null
+++ b/assets/javascripts/lunr/tinyseg.js
@@ -0,0 +1,206 @@
+/**
+ * export the module via AMD, CommonJS or as a browser global
+ * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js
+ */
+;(function (root, factory) {
+    if (typeof define === 'function' && define.amd) {
+        // AMD. Register as an anonymous module.
+        define(factory)
+    } else if (typeof exports === 'object') {
+        /**
+         * Node. Does not work with strict CommonJS, but
+         * only CommonJS-like environments that support module.exports,
+         * like Node.
+         */
+        module.exports = factory()
+    } else {
+        // Browser globals (root is window)
+        factory()(root.lunr);
+    }
+}(this, function () {
+    /**
+     * Just return a value to define the module export.
+     * This example returns an object, but the module
+     * can return a function as the exported value.
+     */
+
+    return function(lunr) {
+        // TinySegmenter 0.1 -- Super compact Japanese tokenizer in Javascript
+        // (c) 2008 Taku Kudo <taku@chasen.org>
+        // TinySegmenter is freely distributable under the terms of a new BSD licence.
+        // For details, see http://chasen.org/~taku/software/TinySegmenter/LICENCE.txt
+
+        function TinySegmenter() {
+          var patterns = {
+            "[一二三四五六七八九十百千万億兆]":"M",
+            "[一-龠々〆ヵヶ]":"H",
+            "[ぁ-ん]":"I",
+            "[ァ-ヴーｱ-ﾝﾞｰ]":"K",
+            "[a-zA-Zａ-ｚＡ-Ｚ]":"A",
+            "[0-9０-９]":"N"
+          }
+          this.chartype_ = [];
+          for (var i in patterns) {
+            var regexp = new RegExp(i);
+            this.chartype_.push([regexp, patterns[i]]);
+          }
+
+          this.BIAS__ = -332
+          this.BC1__ = {"HH":6,"II":2461,"KH":406,"OH":-1378};
+          this.BC2__ = {"AA":-3267,"AI":2744,"AN":-878,"HH":-4070,"HM":-1711,"HN":4012,"HO":3761,"IA":1327,"IH":-1184,"II":-1332,"IK":1721,"IO":5492,"KI":3831,"KK":-8741,"MH":-3132,"MK":3334,"OO":-2920};
+          this.BC3__ = {"HH":996,"HI":626,"HK":-721,"HN":-1307,"HO":-836,"IH":-301,"KK":2762,"MK":1079,"MM":4034,"OA":-1652,"OH":266};
+          this.BP1__ = {"BB":295,"OB":304,"OO":-125,"UB":352};
+          this.BP2__ = {"BO":60,"OO":-1762};
+          this.BQ1__ = {"BHH":1150,"BHM":1521,"BII":-1158,"BIM":886,"BMH":1208,"BNH":449,"BOH":-91,"BOO":-2597,"OHI":451,"OIH":-296,"OKA":1851,"OKH":-1020,"OKK":904,"OOO":2965};
+          this.BQ2__ = {"BHH":118,"BHI":-1159,"BHM":466,"BIH":-919,"BKK":-1720,"BKO":864,"OHH":-1139,"OHM":-181,"OIH":153,"UHI":-1146};
+          this.BQ3__ = {"BHH":-792,"BHI":2664,"BII":-299,"BKI":419,"BMH":937,"BMM":8335,"BNN":998,"BOH":775,"OHH":2174,"OHM":439,"OII":280,"OKH":1798,"OKI":-793,"OKO":-2242,"OMH":-2402,"OOO":11699};
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+            if (str.match(this.chartype_[i][0])) {
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+        TinySegmenter.prototype.ts_ = function(v) {
+          if (v) { return v; }
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+        TinySegmenter.prototype.segment = function(input) {
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+          for (var i = 4; i < seg.length - 3; ++i) {
+            var score = this.BIAS__;
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+            var c5 = ctype[i+1];
+            var c6 = ctype[i+2];
+            score += this.ts_(this.UP1__[p1]);
+            score += this.ts_(this.UP2__[p2]);
+            score += this.ts_(this.UP3__[p3]);
+            score += this.ts_(this.BP1__[p1 + p2]);
+            score += this.ts_(this.BP2__[p2 + p3]);
+            score += this.ts_(this.UW1__[w1]);
+            score += this.ts_(this.UW2__[w2]);
+            score += this.ts_(this.UW3__[w3]);
+            score += this.ts_(this.UW4__[w4]);
+            score += this.ts_(this.UW5__[w5]);
+            score += this.ts_(this.UW6__[w6]);
+            score += this.ts_(this.BW1__[w2 + w3]);
+            score += this.ts_(this.BW2__[w3 + w4]);
+            score += this.ts_(this.BW3__[w4 + w5]);
+            score += this.ts_(this.TW1__[w1 + w2 + w3]);
+            score += this.ts_(this.TW2__[w2 + w3 + w4]);
+            score += this.ts_(this.TW3__[w3 + w4 + w5]);
+            score += this.ts_(this.TW4__[w4 + w5 + w6]);
+            score += this.ts_(this.UC1__[c1]);
+            score += this.ts_(this.UC2__[c2]);
+            score += this.ts_(this.UC3__[c3]);
+            score += this.ts_(this.UC4__[c4]);
+            score += this.ts_(this.UC5__[c5]);
+            score += this.ts_(this.UC6__[c6]);
+            score += this.ts_(this.BC1__[c2 + c3]);
+            score += this.ts_(this.BC2__[c3 + c4]);
+            score += this.ts_(this.BC3__[c4 + c5]);
+            score += this.ts_(this.TC1__[c1 + c2 + c3]);
+            score += this.ts_(this.TC2__[c2 + c3 + c4]);
+            score += this.ts_(this.TC3__[c3 + c4 + c5]);
+            score += this.ts_(this.TC4__[c4 + c5 + c6]);
+        //  score += this.ts_(this.TC5__[c4 + c5 + c6]);    
+            score += this.ts_(this.UQ1__[p1 + c1]);
+            score += this.ts_(this.UQ2__[p2 + c2]);
+            score += this.ts_(this.UQ3__[p3 + c3]);
+            score += this.ts_(this.BQ1__[p2 + c2 + c3]);
+            score += this.ts_(this.BQ2__[p2 + c3 + c4]);
+            score += this.ts_(this.BQ3__[p3 + c2 + c3]);
+            score += this.ts_(this.BQ4__[p3 + c3 + c4]);
+            score += this.ts_(this.TQ1__[p2 + c1 + c2 + c3]);
+            score += this.ts_(this.TQ2__[p2 + c2 + c3 + c4]);
+            score += this.ts_(this.TQ3__[p3 + c1 + c2 + c3]);
+            score += this.ts_(this.TQ4__[p3 + c2 + c3 + c4]);
+            var p = "O";
+            if (score > 0) {
+              result.push(word);
+              word = "";
+              p = "B";
+            }
+            p1 = p2;
+            p2 = p3;
+            p3 = p;
+            word += seg[i];
+          }
+          result.push(word);
+
+          return result;
+        }
+
+        lunr.TinySegmenter = TinySegmenter;
+    };
+
+}));
\ No newline at end of file
diff --git a/assets/javascripts/lunr/wordcut.js b/assets/javascripts/lunr/wordcut.js
new file mode 100644
index 00000000..0d898c9e
--- /dev/null
+++ b/assets/javascripts/lunr/wordcut.js
@@ -0,0 +1,6708 @@
+(function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}(g.lunr || (g.lunr = {})).wordcut = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+var _ = require("underscore");
+
+var Acceptors = {
+  creators: null,
+  current: null,
+  tag: null,
+
+  init: function() {
+    this.creators = [];
+    this.current = [];
+    this.tag = {};
+  },
+
+  reset: function() {
+    this.current = [];
+    this.tag = {}
+  },
+
+  transit: function(ch) {
+    var self = this;
+
+    self.creators.forEach(function(creator) {
+      var acceptor = creator.createAcceptor(self.tag);
+      if (acceptor) 
+        self.current.push(acceptor);
+    });
+    
+    var _current = [];
+    self.tag = {};
+
+    for (var i = 0; i < self.current.length; i++) {
+      var _acceptor = self.current[i]
+        , acceptor = _acceptor.transit(ch);
+      
+      if (!acceptor.isError) {
+        _current.push(acceptor);
+        self.tag[acceptor.tag] = acceptor;
+      }
+    }
+    self.current = _current;
+
+  },
+
+  getFinalAcceptors: function() {    
+    return this.current.filter(function(acceptor) {
+      return acceptor.isFinal;
+    });
+  }
+};
+
+module.exports = function() {
+  var acceptors = _.clone(Acceptors);
+  acceptors.init();
+  return acceptors;
+};
+
+},{"underscore":25}],2:[function(require,module,exports){
+(function (__dirname){
+
+var LEFT = 0;
+var RIGHT = 1;
+var path = require("path");
+var glob = require("glob");
+
+var WordcutDict = {
+
+
+  init: function (dictPathFile, withDefault, words) {
+    withDefault = withDefault || false
+    var defaultDict = path.normalize(__dirname + "/..") + "/data/tdict-*.txt";
+    this.dict=[]
+    var dictPathIsDefined = dictPathFile !== undefined
+    var dictPath = (withDefault || !dictPathIsDefined) ? [defaultDict]: [];
+    var dictPathFile = dictPathFile || defaultDict
+
+    if(dictPathIsDefined){
+      if (Array.isArray(dictPathFile)) {
+        dictPath.concat.apply(dictPath, dictPathFile);
+      } else {
+        dictPath.push(dictPathFile)
+      }
+    }
+
+    this.addFiles(dictPath, false)
+
+    if(words!==undefined){
+      this.addWords(words, false)
+    }
+    this.finalizeDict();
+  },
+
+  addWords: function(words, finalize){
+    finalize = finalize===undefined || finalize;
+    this.dict.push.apply(this.dict, words)
+    if(finalize){
+      this.finalizeDict();
+    }
+  },
+
+  finalizeDict: function(){
+    this.dict = this.sortuniq(this.dict);
+  },
+
+  addFiles: function(files, finalize){
+    finalize = finalize===undefined || finalize;
+    
+    for (var i = 0; i < 1; i++) {
+      var words = "ก.ก.\nก.ก.น.\nก.ข.ค.\nก.ค.\nก.จ.\nก.ช.น.\nก.ฌ.\nก.ต.\nก.ต.ง.\nก.ต.ช.\nก.ตร.\nก.ท.\nก.น.ช.\nก.บช.\nก.บถ.\nก.ป.ส.\nก.พ.\nก.ม.\nก.ย.\nก.ร.\nก.ล.ต.\nก.ว.\nก.ศ.ว.\nก.ส.ท.\nก.ส.ธ.\nก.ส.อ.\nก.อ.\nกก.ตชด.\nกก.ตร.น.\nกก.ภ.จว.\nกก.รสช.\nกกบ.ขส.ทบ.\nกกล.รพน.\nกง.กห.\nกง.ทบ.\nกง.ทร.\nกซข.ป.\nกซม.ป.\nกทม.กรุงเทพมหานคร\nกบ.ทบ.\nกป.สป.\nกพ.ทบ.\nกพ.ทร.\nกพ.ทหาร\nกร.ทบ.\nกรป.กลาง\nกรอ.พอ.\nกศ.ด.\nกศ.บ.\nกศ.บป.\nกศ.ม.\nกษ.ด.\nกษ.บ.\nกษ.ม.\nกส.ด.\nกส.ทบ.\nกส.บ.\nกส.ม.\nกอ.ปค.\nกอ.รพน.\nกอ.รมน.\nกอ.รสต.\nข.ต.ว.\nขว.ทบ.\nขว.ทร.\nขว.ทหาร\nขส.ทบ.\nขส.ทร.\nขส.ทอ.\nค.ด.\nค.บ.\nค.พ.ศ.\nค.ม.\nค.ร.น.\nค.ร.ฟ.\nค.ร.ม.\nค.ศ.\nค.อ.ด.\nค.อ.บ.\nค.อ.ม.\nคศ.ด.\nคศ.บ.\nคศ.ม.\nง.ด.\nจ.จ.\nจ.จ.จ.\nจ.ช.\nจ.ต.\nจ.ท.\nจ.ป.ร.\nจ.ม.\nจ.ศ.\nจ.ส.ต.\nจ.ส.ท.\nจ.ส.อ.\nจ.อ.\nจ.อ.ร.\nจ.๑๘\nจก.ธน.\nจก.สน.\nช.ค.\nช.ค.บ.\nช.พ.ค.\nช.ส.\nช.ส.ค.\nฌ.ป.ค.\nฌ.ศ.ร.\nฌ.ส.อ.\nฐท.สห.\nด.ช.\nด.ญ.\nด.ต.\nด.ศ.ค.\nด.ศ.ร.\nดย.ทร.\nต.ก.\nต.ค.\nต.จ.\nต.จ.ว.\nต.ช.\nต.ต.\nต.บ.\nต.ม.\nต.ร.\nต.ศ.ร.\nต.ห.\nต.อ.\nต.อ.จ.\nตร.กม.\nตร.ซม.\nตร.ต.\nตร.ทล.\nตร.น.\nตร.ปม.\nตร.ภ.\nตร.ม.\nตร.รฟ.\nตร.ว.\nตร.ส.\nตร.สข.\nท.จ.\nท.จ.ว.\nท.ช.\nท.ญ.\nท.ด.\nท.ท.ท.\nท.ทบ.\nท.บ.\nท.พ.\nท.ม.\nท.ศ.\nทก.ด.\nทก.บ.\nทก.ม.\nทส.ปช.\nทส.รมว.กห.\nทุ.ส.นิ.ม.\nธ.ก.ส.\nธ.ค.\nธ.ญ\nธ.บ.\nน.ช.\nน.ญ.\nน.ด.\nน.ต.\nน.ท.\nน.น.\nน.บ.\nน.บ.ท.\nน.ป.ท.\nน.พ.\nน.ม.\nน.ร.\nน.ว.\nน.ศ.\nน.ส.\nน.ส.พ.\nน.ส.๓\nน.สพ.\nน.อ.\nนปพ.ภ.\nนศ.ด.\nนศ.บ.\nนศ.ม.\nบ.ก.\nบ.ข.ส.\nบ.ช.\nบ.ด.ท.\nบ.ตร.\nบ.ภ.\nบ.ม.\nบก.จร.\nบก.ตชด.\nบก.ตม.\nบก.ทล.\nบก.น.\nบก.ป.\nบก.ปค.\nบก.ปม.\nบก.ภ.เขต\nบก.รน.\nบก.รฟ.\nบก.ร้อย.ตชด.\nบก.ส.\nบกข.ป.\nบจพ.ป.\nบช.ก.\nบช.ด.\nบช.ตชด.\nบช.น.\nบช.บ.\nบช.ปส.\nบช.ภ.\nบช.ม.\nบชท.ป.\nบชน.ป.\nบชส.ป.\nบธ.ด.\nบธ.บ.\nบธ.ม.\nบนท.ป.\nบนอ.ป.\nบปช.ป.\nป.กท.\nป.กศ.\nป.กศ.สูง\nป.จ.\nป.จ.ว.\nป.ช.\nป.ธ.\nป.ป.\nป.ป.ก.\nป.ป.ช.\nป.ป.ป.\nป.ป.ร.\nป.ป.ส.\nป.พ.\nป.พ.พ.\nป.พย.\nป.ม.\nป.ม.ก.\nป.ม.ช.\nป.ม.ธ.\nป.ม.ศ.\nป.ม.อ.\nป.ร.ร.๔\nป.ร.ร.๕\nป.ร.ร.๖\nป.ล.\nป.ว.พ.\nป.วิ.อ.\nป.ส.ส.\nป.อ.\nป.อ.ร.ส.\nป.๑\nปม.วส.\nปอ.พ.\nผกก.ภ.\nผช.ผอ.\nผต.มท.\nผบ.ตร.\nผบ.ทบ.\nผบ.ทร.\nผบ.ทสส.\nผบ.ทอ.\nผบก.น.\nผบก.ป.\nผบก.ปค.\nผบก.ปม.\nผบก.ภ.\nผบช.ก.\nผบช.ตชด.\nผบช.น.\nผบช.ภ.\nผว.กทม.\nผอ.ปจ.\nพ.ก.ง.\nพ.กศ.\nพ.ข.ต.\nพ.ค.\nพ.ค.ช.\nพ.ค.ว.\nพ.ค.ศ.\nพ.จ.ต.\nพ.จ.ท.\nพ.จ.อ.\nพ.ช.\nพ.ช.ค.\nพ.ด.\nพ.ต.\nพ.ต.ต.\nพ.ต.ท.\nพ.ต.อ.\nพ.ต.อ.พิเศษ\nพ.ท.\nพ.บ.\nพ.ป.\nพ.ภ.ม.\nพ.ม.\nพ.ม.ช.\nพ.ย.\nพ.ร.ก.\nพ.ร.ฎ.\nพ.ร.ต.\nพ.ร.ธ.\nพ.ร.บ.\nพ.ศ.\nพ.ศ.บ.\nพ.ส.ร.\nพ.ส.ล.\nพ.อ.\nพ.อ.ต.\nพ.อ.ท.\nพ.อ.พิเศษ\nพ.อ.อ.\nพณ.ด.\nพณ.บ.\nพณ.ม.\nพธ.ด.\nพธ.บ.\nพธ.ม.\nพบ.ด.\nพบ.บ.\nพบ.ม.\nพย.ด.\nพย.บ.\nพย.ม.\nพล.จ.\nพล.ต.\nพล.ต.จ.\nพล.ต.ต.\nพล.ต.ท.\nพล.ต.อ.\nพล.ท.\nพล.ปตอ.\nพล.ม.\nพล.ม.๒\nพล.ร.จ.\nพล.ร.ต.\nพล.ร.ท.\nพล.ร.อ.\nพล.อ.\nพล.อ.จ.\nพล.อ.ต.\nพล.อ.ท.\nพล.อ.อ.\nพลา.ทร.\nพศ.ด.\nพศ.บ.\nพศ.ม.\nพอ.สว.\nภ.ง.ด.\nภ.ง.ด.๙\nภ.ด.\nภ.บ.\nภ.บ.ท.๕\nภ.ป.ร.\nภ.พ.\nภ.ม.\nภ.สถ.บ.\nม.ค.\nม.จ.\nม.ป.ท.\nม.ป.ป.\nม.ป.พ.\nม.ร.ว.\nม.ศ.\nม.อ.\nม.อ.ปัตตานี\nมิ.ย.\nมี.ค.\nยศ.ทบ.\nยศ.ทร.\nยศ.ทอ.\nร.ง.\nร.ด.\nร.ต.\nร.ต.ต.\nร.ต.ท.\nร.ต.อ.\nร.ท.\nร.น.\nร.บ.\nร.พ.\nร.ฟ.ล.\nร.ย.ล.\nร.ย.ส.ท.\nร.ล.\nร.ศ.\nร.ส.พ.\nร.อ.\nรป.ม.\nรร.จปร.\nรร.จอ.\nรร.ชท.\nรร.ตท.\nรร.นร.\nรร.นรต.\nรร.นอ.\nล.ญ.\nล.ว.\nลส.ชบ.\nว.ค.\nว.ฉ.\nว.ช.\nว.ด.ป.\nว.ป.ถ.\nวท.บ.\nศ.บ.\nศ.ป.ก.\nศ.ศ.ป.\nศฝร.ภ.\nศศ.บ.\nศษ.บ.\nศส.บ.\nส.ก.\nส.ก.ศ.ท.\nส.ค.\nส.ค.1\nส.ค.ร.\nส.ค.ส.\nส.ต.\nส.ต.ต.\nส.ต.ท.\nส.ต.อ.\nส.ท.\nส.ทร.\nส.ป.ช.\nส.ป.ส.ท.\nส.ป.อ.\nส.ร.\nส.ล.น.\nส.ว.\nส.ว.ท.\nส.ว.ส.ท.\nส.ส.\nส.ส.ท.\nส.ส.ร.\nส.ห.\nส.อ.\nสถ.บ.\nสนง.สสอ.\nสพ.ญ.\nสพ.บ.\nสว.จร.\nสว.ธร.\nสว.ส.\nสว.สป.\nสว.สส.\nสว.อก.\nสส.บ.\nสุ.จิ.ปุ.ลิ.\nห.ร.ม.\nอ.ก.ค.\nอ.ก.จ.\nอ.จ.\nอ.ช.พ.\nอ.ตร.\nอ.บ.\nอ.ส.ท.\nอ.ส.ม.ท.\nอ.ส.ย.\nอ.อ.ป.\nอส.รด.\nอุ.อา.ก.ส.\nฮ.จ.\nฮ.ท.\nฮ.ฝ.\nฮ.ล.\nฮ.ศ.\nเม.ย.\n\nกรีนิช\nกลันตัน\nกัลกัตตา\nกัวลาลัมเปอร์\nกัศมีร์\nกาฐมาณฑุ\nโกลกาตา\nควิเบก\nคอนเนตทิคัต\nคาบูล\nคุชราต\nคุนหมิง\nเคนตักกี\nเคนทักกี\nเคมบริดจ์\nแคชเมียร์\nแคนซัส\nแคนเบอร์รา\nแคโรไลนา\nแคลิฟอร์เนีย\nโคเปนเฮเกน\nโคลัมโบ\nโคโลราโด\nไครสต์เชิร์ช\nไคโร\nจาการ์ตา\nจำปาศักดิ์\nเจนไน\nเจนีวา\nเจ้อเจียง\nฉงชิ่ง\nเฉิงตู\nชานตง\nชิคาโก\nเชนไน\nเชอร์โนบิล\nซัปโปโร\nซานมารีโน\nซาบาห์\nซาราเยโว\nซาราวัก\nซิดนีย์\nซีอาน\nซีแอตเทิล\nซูริก\nซูริค\nเซเชลส์\nเซนได\nเซี่ยงไฮ้\nโซเฟีย\nโซล\nโซโลมอน\nไซ่ง่อน\nไซบีเรีย\nดัลลัส\nดาโคตา\nดานัง\nดีทรอยต์\nดูไบ\nเดนเวอร์\nเดลาแวร์\nเดียนเบียนฟู\nโดเวอร์\nโดฮา\nไดฟุกุ\nไดฟูกุ\nตรังกานู\nตริโปลี\nตูวาลู\nเตหะราน\nโตเกียว\nโตรอนโต\nทมิฬนาฑู\nทริโปลี\nทิเบต\nเทกซัส\nเท็กซัส\nเทนเนสซี\nเทลอาวีฟ\nแทสเมเนีย\nโทรอนโต\nไทเป\nธากา\nนางาซากิ\nนาริตะ\nนิวเจอร์ซีย์\nนิวเดลี\nนิวยอร์ก\nนิวยอร์ค\nนิวแฮมป์เชียร์\nเนบราสกา\nเนแบรสกา\nเนวาดา\nบรัสเซลส์\nบราซิเลีย\nบอมเบย์\nบอสตัน\nบังกาลอร์\nบังคาลอร์\nบูคาเรสต์\nบูดาเปสต์\nเบงกาซี\nเบนกาซี\nเบรุต\nเบลเกรด\nเบอร์ลิน\nแบกแดด\nปอยเปต\nปะลิส\nปะหัง\nปักกิ่ง\nปัญจาบ\nปัฏนา\nปารีส\nปีนัง\nเประ\nเปียงยาง\nพนมเปญ\nพระตะบอง\nพะโค\nพะสิม\nพาราณสี\nพิหารี\nเพนซิลวาเนีย\nเพนซิลเวเนีย\nฟรานซ์\nฟลอริดา\nฟิลาเดลเฟีย\nฟุกุชิมะ\nฟุกุชิมา\nฟุกุโอกะ\nฟูกูโอกะ\nแฟรงก์เฟิร์ต\nมอสโก\nมะนิลา\nมะละแหม่ง\nมัณฑะเลย์\nมัทราส\nมาดริด\nมิชิแกน\nมินนิโซตา\nมิยางิ\nมิลาน\nมิวนิก\nมิสซูรี\nมุมไบ\nเมน\nเมลเบิร์น\nเมาะตะมะ\nเมาะลำเลิง\nแมนจูเรีย\nแมนเชสเตอร์\nแมนฮัตตัน\nแมริแลนด์\nแมรีแลนด์\nแมสซาชูเซตส์\nยะไข่\nย่างกุ้ง\nยูทาห์\nยูนนาน\nเยรูซาเล็ม\nโยโกฮามา\nริยาด\nรีโอเดจาเนโร\nโรดไอแลนด์\nลอนดอน\nลอสแองเจลิส\nลาปาซ\nลาสเวกัส\nลิสบอน\nลุยเซียนา\nโลซาน\nโลซานน์\nวอชิงตัน\nวอร์ซอ\nวิสคอนซิน\nเวนิส\nเวลส์\nเวอร์จิเนีย\nเวอร์มอนต์\nเวียงจันทน์\nเวียนนา\nแวนคูเวอร์\nไวโอมิง\nสกอตแลนด์\nสก็อตแลนด์\nสตอกโฮล์ม\nสลังงอร์\nเสฉวน\nเสียมราฐ\nเสียมเรียบ\nหงสา\nหงสาวดี\nหนานไห่\nหลวงพระบาง\nหูเป่ย\nหูเป่ย์\nหูหนาน\nเหอเป่ย\nเหอเป่ย์\nเหอหนาน\nอชันตา\nอลาสกา\nอวันตี\nออริกอน\nออสโล\nอะแลสกา\nอัตตะปือ\nอัมมาน\nอัมสเตอร์ดัม\nอัสสัม\nอาบูดาบี\nอาร์คันซอ\nอินเดียนา\nอิบารากิ\nอิลลินอยส์\nอิสตันบูล\nอิสลามาบัด\nอุรุมชี\nอูลานบาตอร์\nเอดินบะระ\nเอเธนส์\nแอตแลนตา\nแอริโซนา\nแอลเจียร์\nโอคลาโฮมา\nโอค็อตสค์\nโอกินาวา\nโอซากา\nโอริสสา\nโอเรกอน\nโอไฮโอ\nไอดาโฮ\nไอโอวา\nฮอนโนลูลู\nฮานอย\nฮาเนดะ\nฮาราเร\nฮาวาย\nฮิโรชิมา\nฮุสตัน\nเฮลซิงกิ\n\nมกรา\nกุมภา\nมีนา\nเมษา\nพฤษภา\nมิถุนา\nกรกฎา\nสิงหา\nกันยา\nตุลา\nพฤศจิกา\nธันวา\nเอ\nบี\nซี\nดี\nอี\nเอฟ\nจี\nเอช\nไอ\nเจ\nเค\nแอล\nเอ็ม\nเอ็น\nโอ\nพี\nคิว\nอาร์\nเอส\nที\nยู\nวี\nดับเบิล\nดับบลิว\nเอ็กซ์\nเอ๊กซ์\nวาย\nแซด\nแอลฟา\nแอลฟ่า\nเบตา\nเบต้า\nแกมมา\nแกมม่า\nเดลตา\nเดลต้า\nโอเมกา\nโอเมก้า\nเมกะ\nกิกะ\nนาโน\nไมโคร\n\nกรรมาชน\nกรอบรูป\nกระดี๊กระด๊า\nกระบับ\nกราวนด์\nกรีน\nกรุ๊ป\nกฤษณ์\nกลาส\nก๊วน\nกษัตริยา\nกษัตริยาธิราช\nก่อนหน้า\nกะบับ\nกับดัก\nกัมมันตะ\nก๊าก\nก๋ากั่น\nกาญจน์\nกาญจนาภิเษก\nกามิกาเซ่\nการันตี\nกาหลิบ\nกิฟท์\nกิมจิ\nกีวี\nกึ๊ก\nกึ๋ย\nกุนซือ\nกุมภาพันธ์\nกู๋\nเกจิ\nเกมส์\nเกย์\nเกรด\nเกรย์\nเกสต์เฮาส์\nเก๊ะ\nเก๋ากี้\nเกิร์ล\nแกงค์\nแกรนด์\nแกสโซฮอล์\nแก๊สโซฮอล์\nโกเต็กซ์\nโกลด์\nโกะ\nโก๊ะ\nไกด์\nขั้นตอน\nเขวี้ยง\nคณาญาติ\nครัวซอง\nครัวซองต์\nคร่ำครวญ\nครีเอทีฟ\nครูเสด\nคลับ\nคลาสสิก\nคลิตอริส\nคลิป\nความหมาย\nควิก\nควีน\nคองเกรส\nคอนซูเมอร์\nคอนเซปต์\nคอนเซ็ปต์\nคอนโด\nคอนโดมิเนียม\nคอนเทนเนอร์\nคอนแทค\nคอนแท็ค\nคอนโทรล\nคอนเฟิร์ม\nคอปเตอร์\nคอมพ์\nคอมเพล็กซ์\nคอมมอนส์\nคอมเมนท์\nคอมเมนต์\nคอร์ป\nคอร์ปอเรชั่น\nคอร์รัปชัน\nคอร์รัปชั่น\nคอรัปชัน\nคอรัปชั่น\nคอร์ส\nคอลเล็กชั่น\nคอลัมน์\nคอลัมนิสต์\nคัตเอาต์\nคันคาก\nคันถธุระ\nคันธาระ\nคันยิ\nคัสตาร์ด\nคาราโอเกะ\nคีตกวี\nคีตปฏิภาณ\nคีตราชัน\nคาปูชิโน\nคามิคาเซ่\nคาเฟ่\nคาร์\nคาร์โก้\nคาราเมล\nคาแรกเตอร์\nคาแร็กเตอร์\nคาแรคเตอร์\nคาแร็คเตอร์\nคาวบอย\nคาสิโน\nคิกขุ\nคิวบิก\nคูลเลอร์\nเคบับ\nเครป\nเคลม\nเคลียร์\nเคลื่อนย้าย\nเคส\nเคอร์ฟิว\nแคชเชียร์\nแคทวอล์ค\nแคนดิเดต\nแคนตาลูป\nแคนยอน\nแคนู\nแคป\nแคมป์\nแคมปัส\nแคมเปญ\nแคร์\nแครกเกอร์\nแคร็กเกอร์\nแครอท\nแคสต์\nแคสติง\nแคสติ้ง\nโค้ก\nโค้ช\nโคโยตี\nโคโยตี้\nโครนา\nโคอะล่า\nโคอาลา\nโคอาล่า\nไคลแมกซ์\nไคลแม็กซ์\nงั้น\nง่าว\nงี้\nเง็ง\nโง่เขลา\nไง\nจตุคาม\nจ๊อกกี้\nจอหงวน\nจังโก้\nจัมโบ้\nจ๊าบ\nจารกรรม\nจารชน\nจิ๊ก\nจิ๊กโก๋\nจิ๊กซอว์\nจิตพิสัย\nจิตเภท\nจีดีพี\nจึ๊ก\nจุ๊ย\nจูน\nจูเนียร์\nเจ๊\nเจได\nเจ็ต\nเจล\nเจ๊าะแจ๊ะ\nเจี๊ยว\nแจ็กเก็ต\nแจ๊กเก็ต\nแจ็กพอต\nแจ็กพ็อต\nแจ๊กพอต\nแจ๊กพ็อต\nแจม\nแจ๊ส\nโจ๋\nฉลุย\nเฉิ่ม\nชนะเลิศ\nช็อค\nช็อต\nช็อป\nช็อปปิ้ง\nช็อปเปอร์\nชะโนด\nชัตเตอร์\nชัวร์\nชาร์จ\nชาร์ต\nชาร์ป\nชินบัญชร\nชิฟฟอน\nชีส\nชีอะห์\nเช็ก\nเช็งเม้ง\nเชฟ\nเชลียร์\nเชอร์รี่\nแชเชือน\nแช่แข็ง\nแชมป์\nแชมปิยอง\nแชมเปญ\nแชมเปี้ยน\nแชมพู\nโชว์รูม\nโชห่วย\nใช้งาน\nไชน่า\nซ้อ\nซอมบี้\nซะ\nซังเต\nซันตาคลอส\nซัพพลาย\nซัพพลายเออร์\nซัมเมอร์\nซากุระ\nซาดิสต์\nซาดิสม์\nซาตาน\nซานตาคลอส\nซาฟารี\nซาบะ\nซามูไร\nซาร์\nซาร์ดีน\nซาเล้ง\nซิง\nซิ่ง\nซิงเกิล\nซิตี\nซิตี้\nซินโดรม\nซิม\nซิ้ม\nซิมโฟนี\nซิมโฟนี่\nซิลเวอร์\nซี้\nซี้ซั้ว\nซีดาน\nซีน\nซีนีเพล็กซ์\nซีเนียร์\nซีร็อกซ์\nซีรีส์\nซีเรียส\nซีอีโอ\nซื่อบื้อ\nซุนหนี่\nซุปเปอร์\nซูชิ\nซูเปอร์\nซูม\nซูโม่\nซูเอี๋ย\nซูฮก\nเซ็กซ์\nเซ็กซี่\nเซ็กส์\nเซนเซอร์\nเซ็นเซอร์\nเซนเตอร์\nเซ็นเตอร์\nเซ็นทรัล\nเซนส์\nเซ่นไหว้\nเซฟตี้\nเซรามิก\nเซลส์\nเซลส์แมน\nเซอร์\nเซอร์ไพรส์\nเซอร์วิส\nเซาท์\nเซี้ยว\nแซ็ก\nแซกโซโฟน\nแซ็กโซโฟน\nแซนด์วิช\nแซมบ้า\nแซลมอน\nแซว\nโซเชียล\nโซน\nโซนี่\nโซลาร์\nโซโล\nโซโล่\nญาณทัสสนะ\nดยุก\nดยุค\nดร็อป\nดรัมเมเยอร์\nดรามา\nดราม่า\nดอกเตอร์\nด็อกเตอร์\nดัมพ์\nดั๊มพ์\nดาวน์\nดิกชันนารี\nดิสเครดิต\nดีกรี\nดีเจ\nดีไซน์\nดีไซน์เนอร์\nดีไซเนอร์\nดีเบต\nดีพาร์ตเมนต์\nดีพาร์ตเมนท์\nดีพาร์ทเมนต์\nดีพาร์ทเมนท์\nดีมานด์\nดีล\nดีลเลอร์\nดีเลย์\nเดชานุภาพ\nเดบิต\nเดโม\nเดย์\nเด้อ\nเดอะ\nเด๊ะ\nเดี้ยง\nเดี๊ยะ\nแดนซ์\nแดนเซอร์\nแดรี่\nโดนัท\nโดมิโน\nโดรายากิ\nไดเอ็ต\nตถตา\nตนเอง\nตรวจทาน\nตรวจสอบ\nตอกย้ำ\nต๊อง\nต่อยอด\nต่อรอง\nตะหงิด\nตังค์\nตันเถียน\nตัวตน\nตัวเอง\nตาปรือ\nต้าอ่วย\nติงต๊อง\nติ๋ม\nติ่มซำ\nติว\nติวเตอร์\nตี๋\nตื้บ\nตุ๊ก\nตุ๊กตุ๊ก\nตุ๊ด\nตุ๋ย\nตู้เซฟ\nเต๊ะ\nเตี๊ยม\nแตงกวา\nแตงโม\nแต๋ว\nโต๋เต๋\nโต๊ะจีน\nไตรมาส\nถ่ายทำ\nถูกต้อง\nทงคัตสึ\nทริป\nทรู\nทอม\nท็อป\nทอร์นาโด\nทอล์ค\nทักซิโด\nทันตกรรม\nทันตแพทยศาสตร์\nทับซ้อน\nทัวร์\nทัวร์นาเมนต์\nทัวร์นาเมนท์\nทัวริสต์\nทาเลนต์\nทาวน์\nทาวน์เฮาส์\nทำงาน\nทิป\nทิพยสมบัติ\nทิวลิป\nทีรามิสุ\nทีวี\nทูน่า\nเท็กซ์\nเทค\nเทคโน\nเทคโนแครต\nเทควันโด\nเทป\nเทรด\nเทรนด์\nเทรนเนอร์\nเทรลเลอร์\nเทรลเล่อร์\nเทเลกราฟ\nเทวบัญชา\nเทวบุตร\nเทวา\nเทวาธิราช\nเทโวโรหนะ\nเทอร์โบ\nเที่ยงคืน\nเที่ยงวัน\nเทียมทาน\nแทกติค\nแทคติค\nแทงกั๊ก\nแทงโก้\nโทมาฮอก\nโทมาฮอว์ก\nโทมาฮอว์ค\nโทร\nโทรโข่ง\nไทม์\nไทยแลนด์\nไทเฮา\nธรรมา\nธรรมาภิบาล\nธัมโม\nธีม\nธุรกรรม\nธุหร่ำ\nเธค\nนพมาศ\nนรีแพทย์\nน็อก\nน็อค\nน้องใหม่\nนอมินี\nนอร์ท\nน่ะ\nนางแบบ\nนาฏยศาลา\nนายแบบ\nนายพราน\nนินจา\nนิรันดร์\nนิว\nนิวส์\nนู้ด\nเนอะ\nเนิร์สเซอรี\nเนิร์สเซอรี่\nเนี้ยบ\nโนติส\nไนท์\nไนน์\nบรรพชน\nบร็อกโคลี\nบร็อคโคลี\nบรา\nบริกร\nบริวเวอรี่ส์\nบลอนด์\nบลูเบอร์รี\nบลูเบอร์รี่\nบ๊วย\nบอกซ์\nบ็อกซ์\nบ๊อกซ์\nบอดี้\nบอนด์\nบ๊อบ\nบอมบ์\nบ๋อย\nบอยคอต\nบอยคอตต์\nบอร์ด\nบังเกอร์\nบัตเตอร์\nบัลลาสต์\nบัส\nบาบูน\nบาร์บีคิว\nบาร์บี้\nบาลานซ์\nบิ๊ก\nบิล\nบึม\nบึ้ม\nบุญคุณ\nบุ๋น\nบุปผา\nบู๊\nบูชิโด\nบูติก\nบูติค\nบูม\nเบเกอรี่\nเบญจมบพิตร\nเบตาดีน\nเบนโตะ\nเบนโล\nเบบี้\nเบลอ\nเบอร์เกอร์\nเบอร์รี\nเบิร์ด\nเบิร์น\nแบ็กโฮ\nแบคโฮ\nแบด\nแบต\nแบนเนอร์\nแบรนด์\nแบล็ก\nแบล็ค\nไบโอ\nโบกี้\nโบตั๋น\nโบ้ย\nโบรกเกอร์\nโบรชัวร์\nโบว์\nโบว์ลิ่ง\nไบเบิล\nปฏิสัมพันธ์\nป๊อก\nปอดแหก\nป๊อป\nป๋อหลอ\nปักขคณนา\nปัจเจกชน\nปัจฉิมนิเทศ\nป๊า\nป๋า\nป่าไม้\nปาร์ตี้\nปาสกาล\nปาสคาล\nปาสเตอร์\nปิกอัพ\nปิ๊ง\nปิโตรเคมี\nปิยมิตร\nปึ้ก\nปูอัด\nเปโซ\nเป็นไง\nเปปเปอร์มินต์\nเปเปอร์\nเปราะบาง\nเป๊ะ\nเป่ายิงฉุบ\nเป่ายิ้งฉุบ\nเปียโน\nแป้ก\nแป๋ว\nแป๊ะเจี๊ยะ\nโปร\nโปรเจกต์\nโปรเจ็กต์\nโปรเจกเตอร์\nโปรเจ็กเตอร์\nโปรเจคท์\nโปรเจ็คท์\nโปรดักชั่น\nโปรดิวเซอร์\nโปรโมชั่น\nโปรโมต\nโปรโมเตอร์\nโปรโมท\nโปลิศ\nโปสเตอร์\nผลไม้\nผลักดัน\nผ้าห่ม\nผิดพลาด\nผู้นำ\nแผดเผา\nเฝอ\nพงษ์\nพริตตี้\nพรีเซนต์\nพรีเซ็นเตอร์\nพรีเมียม\nพรีเมียร์\nพฤหัส\nพล็อต\nพลาซ่า\nพลานุภาพ\nพ่อค้า\nพอเพียง\nพะเรอ\nพันธกิจ\nพันธุวิศวกรรม\nพาร์\nพาร์ตเนอร์\nพาร์ทเนอร์\nพาวเวอร์\nพาสเจอร์ไรส์\nพาสตา\nพาสต้า\nพาสปอร์ต\nพาเหรด\nพิซซ่า\nพีเรียด\nพุดดิ้ง\nพุทธภูมิ\nพุทธศตวรรษ\nพุทโธ\nพูล\nเพทนาการ\nเพนกวิน\nเพนตากอน\nเพรส\nเพรียวบาง\nเพลซ\nเพลท\nเพลย์บอย\nเพียบแปร้\nเพียว\nเพาเวอร์\nแพกเกจ\nแพ็ค\nแพตเทิร์น\nแพทเทิร์น\nแพทยสภา\nแพนงเชิญ\nแพนดา\nแพนด้า\nแพลน\nโพลล์\nโพลารอยด์\nโพสต์\nไพลิน\nฟยอร์ด\nฟรังก์\nฟรุต\nฟลอร์\nฟลุก\nฟลุค\nฟลุต\nฟลุท\nฟอยล์\nฟอร์ม\nฟันด์\nฟาวล์\nฟาสต์ฟู้ด\nฟินิกซ์\nฟิวเจอร์\nฟีด\nฟีเวอร์\nฟุตบาท\nเฟรช\nเฟรชชี่\nเฟรม\nเฟมินิสต์\nเฟส\nเฟอร์นิเจอร์\nเฟอร์รี่\nเฟิร์ม\nเฟี้ยวฟ้าว\nแฟกซ์\nแฟ็กซ์\nแฟนซี\nแฟนตาซี\nแฟ้บ\nแฟร์\nแฟรนไชส์\nแฟรี\nแฟรี่\nแฟลช\nแฟล็ต\nโฟน\nโฟม\nโฟล์ค\nไฟต์\nไฟแนนซ์\nไฟลต์\nไฟลท์\nภควัทคีตา\nภควัมบดี\nภควัมปติ\nภคันทลาพาธ\nภววิสัย\nภารตะ\nภูมิทัศน์\nม้ง\nมวลชน\nมยุราภิรมย์\nมลภาวะ\nมหภาค\nมหาอุปราชา\nมอคคา\nมอคค่า\nมอนสเตอร์\nม็อบ\nมอบตัว\nมอยส์เจอไรเซอร์\nมอลล์\nมะกัน\nมั้ง\nมัฟฟิน\nมั้ย\nม้านั่ง\nมาเฟีย\nมาม่า\nมายองเนส\nมายาคติ\nมาร์ก\nมาร์เก็ต\nมาร์เก็ตติ้ง\nมาร์ค\nมาร์จิน\nมาร์ช\nมาร์ต\nมาร์ท\nมาราธอน\nม้าหินอ่อน\nมินต์\nมินท์\nมินิ\nมิลค์\nมิวสิค\nมิสซัง\nมิสไซล์\nมิสเตอร์\nมือถือ\nมุมมอง\nเมคอัพ\nเมจิก\nเมจิค\nเมทัล\nเมเปิล\nเมาท์\nเมี่ยงคำ\nแมกกาซีน\nแม็กกาซีน\nแมคเคอเรล\nแม่ค้า\nแมชชีน\nแมชีน\nแมนชั่น\nแมมบ้า\nแมมโบ้\nโมจิ\nโมเดล\nโมเดิร์น\nโมเต็ล\nโมโนเรล\nโมหจริต\nไมค์\nไมเกรน\nยนตรกรรม\nยอมรับ\nยะเยือก\nยังไง\nยากูซ่า\nยาวี\nยิม\nยิว\nยุวทูต\nยูโทเปีย\nยูโร\nยูวี\nเยน\nเยลลี่\nเย้ว\nเยอบีรา\nเยอบีร่า\nเยอร์บีรา\nเยอร์บีร่า\nแยมโรล\nโยเกิร์ต\nโยโย่\nรวมมิตร\nร็อค\nร็อคเก็ต\nรองรับ\nรอมฎอน\nรอยัลตี้\nระโงก\nรันเวย์\nรัม\nรากหญ้า\nราชบัณฑิตยสถาน\nราชานุญาต\nราชานุสาวรีย์\nรามเทพ\nรามาธิบดี\nรามายณะ\nราเม็ง\nราเมน\nรายชื่อ\nราสเบอร์รี\nริกเตอร์\nริคเตอร์\nรีไซเคิล\nรีดไถ\nรีทัช\nรีเทิร์น\nรีไทร์\nรีแบรนด์\nรีพอร์ท\nรีโมต\nรีโมท\nรีวิว\nรีสอร์ต\nรีสอร์ท\nรีเสิร์ช\nรุมบ้า\nรุสโซ\nรูบิก\nรูบิค\nเรซิน\nเรซิ่น\nเรดิโอ\nเรต\nเรตติ้ง\nแรงใจ\nแรงดูด\nแรงผลัก\nแรลลี\nแรลลี่\nโรดแมป\nโรเนียว\nโรแมนติก\nโรแมนติค\nโรล\nโรลออน\nไรเฟิล\nล็อกเกอร์\nลอจิสติกส์\nล็อต\nล็อบบี้\nลอร์ด\nล้มเหลว\nละติน\nละอ่อน\nลาซานญ่า\nลาติน\nลาเต้\nลานีญา\nลามะ\nลิมิต\nลิมูซีน\nลิสต์\nลีก\nลีด\nลีดเดอร์\nลีเมอร์\nลีลาวดี\nลุค\nลูกชาย\nลูกสาว\nเลกเชอร์\nเลคเชอร์\nเลดี้\nเลสเบี้ยน\nเลิฟ\nแลนด์\nแล็บ\nโลโก้\nโลชั่น\nไลท์\nไลน์\nไลฟ์\nวนาราม\nวราราม\nวโรกาส\nว้อดก้า\nวอเตอร์\nวอฟเฟิล\nว้อย\nวอร์ม\nวอร์มอัพ\nวอร์รูม\nวอล์ก\nวอล์ค\nวอลซ์\nวอลนัต\nวอลนัท\nวอลล์\nว่ะ\nวันเวย์\nวัสสา\nวาซาบิ\nวาทกรรม\nวาทะ\nวานิลลา\nวานิลา\nวาฟเฟิล\nวาริชศาสตร์\nว้าว\nวัคค์\nวัจนะ\nวาไรตี้\nวิก\nวิดีโอ\nวิทย์\nวิน\nวิป\nวิปปิ้ง\nวิภัชภาค\nวิว\nวิลล์\nวิลเลจ\nวีเจ\nวีซ่า\nวีดิทัศน์\nวีน\nวีไอพี\nวืด\nเวณิกา\nเวเฟอร์\nเวสต์\nเวอร์\nเวิร์ก\nเวิร์กช็อป\nเวิร์ค\nเวิร์ลด์\nเวิลด์\nแวมไพร์\nไวกิ้ง\nไวเบรเตอร์\nไวอะกร้า\nไวอากร้า\nศากยบุตร\nศิรินทร์\nศิลปวัฒนธรรม\nศิลปากร\nศิวิไลซ์\nศึกษาศาสตร์\nสกรัม\nสกาย\nสกู๊ป\nสเกตช์\nสเก็ตช์\nสคริปต์\nสแควร์\nสงบสุข\nสจ๊วต\nสตรอเบอร์รี\nสตรอเบอรี\nสตรอว์เบอร์รี\nสตริง\nสต็อก\nสต๊อก\nสต็อค\nสต๊อค\nสตอรี\nสตาร์\nสตาร์ท\nสติกเกอร์\nสติ๊กเกอร์\nสตีล\nสตูดิโอ\nสเตชัน\nสเตชั่น\nสเตเดียม\nสเตนเลส\nสเต็ป\nสเตย์\nสเตริโอ\nสเตอริโอ\nสแตนดาร์ด\nสแตนเลส\nสโตน\nสโตร์\nสไตรค์\nสไตล์\nสถาปัตย์\nสไนเปอร์\nสปอต\nสป็อต\nสปอนเซอร์\nสปอร์ต\nสปา\nสปาย\nสปิริต\nสเปก\nสเปค\nสไปเดอร์\nสมณพราหมณ์\nสมาพันธ์\nสมิติเวช\nสโรชา\nสลัม\nสแล็ก\nสโลแกน\nสโลว์\nสไลด์\nสวีท\nสหรัฐ\nสหัชญาณ\nสหัสวรรษ\nสะกอม\nสะเด่า\nสะบึม\nสะบึมส์\nสะออน\nสังโฆ\nสะโหลสะเหล\nสันทนาการ\nสัมนา\nสามช่า\nสามแยก\nสารขัณฑ์\nสี่แยก\nสึนามิ\nสุนทรีย์\nสุริยยาตร\nสุริยยาตร์\nสุหนี่\nเสกสรรค์\nเสพติด\nเสือโคร่ง\nหงวน\nหน่อมแน้ม\nหมวย\nหมั่นโถว\nหม่านโถว\nหมายปอง\nหมิง\nหยวน\nหลวงตา\nหลวงปู่\nหลวงพี่\nหล่อฮังก้วย\nหลินจือ\nห่วย\nเห็นด้วย\nเหมย\nเห่ย\nเหี่ยวย่น\nแหม็บ\nแหวว\nโหงว\nโหงวเฮ้ง\nโหลน\nโหลยโท่ย\nไหง\nไหร่\nอพาร์ตเมนต์\nอพาร์ตเมนท์\nอพาร์ทเมนต์\nอพาร์ทเมนท์\nอมาตยาธิปไตย\nอยุติธรรม\nอริยสงฆ์\nอ่วม\nอวอร์ด\nออกแบบ\nออดิชั่น\nออดิทอเรียม\nออเดอร์\nออโต้\nออทิสติก\nอ่อนด้อย\nออฟ\nออยล์\nออร์แกน\nออร์แกนิก\nออร์แกนิค\nออร์เดอร์\nออรัล\nออสซี่\nอะ\nอัตลักษณ์\nอัตวิสัย\nอันเดอร์\nอันตรกิริยา\nอัลตรา\nอัลไซเมอร์\nอัลบัม\nอัลบั้ม\nอัลมอนด์\nอาข่า\nอาโนเนะ\nอาฟเตอร์\nอาร์ติสต์\nอาร์พีจี\nอาว์\nอาสวะ\nอิกัวนา\nอินดอร์\nอินดัสตรีส์\nอินเตอร์\nอิ่มแปร้\nอิมพีเรียล\nอิเล็กทริก\nอิเล็กทริค\nอิเลียด\nอิสรชน\nอิเหนา\nอิออน\nอีแต๋น\nอีโรติก\nอีเวนท์\nอีสต์\nอีสเตอร์\nอึ๊บ\nอึ้ม\nอึ๋ม\nอึมครึม\nอุด้ง\nอุตสาหการ\nอุเทน\nอุปการคุณ\nอุปทาน\nอุปนายก\nอุปนายิกา\nอุปสงค์\nอุปัทวเหตุ\nอุรังคธาตุ\nอูคูเลเล่\nอู้ฟู่\nเอ๋\nเอ็กซ์โป\nเอ็กซ์เพรส\nเอ็กโซเซต์\nเอ็กโซเซ่ต์\nเอเซีย\nเอ็นจีโอ\nเอ็นเตอร์เทน\nเอนทรานซ์\nเอ็นทรานซ์\nเอฟเฟ็กต์\nเอเยนต์\nเอลนีโญ\nเอสเปรสโซ\nเอสเพรสโซ\nเอ๋อ\nเอาต์\nเอาท์\nเอาท์ดอร์\nเอ๊าะ\nแอ็กชั่น\nแอ็คชั่น\nแอคทีฟ\nแอดมิชชั่น\nแอดมิสชัน\nแอนด์\nแอ๊บแบ๊ว\nแอปเปิล\nแอปเปิ้ล\nแอปพริคอท\nแอพพริคอท\nแอพริคอต\nแอร์\nแอโรบิก\nแอโรบิค\nแอลมอนด์\nแอสเตอร์\nโอเค\nโอเปอเรเตอร์\nโอเปร่า\nโอเพ่น\nโอ้ย\nโอยัวะ\nโอรสาธิราช\nโอเลี้ยง\nโอวัลติน\nโอเวอร์\nไอซ์\nไอซียู\nไอดอล\nไอเดีย\nไอติม\nฮวงจุ้ย\nฮ่องเต้\nฮองเฮา\nฮอต\nฮ็อต\nฮอตดอก\nฮ็อตด็อก\nฮันนีมูน\nฮัม\nฮัลโลวีน\nฮัลโหล\nฮากกา\nฮาร์ด\nฮาราคีรี\nฮาลาล\nฮาโลวีน\nฮิ\nฮิต\nฮิบรู\nฮิปโป\nฮิปฮอป\nฮีโร่\nฮูลาฮูป\nฮูล่าฮูป\nเฮฟวี\nเฮฟวี่\nเฮอร์ริเคน\nเฮีย\nแฮนด์\nแฮปปี้\nแฮมเบอร์เกอร์\nโฮป\nโฮม\nโฮลดิงส์\nโฮลวีต\nโฮสเตส\nไฮกุ\nไฮแจ็ค\nไฮโซ\nไฮเทค\nไฮบริด\nไฮเปอร์\nไฮไลต์\nไฮไลท์\nไฮเวย์\nไฮสคูล\nไฮเอนด์\n\nกรีซ\nกัมพูชา\nกัวเตมาลา\nกาตาร์\nกานา\nกาบอง\nกายอานา\nกินี\nเกรนาดีนส์\nเกรเนดา\nเกาหลี\nแกมเบีย\nโกตดิวัวร์\nคองโก\nคอโมโรส\nคอสตาริกา\nคาซัคสถาน\nคิตส์\nคิริบาตี\nคิริบาส\nคิวบา\nคีร์กีซสถาน\nคูเวต\nเคนยา\nเคปเวิร์ด\nเคย์แมน\nแคนาดา\nแคเมอรูน\nโครเอเชีย\nโคลอมเบีย\nจอร์เจีย\nจอร์แดน\nจาเมกา\nจิบูตี\nจีน\nชาด\nชิลี\nเช็ก\nซามัว\nซาอุ\nซิมบับเว\nซีเรีย\nซูดาน\nซูรินาเม\nเซนต์\nเซเนกัล\nเซอร์เบีย\nเซาตูเม\nเซียร์รา\nแซมเบีย\nโซมาเลีย\nโซเวียต\nไซปรัส\nญี่ปุ่น\nดารุสซาลาม\nเดนมาร์ก\nโดมินิกัน\nโดมินิกา\nตรินิแดด\nตองกา\nติมอร์\nตุรกี\nตูนิเซีย\nเติร์กเมนิสถาน\nโตโก\nโตเบโก\nไต้หวัน\nทาจิกิสถาน\nแทนซาเนีย\nนอร์เวย์\nนามิเบีย\nนาอูรู\nนิการากัว\nนิวซีแลนด์\nเนเธอร์แลนด์\nเนปาล\nเนวิส\nไนจีเรีย\nไนเจอร์\nบราซิล\nบริติช\nบริเตน\nบรูไน\nบอตสวานา\nบอสเนีย\nบังกลาเทศ\nบังคลาเทศ\nบัลแกเรีย\nบาร์บูดา\nบาร์เบโดส\nบาห์เรน\nบาฮามาส\nบิสเซา\nบุรุนดี\nบูร์กินาฟาโซ\nเบนิน\nเบลเยียม\nเบลารุส\nเบลีซ\nเบอร์มิวดา\nโบลิเวีย\nปรินซิปี\nปากีสถาน\nปานามา\nปาปัวนิวกินี\nปารากวัย\nปาเลสไตน์\nปาเลา\nเปรู\nเปอร์เซีย\nเปอร์โตริโก\nโปรตุเกส\nโปแลนด์\nฝรั่งเศส\nพม่า\nฟิจิ\nฟินแลนด์\nฟิลิปปินส์\nเฟรนช์\nภูฏาน\nภูฐาน\nมองโกเลีย\nมอนเตเนโกร\nมอนแทนา\nมอริเชียส\nมอริเตเนีย\nมอลโดวา\nมอลตา\nมัลดีฟส์\nมาเก๊า\nมาซิโดเนีย\nมาดากัสการ์\nมาร์แชลล์\nมาลาวี\nมาลี\nมาเลเซีย\nเม็กซิโก\nเมียนมาร์\nโมซัมบิก\nโมนาโก\nโมนาโค\nโมร็อกโก\nไมโครนีเซีย\nยูกันดา\nยูโกสลาเวีย\nยูเครน\nเยเมน\nเยอรมนี\nรวันดา\nรัสเซีย\nโรมาเนีย\nลักเซมเบิร์ก\nลัตเวีย\nลาว\nลิกเตนสไตน์\nลิทัวเนีย\nลิเบีย\nลีโอน\nลูเซีย\nเลโซโท\nเลบานอน\nเลสเต\nไลบีเรีย\nวาติกัน\nวานูอาตู\nวินเซนต์\nเวเนซุเอลา\nเวียดนาม\nศรีลังกา\nสเปน\nสโลวะเกีย\nสโลวัก\nสโลวีเนีย\nสวาซิแลนด์\nสวิตเซอร์แลนด์\nสวีเดน\nสหรัฐ\nสหราชอาณาจักร\nสิกขิม\nสิงคโปร์\nอเมริกา\nออสเตรเลีย\nออสเตรีย\nอันดอร์รา\nอัฟกานิสถาน\nอาเซอร์ไบจาน\nอาร์เจนตินา\nอาร์เมเนีย\nอาระเบีย\nอิเควทอเรียล\nอิตาลี\nอินเดีย\nอินโดนีเซีย\nอิรัก\nอิสราเอล\nอิหร่าน\nอียิปต์\nอุซเบกิสถาน\nอุรุกวัย\nเอกวาดอร์\nเอธิโอเปีย\nเอมิเรตส์\nเอริเทรีย\nเอลซัลวาดอร์\nเอสโตเนีย\nแองโกลา\nแอนติกา\nแอลจีเรีย\nแอลเบเนีย\nโอมาน\nไอซ์แลนด์\nไอร์แลนด์\nฮ่องกง\nฮอนดูรัส\nฮังการี\nเฮติ\nเฮอร์เซโกวีนา\n\nกระบี่\nกรุงเทพ\nกาญจนบุรี\nกาฬสินธุ์\nกำแพงเพชร\nขอนแก่น\nจันทบุรี\nฉะเชิงเทรา\nชลบุรี\nชัยนาท\nชัยภูมิ\nชุมพร\nเชียงราย\nเชียงใหม่\nตรัง\nตราด\nตาก\nนครนายก\nนครปฐม\nนครพนม\nนครราชสีมา\nนครศรีธรรมราช\nนครสวรรค์\nนนทบุรี\nนราธิวาส\nน่าน\nบึงกาฬ\nบุรีรัมย์\nปทุมธานี\nประจวบคีรีขันธ์\nปราจีนบุรี\nปัตตานี\nพะเยา\nพังงา\nพัทลุง\nพิจิตร\nพิษณุโลก\nเพชรบุรี\nเพชรบูรณ์\nแพร่\nภูเก็ต\nมหาสารคาม\nมุกดาหาร\nแม่ฮ่องสอน\nยโสธร\nยะลา\nร้อยเอ็ด\nระนอง\nระยอง\nราชบุรี\nลพบุรี\nลำปาง\nลำพูน\nเลย\nศรีสะเกษ\nสกลนคร\nสงขลา\nสตูล\nสมุทรปราการ\nสมุทรสงคราม\nสมุทรสาคร\nสระแก้ว\nสระบุรี\nสิงห์บุรี\nสุโขทัย\nสุพรรณบุรี\nสุราษฎร์\nสุราษฎร์ธานี\nสุรินทร์\nหนองคาย\nหนองบัวลำภู\nอยุธยา\nอ่างทอง\nอำนาจเจริญ\nอุดรธานี\nอุตรดิตถ์\nอุทัยธานี\nอุบลราชธานี\nกันทรลักษ์\nจตุจักร\nไชยา\nซีคอน\nดอนเมือง\nถลาง\nไทรโยค\nธนบุรี\nธัญบุรี\nบางกอก\nบางปะกง\nบางระจัน\nปะทิว\nปาย\nพญาไท\nพัฒน์พงษ์\nพัทยา\nพารากอน\nภูมิซรอล\nรัตนาธิเบศร์\nรังสิต\nลันตา\nลาดพร้าว\nวโรรส\nวิภาวดี\nสตึก\nสมุย\nสัตหีบ\nสิมิลัน\nสุขุมวิท\nสุไหง\nเสลภูมิ\nอังรีดูนังต์\nอ่างขาง\nอินทนนท์\nเอ็มโพเรียม\n\nคิวชู\nแคริบเบียน\nแคสเปียน\nดานูบ\nตะนาวศรี\nนอร์วีเจียน\nนิโคบาร์\nเนรัญชรา\nไนล์\nบอร์เนียว\nบอลติก\nเบงกอล\nปิง\nแปซิฟิก\nมะละกา\nมินดาเนา\nมิสซิสซิปปี\nเมดิเตอร์เรเนียน\nเมโสโปเตเมีย\nยมุนา\nยุโรป\nยูเรเชีย\nยูเรเซีย\nแยงซี\nแยงซีเกียง\nสแกนดิเนเวีย\nสะโตง\nสาละวิน\nสุมาตรา\nสุเอซ\nอะเมซอน\nอันดามัน\nอัลไต\nอาร์กติก\nอาหรับ\nอินโดจีน\nอิรวดี\nอิระวดี\nอีเจียน\nอุษาคเณย์\nอูราล\nเอเชีย\nเอเดรียติก\nเอเวอเรสต์\nแอตแลนติก\nแอนตาร์กติก\nแอนตาร์กติกา\nแอฟริกา\nโอลิมปัส\nไอโอเนียน\nฮวงโห\nฮอกไกโด\nฮอนชู\n\nกบิลพัสดุ์\nกุสินารา\nโกลิยะ\nโกสัมพี\nโคตรบอง\nโคตรบูรณ์\nตองอู\nทรอย\nทวารวดี\nทวาราวดี\nเทวทหะ\nไทรบุรี\nนาลันทา\nไบแซนไทน์\nปรัสเซีย\nปัลลวะ\nปาฏลีบุตร\nพุทธคยา\nมถุรา\nมายัน\nมิถิลา\nราชคฤห์\nล้านช้าง\nล้านนา\nลุมพินี\nวัชชี\nเวสาลี\nสารนาถ\nสาวัตถี\nหริภุญชัย\nอโยธยา\nออตโตมัน\nอังวะ\nอินทปัตถ์\nอุชเชนี\n\nกราฟิก\nกราฟิกส์\nกราฟิค\nกริด\nกิกะไบต์\nกูเกิล\nกูเกิ้ล\nเกตเวย์\nโกลบอล\nคลัสเตอร์\nคลาส\nคลิก\nคลิปอาร์ต\nคอนโซล\nคอนเทนต์\nคอมพิวติ้ง\nคอมไพล์\nคอมไพเลอร์\nคอมมูนิเคชั่น\nคอร์\nคีย์\nคีย์บอร์ด\nเครือข่าย\nเคอร์เซอร์\nเคอร์เนล\nแคช\nแคมฟรอก\nแคมฟร็อก\nแคร็ก\nโค้ด\nจาวา\nจีพีเอส\nชิป\nชิพ\nเชลล์\nแช็ต\nแชนเนล\nแชนแนล\nซ็อกเก็ต\nซอฟต์แวร์\nซอฟท์แวร์\nซอร์ส\nซัพพอร์ต\nซัพพอร์ท\nซีดี\nซีดีรอม\nซีเนอร์\nเซิร์ฟเวอร์\nโซลูชัน\nโซลูชั่น\nไซต์\nไซเบอร์\nทรานแซกชัน\nทรานแซกชั่น\nทรานแซ็กชัน\nทรานแซ็กชั่น\nทรานแซคชัน\nทรานแซคชั่น\nทรานแซ็คชัน\nทรานแซ็คชั่น\nทวิตเตอร์\nทวีต\nทัชแพด\nเทมเพลต\nเทอร์มินัล\nแท็ก\nแท็บ\nแทบเล็ต\nโทรจัน\nเน็ต\nเน็ตบุ๊ก\nเน็ตบุค\nเน็ตบุ๊ค\nเน็ตเวิร์ก\nเน็ตเวิร์ค\nโน้ตบุ๊ก\nโน้ตบุค\nโน้ตบุ๊ค\nดอส\nดาวน์เกรด\nดาวน์โหลด\nดิจิตอล\nดิจิทัล\nดีบั๊ก\nดีวีดี\nดีไวซ์\nเดเบียน\nเดลไฟ\nเดสก์ท็อป\nโดเมน\nไดรว์\nไดรเวอร์\nไดเรกทอรี\nไดโอด\nเทเลคอม\nบล็อกเกอร์\nบรอดแบนด์\nบราวเซอร์\nบลูทูท\nบลูทูธ\nบลูเรย์\nบั๊ก\nบัฟเฟอร์\nบิต\nบิท\nบูต\nเบราว์เซอร์\nแบนด์วิดท์\nไบต์\nไบนารี\nโปรแกรมเมอร์\nโปรเซส\nโปรเซสเซอร์\nโปรโตคอล\nพร็อกซี\nพอร์ต\nพอร์ท\nพาเนล\nพาร์ทิชัน\nพารามิเตอร์\nพาสเวิร์ด\nพิกเซล\nเพจ\nเพจเจอร์\nแพกเก็ต\nแพตช์\nแพลตฟอร์ม\nโพรเซส\nโพรเซสเซอร์\nโพรโทคอล\nไพธอน\nฟล็อปส์\nฟอนต์\nฟอร์แมต\nฟอร์เวิร์ด\nฟอรัม\nฟีเจอร์\nเฟซบุ๊ก\nเฟิร์มแวร์\nแฟล็ก\nโฟลเดอร์\nไฟร์ฟอกซ์\nไฟร์วอลล์\nไฟล์\nมอดูล\nมอนิเตอร์\nมัลติ\nมัลติทัช\nมัลติเพล็กซ์\nมัลแวร์\nมาสเตอร์\nมีเดีย\nเมนู\nเมมโมรี\nเมล\nเมาส์\nแมค\nโมดูล\nโมเด็ม\nโมบาย\nโมบายล์\nโมไบล์\nไมโครซอฟท์\nยูนิกซ์\nยูนิโคด\nยูนิโค้ด\nริงโทน\nรีเฟรช\nรีเลย์\nเราเตอร์\nเรียลไทม์\nลิงก์\nลินุกซ์\nลีนุกซ์\nลูป\nเลเยอร์\nแล็ปท็อป\nไลเซนส์\nไลบรารี\nวิกิ\nวิกิพีเดีย\nวินโดวส์\nวินโดว์ส\nเว็บ\nเวอร์ชวล\nเวอร์ชัน\nเวอร์ชั่น\nเวิร์กสเตชัน\nเวิร์กสเตชั่น\nเวิร์คสเตชัน\nเวิร์คสเตชั่น\nเวิร์ด\nเวิร์ม\nไวแมกซ์\nสกรีน\nสแกน\nสแกนเนอร์\nสแต็ก\nสนิฟเฟอร์\nสปายแวร์\nสเปซ\nสแปม\nสมาร์ท\nสล็อต\nเสิร์ช\nโหลด\nออนไลน์\nออปติก\nออปติคอล\nออปติคัล\nออฟไลน์\nออราเคิล\nอัพเกรด\nอัพเดต\nอัพโหลด\nอัปเกรด\nอัปเดต\nอัปโหลด\nอัลกอริทึม\nอาร์กิวเมนต์\nอินเตอร์เน็ต\nอินทิเกรเตอร์\nอินเทอร์เน็ต\nอินเทอร์เฟซ\nอินเทล\nอินพุต\nอินพุท\nอีเมล\nอีเมล์\nอูบุนตู\nอูบันตู\nเอนจิน\nเอ็นจิน\nเอาต์พุต\nเอาต์พุท\nเอาท์พุต\nเอาท์พุท\nแอนะล็อก\nแอนิเมชัน\nแอนิเมชั่น\nแอปพลิเคชัน\nแอปพลิเคชั่น\nแอพพลิเคชัน\nแอพพลิเคชั่น\nแอสเซมบลี\nแอสเซมเบลอร์\nโอเพน\nไอคอน\nไอซี\nไอพอด\nไอพ็อด\nไอแพด\nไอโฟน\nฮับ\nฮาร์ดดิสก์\nฮาร์ดแวร์\nแฮกเกอร์\nแฮ็กเกอร์\nแฮนด์เฮลด์\nโฮสต์\n\nกรีก\nกัณณาฑ\nกัศมีรี\nคันจิ\nคาตาคานะ\nคุชราตี\nคุรุมุขี\nซีริลลิก\nซูลู\nเซลติก\nเซิร์บ\nตากาล็อก\nเตลุคู\nเติร์ก\nทราวิฑ\nเบงกาลี\nปัญจาบี\nพินอิน\nมลยาฬัม\nมองโกล\nมาราฐี\nมาเลย์\nเม็กซิกัน\nแมนจู\nแมนดาริน\nไมถิลี\nเยอรมัน\nรัสเซียน\nสวาฮิลี\nสวิส\nสินธี\nอูรดู\nอัสสมี\nอารบิก\nอิตาเลียน\nอุยกูร์\nแอฟริกัน\nโอริยา\nไอริช\nฮันกึล\nฮินดี\nฮิรางานะ\nฮีบรู\n\nกรีนพีซ\nกรือเซะ\nกวนอิม\nกวนอู\nกัดดาฟี\nกัลยาณวัตร\nกัสสปะ\nกาลิเลโอ\nกินเนส\nกุมภกรรณ\nกูเตนเบิร์ก\nเกตส์\nเกษมณี\nโกณฑัญญะ\nขงเบ้ง\nคริสโตเฟอร์\nคองคอร์ด\nคอลเกต\nคานธี\nคาเบรียล\nคาร์ฟูร์\nคาร์สัน\nคาราบาว\nคาสิโอ\nคิริน\nคุนลุ้น\nคูโบต้า\nเครมลิน\nแคทรีนา\nโคตมะ\nโคตมี\nโคลัมบัส\nไคฟง\nไครสเลอร์\nง้อไบ๊\nจตุพร\nจ็อบส์\nจอห์น\nจิ้น\nจิม\nจิ๋ม\nจิว\nจุฬาภรณ์\nจุฬาลงกรณ์\nเจมส์\nแจ็กสัน\nโจเซฟ\nโจว\nชมัยมรุเชฐ\nชมัยมรุเชษฐ์\nชเวดากอง\nชาร์ลส์\nชินราช\nชินวัตร\nชุนชิว\nเช็ง\nเชตวัน\nเชฟรอน\nเชฟโรเลต\nเชลซี\nไชยานุชิต\nซ่ง\nซังฮี้\nซัดดัม\nซันซิล\nซัมซุง\nซัวเจ๋ง\nซินหัว\nซีซาร์\nซีแพค\nซูซาน\nซูซูกิ\nซูบารุ\nเซ็นทารา\nเซเวน\nเซเว่น\nโซฟิเทล\nโซยุซ\nโซยูซ\nณัฐวุฒิ\nดาร์ลี่\nดาวโจนส์\nดิสนีย์\nดีแทค\nดูปองท์\nเดโมแครต\nเดลล์\nเดลินิวส์\nเดวิด\nแดวู\nโดนัลด์\nโดราเอมอน\nโดเรมอน\nต๋อง\nตั๊กม้อ\nตากสิน\nตาเมือน\nตาลีบัน\nตูน\nเตมีย์\nโต๋\nโตชิบา\nโตโยต้า\nถังซัมจั๋ง\nถังซำจั๋ง\nทรพา\nทราเวล\nทรูมูฟ\nทีปังกร\nเทปโก\nเทพรัตน\nเทวทัต\nเทสโก้\nโทมัส\nไททานิก\nไททานิค\nไทยรัฐ\nธีออส\nนครินทรา\nนโปเลียน\nนพดล\nนราดูร\nนเรนทร\nนอสตราดามุส\nนาซา\nนาซ่า\nนาซี\nนาโต\nนาโต้\nนาลแก\nนิคอน\nนิโคลัส\nนิด้า\nนินเทนโด\nนิปปอน\nนิวตัน\nนิสสัน\nเนคเทค\nเนชั่น\nเนชันแนล\nเนชั่นแนล\nเนวิน\nเนสเล่\nเนสาด\nแนท\nแนสแดค\nโนเกีย\nโนเบล\nโนเวลล์\nโนโวเทล\nไนเม็กซ์\nบรอดเวย์\nบรัดเลย์\nบรู๊ซ\nบัลเมอร์\nบารัก\nบารัค\nบู๊ตึ๊ง\nเบญกาย\nเบนซ์\nเบ็นซ์\nเบนจามิน\nโบตัน\nไบโอเทค\nประชาธิปัตย์\nปวีณา\nปอเต็กตึ๊ง\nปอเต๊กตึ๊ง\nป่อเต็กตึ๊ง\nปัตตะโชติ\nปารุสก์\nปีเตอร์\nปูติน\nเป๊ปซี่\nเป้ย\nเปอร์โยต์\nเปาบุ้นจิ้น\nโปเกมอน\nโป๊ยก่าย\nพรหมทัต\nพลาโต\nพอลล่า\nพานาโซนิค\nพานาโซนิก\nพิทยานุกูล\nพิมพิสาร\nเพนแทกซ์\nเพลโต\nไพโอเนียร์\nฟรอยด์\nฟรังซิส\nฟรานซิส\nฟลอเรนซ์\nฟอร์ด\nฟิลิปส์\nฟูจิ\nแฟซ่า\nโฟร์โมสต์\nภูมิพล\nภูริทัต\nมงฟอร์ต\nมณโฑ\nมติชน\nมหิตลาธิเบศร\nมโหสถ\nมัจฉานุ\nมาร์กาเร็ต\nมาร์ติน\nมาสด้า\nมิตซูบิชิ\nมิราเคิล\nมุสโสลินี\nเม้ง\nเมจิ\nเมอร์ซีเดส\nเมอร์เซเดส\nแมกซ์เวลล์\nแมกไซไซ\nแมคอินทอช\nแมชีนเนอรี่\nโมคคัลลานะ\nโมโตโรลา\nโมโตโรล่า\nโมเนีย\nไมเคิล\nไมยราพณ์\nยโสธรา\nยะโฮวา\nยะโฮวาห์\nยามาฮ่า\nยาเวห์\nยาฮู\nยูนิเซฟ\nยูเนสโก\nยูไล\nเยโฮวาห์\nรอยเตอร์\nรอยัล\nรัชดา\nรัสปูติน\nราฟาเอล\nรามาวตาร\nราเมศวร\nราหุล\nริชาร์ด\nรีพับลิกัน\nรูนีย์\nเรนโบว์\nแรมโบ้\nโรตารี\nโรนัลโด\nโรนัลโด้\nโรบินสัน\nโรเบิร์ต\nล็อกซเล่ย์\nลิงคอล์น\nลิจฉวี\nลิไท\nลิไทย\nลินคอล์น\nลิเวอร์พูล\nเลโนโว\nเลียดก๊ก\nโลตัส\nวชิราลงกรณ์\nวลาดิเมียร์\nวอลล์สตรีท\nวาเลนไทน์\nวิกตอเรีย\nวิทยานุสรณ์\nวิทยายน\nวิมเบิลดัน\nวิลเลียม\nวีระ\nวุฒิชัย\nเวียดกง\nไวตามิลค์\nศกุนตลา\nศรีวิชัย\nศิริพงษ์\nศิริราช\nศุภชลาศัย\nสดกก๊อกธม\nสดายุ\nสตาลิน\nสตีฟ\nสแตนฟอร์ด\nสวรินทิรา\nสังกัจจายน์\nสาทิตย์\nสารีบุตร\nสิริกิติ์\nสิรินธร\nสิหิงค์\nสีวลี\nสีหนุ\nสีหมุนี\nสีหโมนี\nสุครีพ\nสุทโธทนะ\nสุเทพ\nสุนทราภรณ์\nสุนีย์\nสุรนารี\nสุรยุทธ์\nสุริยาสน์\nเส้าหลิน\nโสกราตีส\nโสภิต\nหนุมาน\nหลินฮุ่ย\nหลุยส์\nเห้งเจีย\nไหหม่า\nองคต\nองคุลิมาล\nอชาตศัตรู\nอดุลยเดช\nอพอลโล\nอริสโตเติล\nอริสมันต์\nอลิซาเบธ\nอ๋อม\nออร์คิด\nออสการ์\nอะพอลโล\nอับราฮัม\nอั้ม\nอัลกออิดะห์\nอัลคาเทล\nอัลจาซีราห์\nอัลเฟรด\nอัลเลาะห์\nอัสซุส\nอัสสชิ\nอัสสัมชัญ\nอาเซม\nอาเซ็ม\nอาเซียน\nอาฟต้า\nอาร์เซนอล\nอินทรชิต\nอินทราทิตย์\nอีซูซุ\nอีเลฟเวน\nอีเลฟเว่น\nอุณรุท\nอุบลรัตน์\nอุบาลี\nอุ๋ย\nเอกทัศน์\nเอเซอร์\nเอ็ดเวิร์ด\nเอดิสัน\nเอแบค\nเอลิซาเบธ\nเอสพลานาด\nเอสพลานาร์ด\nแอคคอร์\nแอคคอร์ด\nแองเจลิน่า\nแอตแลนติส\nแอน\nแอ๋ม\nแอมบาสซาเดอร์\nแอมบาสเดอร์\nแอมเวย์\nแอ๋ว\nโอดีสซีย์\nโอเดียน\nโอบามา\nโอรสาราม\nโอลิมเปีย\nโออิชิ\nไอน์สไตน์\nฮอนด้า\nฮอปกินส์\nฮอลลีวูด\nฮอลลีวู้ด\nฮานามิ\nฮามาส\nฮิตเลอร์\nฮิตาชิ\nฮุนเซน\nฮุนเซ็น\nฮุนได\nฮุสเซ็น\nเฮนรี\nเฮนรี่\nเฮเลน\nโฮจิมินห์\nโฮปเวลล์\nโฮเมอร์\n\nกลีเซอรีน\nกำทอน\nแกนีมีด\nครอส\nคริสตัล\nคลอโรพลาสต์\nคลอไรด์\nควอนตัม\nคอนดักเตอร์\nคอปเปอร์\nคอลลาเจน\nคอเลสเตอรอล\nคอสมิก\nคูลอมบ์\nเคอราติน\nแคโรทีน\nแคสสินี\nโครมาโทกราฟี\nไคโตซาน\nจีโนม\nจุลชีววิทยา\nชิคุนกุนยา\nซัลฟิวริก\nซัลเฟต\nซัลไฟด์\nซิงค์\nซิริอุส\nซิลิกา\nซิลิเกต\nซิลิโคน\nซีเทน\nซีเวิร์ต\nเซ็กเตอร์\nเซ็กเมนต์\nเซมิ\nโซนาร์\nไซบอร์ก\nดอปเปลอร์\nดอปเพลอร์\nไดนามิก\nไดนามิกส์\nไดนามิค\nไดนามิคส์\nไดออกไซด์\nทรานส์\nทามิฟลู\nเทฟลอน\nเทสโทสเตอโรน\nเทอร์โม\nแทนนิน\nไททัน\nไทฟอยด์\nไทรอยด์\nธาลัสซีเมีย\nเนกาตีฟ\nโนวา\nบอแรกซ์\nโบทอกซ์\nโบท็อกซ์\nไบโอติน\nปฏิยานุพันธ์\nโปรเจสเตอโรน\nพอลิเมอร์\nพันธุศาสตร์\nพัลซาร์\nพาร์กินสัน\nพาราเซตามอล\nพาราโบลา\nเพอร์ออกไซด์\nโพรเจสเทอโรน\nโพลาไรซ์\nโพลิเมอร์\nโพลีเอทิลีน\nไพรเมต\nฟลาโวนอยด์\nฟลูออเรสเซนซ์\nฟลูออไรด์\nฟอสซิล\nฟิชชัน\nฟิวชัน\nฟีโรโมน\nไฟเบอร์\nมอนอกไซด์\nมิราจ\nเมตริกซ์\nเมทริกซ์\nเมลานิน\nเมลามีน\nโมเมนตัม\nไมโตคอนเดรีย\nไมโทคอนเดรีย\nยีสต์\nยูริก\nยูเรีย\nรูมาตอยด์\nวีก้า\nเวกเตอร์\nเวก้า\nเวสิเคิล\nโวลต์\nสเกล\nสเกลาร์\nสเต็ม\nสเตียรอยด์\nสปีชีส์\nสเปิร์ม\nสัมพัทธภาพ\nสุริยจักรวาล\nออกเทน\nออโรรา\nออโรร่า\nอะคริลิก\nอะครีลิก\nอะซีติก\nอะซีโตน\nอะมิโน\nอะลูมินา\nอันโดรเมดา\nอัลคาไลน์\nอัลตราซาวด์\nอัลตราซาวนด์\nอัลลอยด์\nอินทิกรัล\nอินทิเกรต\nอีโบลา\nอีโบล่า\nเอ็กซ์โพเนนเชียล\nเอทานอล\nเอทิลีน\nเอนโทรปี\nเอสเตอร์\nเอสโตรเจน\nเอสโทรเจน\nแอนดรอยด์\nแอนแทร็กซ์\nแอมพลิจูด\nแอมโมเนียม\nแอลกอฮอลิซึม\nแอสพาร์แตม\nโอเซลทามิเวียร์\nฮับเบิล\nฮิวมัส\nไฮดรอกไซด์\nไฮดรอลิก\nไฮโดรลิก\nไฮเพอร์โบลา\n\nกงเต็ก\nกฎุมพี\nกฏ\nกฏหมาย\nกบฎ\nกราไฟต์\nก๊อปปี้\nกะทะ\nกังวาล\nกุฎฐัง\nกุฏุมพี\nฃวด\nคฑา\nคลินิค\nคลีนิก\nคลีนิค\nคาทอลิค\nคึ่นฉ่าย\nแคตตาล็อก\nโควต้า\nฅน\nจุมพฎ\nช็อคโกแลต\nแซ่ด\nดัทช์\nทนง\nทรมาณ\nทราก\nทะแยง\nทิฏฐิ\nบล็อค\nบ๊องแบ๊ว\nบัลเล่ต์\nเบรค\nแบงค์\nปรากฎ\nปัคคหะ\nปาฏิโมกข์\nปิติ\nปิรามิด\nโปรเตสแตนท์\nพนิช\nพยักเพยิด\nพริ้ว\nพลูโตเนียม\nพากษ์\nเฟิร์น\nยากี้\nเยภุยยสิกา\nรุสเซีย\nฤาษี\nล็อค\nล็อคเกอร์\nวันทยาหัตถ์\nวานิช\nวิญญาน\nวิศิษฐ์\nศรีษะ\nสเปกโทรสโคป\nสฤษฎ์\nสลิ่ม\nสัตตสดก\nสาราณียากร\nสุกี้\nสุกี้ยากี้\nสูญญากาศ\nหยอมแหยม\nหยอย\nหล่ะ\nอะดรีนาลีน\nอะหลั่ย\nอัตคัต\nอัฟริกา\nอานิสงค์\nอาฟริกา\nอิริยาบท\nอิเลคโทรนิคส์\nอีรุงตุงนัง\nอุตรายัน\nอุลตรา\nอุลตร้า\nโอกาศ\n\nกกหู\nกงการ\nกงจักร\nกฎเกณฑ์\nกฎบัตร\nกฎหมาย\nกฎหมู่\nกดขี่\nกดดัน\nก้นกบ\nก้นบึ้ง\nก้นปล่อง\nกนิษฐภคินี\nกนิษฐภาดา\nกรงเล็บ\nกรมการ\nกรมท่า\nกรมธรรม์\nกรมนา\nกรมวัง\nกรรมกร\nกรรมการ\nกรรมฐาน\nกรรมบถ\nกรรมพันธุ์\nกรรมวิธี\nกรรมสิทธิ์\nกระจกเงา\nกระจกตา\nกระจกนูน\nกระจกเว้า\nกระจอกชวา\nกระจอกเทศ\nกระจ้อยร่อย\nกระจับบก\nกระจับปิ้ง\nกระจับปี่\nกระโชกโฮกฮาก\nกระดานดำ\nกระดานหก\nกระดาษแก้ว\nกระดาษไข\nกระดาษทราย\nกระดาษสา\nกระดูกงู\nกระทาชาย\nกระเท่เร่\nกระบวนการ\nกระบองเพชร\nกระผีกริ้น\nกระยาทิพย์\nกระยาสารท\nกระยาหาร\nกระสอบทราย\nกระสุนปืน\nกระแสจิต\nกระแสน้ำ\nกระแสลม\nกรับคู่\nกรับพวง\nกรับเสภา\nกราดเกรี้ยว\nกราวรูด\nกริ่งเกรง\nกรีฑาสถาน\nกรีดกราย\nกรี๊ดกร๊าด\nกลไก\nกลบท\nกลเม็ด\nกลยุทธ์\nกลวิธี\nกลศาสตร์\nกลอักษร\nกลบเกลื่อน\nกลมกล่อม\nกลมกลืน\nกลมเกลียว\nกล้วยแขก\nกล้วยไม้\nกล่องเสียง\nกล่อมเกลา\nกล่อมเกลี้ยง\nกลัดกลุ้ม\nกลัดมัน\nกลั่นกรอง\nกลั่นแกล้ง\nกลับกลอก\nกลางคน\nกลางคัน\nกลางค่ำ\nกลางคืน\nกลางแจ้ง\nกลางแปลง\nกลางวัน\nกลาดเกลื่อน\nกล่าวขวัญ\nกล่าวโทษ\nกล่าวหา\nกล้ำกราย\nกล้ำกลืน\nกลิ้งกลอก\nกลิ้งเกลือก\nกลิ่นอาย\nกลียุค\nกวดขัน\nกวัดแกว่ง\nกวัดไกว\nกวีนิพนธ์\nก่อกวน\nก่อการ\nก่อตั้ง\nก่อสร้าง\nก่อหวอด\nก้อร่อก้อติก\nกองกลาง\nกองเกิน\nกองโจร\nกองทัพ\nกองทุน\nกองพล\nกองพัน\nกองฟอน\nกองร้อย\nกองหนุน\nกอบโกย\nกะเกณฑ์\nกะบังลม\nกักกัน\nกักขัง\nกักตัว\nกักตุน\nกัณฑ์เทศน์\nกัดฟัน\nกันชน\nกันท่า\nกันสาด\nกันเอง\nกับแกล้ม\nกับข้าว\nกับระเบิด\nกากเพชร\nกากหมู\nกาชาด\nกาญจนาภิเษก\nก้านคอ\nกาฝาก\nก้ามกราม\nกามกิจ\nกามคุณ\nกามเทพ\nกามโรค\nก้ามปู\nกายกรรม\nกายบริหาร\nกายภาพ\nกายวิภาค\nกายสิทธิ์\nก่ายกอง\nการคลัง\nการเงิน\nการบ้าน\nการเปรียญ\nการเมือง\nการเรือน\nการละเล่น\nกาลกิริยา\nกาลเทศะ\nก้าวก่าย\nก้าวร้าว\nก้าวหน้า\nกาสาวพัสตร์\nกาฬพฤกษ์\nกาฬโรค\nกำปั้น\nกำมือ\nกำแพงขาว\nกำลังใจ\nกำลังม้า\nกี่งอำเภอ\nกิจกรรม\nกิจการ\nกิจวัตร\nกิจจะลักษณะ\nกิตติคุณ\nกิตติศัพท์\nกินขาด\nกินใจ\nกินดอง\nกินโต๊ะ\nกินแบ่ง\nกินเปล่า\nกินเลี้ยง\nกินเส้น\nกินแหนง\nกิโลกรัม\nกิโลเมตร\nกิโลลิตร\nกิโลเฮิรตซ์\nกีดกัน\nกีดกั้น\nกีดขวาง\nกึกก้อง\nกึกกัก\nกึกกือ\nกึ่งกลาง\nกุกกัก\nกุ๊กกิ๊ก\nกุ้งฝอย\nกุ้งมังกร\nกุ้งแห้ง\nกุ้งเต้น\nกุ้งยิง\nกุญแจผี\nกุญแจมือ\nกุญแจเลื่อน\nกุญแจเสียง\nกุลธิดา\nกุลบุตร\nกุลสตรี\nกู้ยืม\nเก้งก้าง\nเก็บกวาด\nเก็บเกี่ยว\nเก็บงำ\nเก็บตก\nเกรงกลัว\nเกรงใจ\nเกรงขาม\nเกรียงไกร\nเกรียมกรม\nเกรี้ยวกราด\nเกล็ดเลือด\nเกลี้ยกล่อม\nเกลี้ยงเกลา\nเกลือกกลั้ว\nเกลือกกลิ้ง\nเกลื่อนกล่น\nเกลื่อนกลาด\nเกศธาตุ\nเกษตรกร\nเกษตรกรรม\nเกษตรศาสตร์\nเกษมสันต์\nเกษียรสมุทร\nเก้อเขิน\nเกาะแกะ\nเกี่ยงงอน\nเกียจคร้าน\nเกียรติคุณ\nเกียรตินิยม\nเกียรติประวัติ\nเกียรติภูมิ\nเกียรติยศ\nเกียรติศักดิ์\nเกียรติมุข\nเกี่ยวข้อง\nเกี่ยวดอง\nเกี่ยวพัน\nเกี่ยวโยง\nเกี้ยวพาน\nเกี้ยวพาราสี\nแก่แดด\nแก้ขัด\nแก้ไข\nแก้ตัว\nแก้เผ็ด\nแก้ลำ\nแกงคั่ว\nแกงจืด\nแกงบวด\nแกงป่า\nแกงเผ็ด\nแกงส้ม\nแก่งแย่ง\nแก่นแก้ว\nแก่นสาร\nแก้วตา\nแก้วหู\nแกว่งกวัด\nแกว่งไกว\nแกะรอย\nโก้เก๋\nโกรธเกรี้ยว\nโกรธขึ้ง\nไก่เขี่ย\nไก่ชน\nไก่บ้าน\nไก่ป่า\nไก่ฟ้า\nไกล่เกลี่ย\nขจัดขจาย\nขนเพชร\nขนสัตว์\nขนหนู\nขนส่ง\nขนมจีน\nขบขัน\nขบวนการ\nข่มขี่\nข่มขู่\nข่มขืน\nข่มเหง\nขมหิน\nขมิ้นชัน\nขมุบขมิบ\nขยะแขยง\nขยักขย่อน\nขยักขย้อน\nขยับขยาย\nขยับเขยื้อน\nขวดโหล\nขวยเขิน\nขวัญใจ\nขวัญตา\nขวัญอ่อน\nขวากหนาม\nขวางโลก\nของ้าว\nขอสับ\nขอขมา\nขอทาน\nขอโทษ\nขอร้อง\nขออภัย\nข้อเขียน\nข้อความ\nข้อเท็จจริง\nของกลาง\nของขวัญ\nของแข็ง\nของชำ\nของลับ\nของเล่น\nของว่าง\nของเหลว\nของไหล\nของไหว้\nข้องใจ\nข้องแวะ\nขอบข่าย\nขอบเขต\nขอบคุณ\nขอบใจ\nขอบพระคุณ\nข้อมูล\nข้อแม้\nข้อหา\nข้อสังเกต\nขัดข้อง\nขัดขืน\nขัดเขิน\nขัดจังหวะ\nขัดดอก\nขัดแตะ\nขัดยอก\nขัดแย้ง\nขัดสมาธิ\nขันหมาก\nขันอาสา\nขับขี่\nขับเคี่ยว\nขั้วโลก\nขาจร\nขาประจำ\nข้าราชการ\nข้าศึก\nข้าหลวง\nขาดแคลน\nขาดใจ\nขาดตอน\nขาดตัว\nขาดทุน\nขาดเหลือ\nขายหน้า\nข่าวกรอง\nข่าวคราว\nข่าวล่า\nข่าวลือ\nข่าวสาร\nข้าวเกรียบ\nข้าวแกง\nข้าวของ\nข้าวจี่\nข้าวเจ้า\nข้าวซอย\nข้าวต้ม\nข้าวตอก\nข้าวตัง\nข้าวแตน\nข้าวทิพย์\nข้าวบิณฑ์\nข้าวเปลือก\nข้าวโพด\nข้าวฟ่าง\nข้าวเม่า\nข้าวสวย\nข้าวสาร\nข้าวเหนียว\nข้าวหมาก\nข้าวหลาม\nขี้เกียจ\nขี้ข้า\nขี้ครอก\nขี้คร้าน\nขี้คุก\nขี้ไคล\nขี้เซา\nขีดขั้น\nขีดคร่อม\nขีดคั่น\nขีดฆ่า\nขี้ตา\nขี้ตืด\nขี้เถ้า\nขี้ทูด\nขี้ปะติ๋ว\nขี้ผึ้ง\nขี้มูก\nขี้ยา\nขี้แย\nขี้ริ้ว\nขี้เรื้อน\nขี้เล็บ\nขี้หู\nขี้หน้า\nขี้เหนียว\nขี้เหล็ก\nขี้เหร่\nขึงขัง\nขึงพืด\nขึ้งโกรธ\nขึ้นใจ\nขึ้นชื่อ\nขึ้นมือ\nขืนใจ\nขื่นขม\nขุดคุ้ย\nขุนทอง\nขุนนาง\nขุนพล\nขุนศึก\nขุนหลวง\nขูดรีด\nเข็มกลัด\nเข็มขัด\nเข้มข้น\nเข้มแข็ง\nเข้มงวด\nเข็มทิศ\nเข็มหมุด\nเข้าขา\nเข้าเค้า\nเข้าใจ\nเข้าชื่อ\nเข้าตัว\nเข้าถึง\nเข้าทรง\nเข้าท่า\nเข้าที\nเข้าเนื้อ\nเข้าเล่ม\nเขียวเสวย\nเขียวหวาน\nแขกเต้า\nแข็งกร้าว\nแข็งกล้า\nแข็งแกร่ง\nแข็งข้อ\nแข็งขัน\nแข่งขัน\nแข็งใจ\nแข็งตัว\nแข็งเมือง\nแข็งแรง\nแขวนลอย\nโขกสับ\nโขยกเขยก\nไขข้อ\nไขควง\nไขมัน\nไข่มุก\nไขว่ห้าง\nไขสันหลัง\nไขสือ\nไข่เค็ม\nไข่เยี่ยวม้า\nไข่หงส์\nไข่เหี้ย\nคงกระพัน\nคงตัว\nคงทน\nคงที่\nคชลักษณ์\nคชสาร\nคชสีห์\nคชราช\nคณิตศาสตร์\nคดเคี้ยว\nคติธรรม\nคติพจน์\nคนกลาง\nคนไข้\nคนใช้\nคนทรง\nคบไฟ\nคบเพลิง\nคบค้า\nคบคิด\nคบหา\nคมคาย\nครบครัน\nครบถ้วน\nครอบครอง\nครอบคลุม\nครอบครัว\nครอบงำ\nครอบจักรวาล\nคริสตกาล\nคริสตจักร\nคริสต์มาส\nคริสต์ศตวรรษ\nคริสต์ศักราช\nคริสตัง\nคริสเตียน\nครุกรรม\nครุภัณฑ์\nครุศาสตร์\nครุฑพ่าห์\nครุ่นคิด\nคลอเคลีย\nคล่องแคล่ว\nคล่องตัว\nคล่องมือ\nคลั่งไคล้\nคลาคล่ำ\nคลาไคล\nคลาดเคลื่อน\nคลาดแคล้ว\nคลี่คลาย\nคลึงเคล้น\nคลึงเคล้า\nคลื่นไส้\nคลื่นเหียน\nคลุกคลี\nคลุกคลาน\nคลุมเครือ\nคลุมโปง\nคลุ้มคลั่ง\nควงสว่าน\nควบคุม\nควบคู่\nควบแน่น\nควันหลง\nความคิด\nความหลัง\nความเห็น\nคอหอย\nคอห่าน\nคอแห้ง\nค่อนขอด\nค่อนแคะ\nค้อนควัก\nคั่งค้าง\nคั่งแค้น\nคัดค้าน\nคัดง้าง\nคัดท้าย\nคัดเลือก\nคันจาม\nคันฉ่อง\nคันฉาย\nคันชัก\nคันชั่ง\nคันไถ\nคันนา\nคันเร่ง\nคับขัน\nคับคั่ง\nคับแค้น\nคับแคบ\nคางทูม\nคางหมู\nค้างคืน\nค้างปี\nคาดคั้น\nคาดเชือก\nคาดโทษ\nคาดหมาย\nคานหาม\nคาบเกี่ยว\nคาบศิลา\nคาบสมุทร\nคำขาด\nคำนำ\nคิดค้น\nคืนดี\nคืนตัว\nคุกเข่า\nคุณค่า\nคุณชาย\nคุณธรรม\nคุณนาย\nคุณภาพ\nคุณลักษณะ\nคุณวุฒิ\nคุณศัพท์\nคุณสมบัติ\nคุณหญิง\nคุณากร\nคุณูปการ\nคุโณปการ\nคุมเชิง\nคุ้มกัน\nคุยเขื่อง\nคุยโต\nคุ้ยเขี่ย\nคุ้มครอง\nคู่กรณี\nคู่กัด\nคู่ขา\nคู่แข่ง\nคู่ครอง\nคู่ควร\nคู่คิด\nคู่คี่\nคู่ใจ\nคู่ชีพ\nคู่ชีวิต\nคู่บารมี\nคู่บุญ\nคู่ปรปักษ์\nคู่ปรับ\nคู่ผสม\nคู่มือ\nคู่รัก\nคู่ลำดับ\nคู่สาย\nคู่หมั้น\nคู่หู\nคู่อริ\nคู่อาฆาต\nเคมีภัณฑ์\nเคยตัว\nเคร่งขรึม\nเคร่งครัด\nเคร่งเครียด\nเครดิตฟองซิเอร์\nเครื่องกล\nเครื่องกัณฑ์\nเครื่องแกง\nเครื่องเขิน\nเครื่องครัว\nเครื่องเคียง\nเครื่องเงิน\nเครื่องจักร\nเครื่องเซ่น\nเครื่องดนตรี\nเครื่องต้น\nเครื่องทุ่นแรง\nเครื่องเทศ\nเครื่องใน\nเครื่องบิน\nเครื่องบูชา\nเครื่องแบบ\nเครื่องประดับ\nเครื่องปรุง\nเครื่องปรุงรส\nเครื่องมือ\nเครื่องยนต์\nเครื่องร่อน\nเครื่องราง\nเครื่องเรือน\nเครื่องล่าง\nเครื่องเล่น\nเครื่องสาย\nเครื่องสำอาง\nเครื่องสุกำศพ\nเครื่องหมาย\nเครือรัฐ\nเคลียคลอ\nเคลื่อนที่\nเคลื่อนไหว\nเคลือบแคลง\nเคลือบแฝง\nเคลือบฟัน\nเคว้งคว้าง\nเคหสถาน\nเค้าโครง\nเคียดแค้น\nเคี่ยวเข็ญ\nเคี้ยวเอื้อง\nเคืองขุ่น\nโคนม\nโคบาล\nโคมูตร\nโคมลอย\nโครงการ\nโครงเรื่อง\nโครงงาน\nโครงสร้าง\nโครมคราม\nโคลงเคลง\nฆ้องกระแต\nฆ้องชัย\nฆ้องวง\nฆ้องหุ่ย\nฆ้องเหม่ง\nฆ้องโหม่ง\nฆาตกร\nฆาตกรรม\nฆานประสาท\nงงงวย\nงงงัน\nงดเว้น\nงบดุล\nงบประมาณ\nงมโข่ง\nงมงาย\nง่วงงุน\nง่วงเหงา\nงอหาย\nง้องอน\nงอนง้อ\nงอมแงม\nงาช้าง\nง่าเงย\nงานการ\nง่ายดาย\nงึมงำ\nเงินเดือน\nเงินตรา\nเงินยวง\nเงียบกริบ\nเงียบเชียบ\nเงียบเหงา\nเงื่องหงอย\nเงื่อนไข\nเงื่อนงำ\nเงื่อนเวลา\nเงื้อมมือ\nแง่งอน\nจงใจ\nจงรัก\nจดจ่อ\nจดจำ\nจดหมาย\nจดหมายเหตุ\nจรจัด\nจรรยาบรรณ\nจริงจัง\nจริงใจ\nจอมขวัญ\nจอมใจ\nจอมทัพ\nจอมปลวก\nจอมพล\nจ๊ะเอ๋\nจักสาน\nจักรพรรดิ\nจักรภพ\nจักรยาน\nจักรยานยนต์\nจักรราศี\nจักรวรรดิ\nจักรวรรดินิยม\nจักรวาล\nจังหนับ\nจัดการ\nจัดจ้าน\nจัดเจน\nจัดแจง\nจัดตั้ง\nจัดสรร\nจับกุม\nจับจด\nจับเจ่า\nจ่าหน้า\nจาตุทสี\nจาตุมหาราช\nจาตุมหาราชิก\nจาตุมหาราชิกา\nจาตุรงคสันนิบาต\nจาตุรราชการ\nจานเชิง\nจานบิน\nจานผี\nจานเสียง\nจาบจ้วง\nจำเป็น\nจำพรรษา\nจำวัด\nจ้ำจี้จ้ำไช\nจำเลาะตา\nจิงโจ้น้ำ\nจิตใจ\nจิตตภาวนา\nจิตตัง\nจิตตานุปัสสนา\nจิตนิยม\nจิตบำบัด\nจิตแพทย์\nจิตวิสัย\nจิตรกร\nจิตรกรรม\nจิตรลดา\nจิตวิทยา\nจิตเวช\nจิตเวชศาสตร์\nจินตกวี\nจินตนา\nจินตนาการ\nจินตภาพ\nจุฑามณี\nจุฑามาศ\nจุฑารัตน์\nจุนเจือ\nจุ้นจ้าน\nจุลชีพ\nจุลชีวัน\nจุลชีวิน\nจุลทรรศน์\nจุลภาค\nจุลวรรค\nจุลศักราช\nจุลสาร\nจุลินทรีย์\nจุฬามณี\nจุฬาลักษณ์\nเจตคติ\nเจตจำนง\nเจตนารมณ์\nเจตภูต\nเจริญพร\nเจ้ากรม\nเจ้ากรรม\nเจ้าของ\nเจ้าขา\nเจ้าข้า\nเจ้าคณะ\nเจ้าค่ะ\nเจ้าจอม\nเจ้าชู้\nเจ้าตัว\nเจ้าถิ่น\nเจ้าท่า\nเจ้าที่\nเจ้าทุกข์\nเจ้านาย\nเจ้าเนื้อ\nเจ้าบ้าน\nเจ้าบ่าว\nเจ้าประคุณ\nเจ้าประคู้น\nเจ้าพนักงาน\nเจ้าพระคุณ\nเจ้าพระยา\nเจ้าพ่อ\nเจ้าพายุ\nเจ้าฟ้า\nเจ้าภาพ\nเจ้ามือ\nเจ้าแม่\nเจ้าเรือน\nเจ้าสังกัด\nเจ้าสัว\nเจ้าสาว\nเจ้าหน้าที่\nเจ้าหนี้\nเจ้าอาวาส\nเจาะจง\nเจือจาง\nเจือจาน\nเจือปน\nเจื้อยแจ้ว\nแจกจ่าย\nแจ่มแจ้ง\nแจ่มใส\nโจงกระเบน\nโจมตี\nโจรกรรม\nโจรสลัด\nใจความ\nใจคอ\nฉกฉวย\nฉกชิง\nฉลองได\nฉ้อฉล\nฉัตรมงคล\nฉันทลักษณ์\nฉายาลักษณ์\nฉิบหาย\nฉุกเฉิน\nฉุกละหุก\nฉุนเฉียว\nฉุปศาสตร์\nเฉไฉ\nเฉยเมย\nเฉาโฉด\nเฉิดฉัน\nเฉิดฉาย\nเฉิดฉิน\nเฉียบขาด\nเฉียบพลัน\nเฉียบแหลม\nเฉื่อยชา\nแฉะแบะ\nโฉดเฉา\nโฉมงาม\nโฉมฉาย\nโฉมเฉลา\nโฉมตรู\nโฉมยง\nโฉมศรี\nโฉมหน้า\nชดช้อย\nชดเชย\nชดใช้\nชนบท\nชนินทร์\nชนกกรรม\nชนมพรรษา\nชนมายุ\nชมเชย\nชมพูทวีป\nชมพูนท\nชมพูนุท\nชราธรรม\nชราภาพ\nชลจร\nชลธาร\nชลธี\nชลนัยน์\nชลนา\nชลเนตร\nชลประทาน\nชลมารค\nชลาธาร\nชลาลัย\nชลาศัย\nชลาสินธุ์\nชโลทร\nช่วงชิง\nช่วงใช้\nชวนชม\nชวนหัว\nช่วยเหลือ\nช่อฟ้า\nช่อม่วง\nชอกช้ำ\nช่องเขา\nช่องแคบ\nช่องไฟ\nช่องว่าง\nช้องนาง\nชอบกล\nชอบใจ\nชอบธรรม\nชอบพอ\nชักโครก\nชักเงา\nชักจูง\nชักชวน\nชักนำ\nชักเนื้อ\nชักพระ\nชักเย่อ\nชักใย\nชั่งใจ\nชังฆวิหาร\nชัดเจน\nชั้นเชิง\nชั่วคน\nชั่วคราว\nชั่วช้า\nชั่วโมง\nชั่วแล่น\nชาเย็น\nช้านาน\nช่างเครื่อง\nช่างฝีมือ\nช่างฟิต\nช่างไฟ\nช้างน้ำ\nช้างเผือก\nช้างพลาย\nช้างพัง\nช้างสาร\nช้างสีดอ\nชาติธรรม\nชาตินิยม\nชาติพันธุ์\nชาติพันธุ์วิทยา\nชาติภูมิ\nชานชาลา\nชายชาตรี\nชายคา\nชายฝั่ง\nชายทะเล\nชาวเล\nชาววัง\nช้ำใจ\nช้ำชอก\nชิงชัง\nชิงพลบ\nชินชา\nชินบุตร\nชิ้นเอก\nชิมลาง\nชีเปลือย\nชี้ขาด\nชี้แจง\nชี้นำ\nชี้แนะ\nชี้ฟ้า\nชีพจร\nชีพิตักษัย\nชื่นชม\nชื่นบาน\nชื่นมื่น\nชื่อย่อ\nชื่อรอง\nชื่อเล่น\nชื่อเสียง\nชุกชุม\nชุติมา\nชุบตัว\nชุบเลี้ยง\nชุมชน\nชุมทาง\nชุมสาย\nชุ่มใจ\nชุ่มชื่น\nชุ่มชื้น\nชุมนุมชน\nชูชีพ\nชูโรง\nชู้สาว\nเชยชม\nเชลยศักดิ์\nเชลยศึก\nเช่าซื้อ\nเช้าตรู่\nเช้ามืด\nเชิงกราน\nเชิงกล\nเชิงชั้น\nเชิงชาย\nเชิงซ้อน\nเชิงเดียว\nเชิงเดี่ยว\nเชิงตะกอน\nเชิงเทิน\nเชิงมุม\nเชิดชู\nเชิงอรรถ\nเชี่ยนหมาก\nเชี่ยวชาญ\nเชื่องช้า\nเชื่อใจ\nเชื่อถือ\nเชื่อฟัง\nเชื่อมือ\nเชื้อชาติ\nเชื้อเพลิง\nเชื้อไฟ\nเชื้อโรค\nเชื้อสาย\nเชื้อเชิญ\nเชื่องช้า\nเชือนแช\nเชื่อวัน\nแช่เย็น\nแช่อิ่ม\nแช่มช้อย\nแช่มชื่น\nโชกโชน\nโชติช่วง\nโชติรส\nใช้สอย\nซบเซา\nซมซาน\nซวนเซ\nซอกซอน\nซอกแซก\nซ่องสุม\nซ่องเสพ\nซ่องแซ่ง\nซ่อนรูป\nซ่อนเร้น\nซ่อนหา\nซ่อนกลิ่น\nซ่อนทราย\nซ่อมแซม\nซักค้าน\nซักซ้อม\nซักไซ้\nซักฟอก\nซักแห้ง\nซังกะตาย\nซังตาย\nซัดเซ\nซัดทอด\nซับซ้อน\nซับใน\nซับพระพักตร์\nซากศพ\nซ่านเซ็น\nซ้ำซ้อน\nซ้ำซาก\nซ้ำเติม\nซ้ำร้าย\nซี่โครง\nซีดเซียว\nซึมกะทือ\nซึมซาบ\nซึมเซา\nซึมทราบ\nซึมเศร้า\nซื่อตรง\nซื่อสัตย์\nซื้อขาย\nซุกซน\nซุกซ่อน\nซุบซิบ\nซู่ซ่า\nเซซัง\nเซ่อซ่า\nแซ่ซ้อง\nโซดาไฟ\nญาณทัสนะ\nญาณวิทยา\nญาณศาสตร์\nญาติกา\nฐานราก\nดกดื่น\nดงดิบ\nดลใจ\nดลบันดาล\nดวงแก้ว\nดวงใจ\nดวงเดือน\nดวงตรา\nดวงตา\nดวงสมร\nดอกจัน\nดอกจิก\nดอกบัว\nดอกเบี้ย\nดอกฟ้า\nดอกไม้\nดอกยาง\nดอกเล็บ\nดอกทอง\nดอกสร้อย\nดองยา\nดักคอ\nดักฟัง\nดังนั้น\nดังนี้\nดังหนึ่ง\nดั้งเดิม\nดัดจริต\nดัดแปลง\nดันทุรัง\nดับขันธ์\nดับจิต\nดับชีพ\nด่าทอ\nด่างทับทิม\nด่างพร้อย\nดาดฟ้า\nดาราศาสตร์\nดาลเดือด\nดาวกระจาย\nดาวเคราะห์\nดาวตก\nดาวเทียม\nดาวรุ่ง\nดาวเรือง\nดาวฤกษ์\nดาวหาง\nดาวเหนือ\nดาษดื่น\nดินขาว\nดินดาน\nดินดำ\nดินประสิว\nดินปืน\nดินระเบิด\nดินสอ\nดินสอพอง\nดิ้นรน\nดิบดี\nดีเกลือ\nดีใจ\nดีซ่าน\nดีดัก\nดีเดือด\nดีฝ่อ\nดีดดิ้น\nดึกดำบรรพ์\nดึกดื่น\nดึงดัน\nดึงดูด\nดื่มด่ำ\nดื้อด้าน\nดื้อดึง\nดื้อแพ่ง\nดื้อยา\nดื้อรั้น\nดุดัน\nดุเดือด\nดุร้าย\nดุลการค้า\nดุลพินิจ\nดุลภาค\nดุลยพินิจ\nดุลยภาพ\nดุษฎีนิพนธ์\nดุษฎีบัณฑิต\nดุษณีภาพ\nดูแคลน\nดูถูก\nดูดาย\nดูเบา\nดูแล\nดูหมิ่น\nดูเหมือน\nดูดดื่ม\nเด็ดขาด\nเด็ดดวง\nเด็ดเดี่ยว\nเดนตาย\nเดาสวด\nเดาสุ่ม\nเดินทาง\nเดินสะพัด\nเดินสาย\nเดินเหิน\nเดิมพัน\nเดียงสา\nเดียดฉันท์\nเดียวกัน\nเดียวดาย\nเดี๋ยวเดียว\nเดี๋ยวนี้\nเดือดดาล\nเดือดร้อน\nเดือนมืด\nเดือนหงาย\nแดดาล\nแดดิ้น\nแดกดัน\nโด่เด่\nโด่งดัง\nโดดเดี่ยว\nโดยสาร\nได้การ\nได้แก่\nได้ใจ\nได้ที\nได้ยิน\nได้เสีย\nตกเขียว\nตกค้าง\nตกใจ\nตกต่ำ\nตกแต่ง\nตกทอด\nตกฟาก\nตกมัน\nตกยาก\nตกลง\nตกหล่น\nต้นขั้ว\nต้นคิด\nต้นฉบับ\nต้นตอ\nต้นตำรับ\nต้นทุน\nต้นแบบ\nต้นเพลิง\nต้นมือ\nต้นไม้\nต้นร่าง\nต้นเรื่อง\nต้นสังกัด\nต้นหน\nต้นเหตุ\nตบตา\nตบแต่ง\nตบแผละ\nตบมือ\nต้มข่า\nต้มโคล้ง\nต้มยำ\nต้มส้ม\nตรมตรอม\nตรรกวิทยา\nตรรกศาสตร์\nตรวจการ\nตรวจการณ์\nตรวจตรา\nตระบัดสัตย์\nตรัสรู้\nตราตั้ง\nตราบาป\nตรายาง\nตราสาร\nตริตรอง\nตรีกฏุก\nตรีกาย\nตรีโกณ\nตรีโกณมิติ\nตรีคูณ\nตรีทูต\nตรีปิฎก\nตรีภพ\nตรีมูรติ\nตรึกตรอง\nตรึงตรา\nตรุษจีน\nตฤณชาติ\nตฤณมัย\nตลกบาตร\nตลบตะแลง\nตลบหลัง\nตลาดนัด\nตลาดน้ำ\nตลาดมืด\nตลาดสด\nต่อตี\nต่อเติม\nต่อว่า\nต่อสู้\nต่อกร\nต่อต้าน\nต่อแย้ง\nต้องการ\nต้องโทษ\nต้องหา\nต้อนรับ\nตอบโต้\nตอบแทน\nต่อยหอย\nตะพาบน้ำ\nตักตวง\nตักบาตร\nตั้งเข็ม\nตั้งไข่\nตั้งเค้า\nตั้งแง่\nตั้งใจ\nตั้งต้น\nตั้งแต่\nตั้งท้อง\nตัดขาด\nตัดใจ\nตัดเชือก\nตัดตอน\nตัดทอน\nตัดบท\nตัดพ้อ\nตัดรอน\nตัดสิน\nตับเต่า\nตับแลบ\nตับอ่อน\nตัวกลาง\nตัวการ\nตัวเก็ง\nตัวดี\nตัวตั้ง\nตัวเต็ง\nตัวถัง\nตัวแทน\nตัวประกอบ\nตัวประกัน\nตัวแปร\nตัวผู้\nตัวพิมพ์\nตัวเมีย\nตัวยืน\nตัวเลข\nตัวอย่าง\nตั๋วเงิน\nตั๋วแลกเงิน\nตากล้อง\nตาไก่\nตาข่าย\nตาชั่ง\nตาตุ่ม\nตาทวด\nตาปลา\nตาราง\nต่างหาก\nต้านทาน\nตามใจ\nตายใจ\nตายซาก\nตายด้าน\nตายตัว\nตายทั้งกลม\nตายห่า\nตายโหง\nตาลปัตร\nต่ำช้า\nต่ำต้อย\nตำส้ม\nติเตียน\nติณชาติ\nติดขัด\nติดใจ\nติดต่อ\nติดตั้ง\nติดตาม\nติดตื้น\nติดพัน\nติดลม\nติดอ่าง\nตีเกลียว\nตีขลุม\nตีความ\nตีคู่\nตีจาก\nตีตื้น\nตีแผ่\nตีรวน\nตีลังกา\nตีวง\nตีเสมอ\nตีนกา\nตีนคู้\nตีนจก\nตีนตะขาบ\nตีนผี\nตีนเหยียด\nตึกแถว\nตึกระฟ้า\nตึงเครียด\nตึงตัง\nตื้นตัน\nตื่นตัว\nตื่นตูม\nตื่นเต้น\nตุ๊ต๊ะ\nตุ้บตั้บ\nตุ้มหู\nตุลาการ\nตุลาคม\nตู้นิรภัย\nตูมตาม\nตู้เสบียง\nเตโชธาตุ\nเตร็ดเตร่\nเต้นรำ\nเตาแก๊ส\nเตาผิง\nเตาฟู่\nเตาไฟ\nเตารีด\nเตาสูบ\nเต่าทอง\nเต้ารับ\nเต้าส่วน\nเต้าเสียบ\nเต้าหู้ยี้\nแต่ละ\nแตกคอ\nแตกคอก\nแตกฉาน\nแตกดับ\nแตกตื่น\nแตกพาน\nแตกแยก\nแตกร้าว\nแตกหัก\nแต่งงาน\nแต่งตั้ง\nแต้มคู\nแต้มต่อ\nแตรงอน\nแตรเดี่ยว\nแตรฝรั่ง\nแตรฟันฟาร์\nแตรวง\nโต้ตอบ\nโต้เถียง\nโต้แย้ง\nโต๊ะหมู่\nโต๊ะอิหม่าม\nใต้ถุน\nไต้ก๋ง\nไต่คู้\nไต่เต้า\nไต่ถาม\nไต้ฝุ่น\nไตรจักร\nไตรจีวร\nไตรตรึงษ์\nไตรทวาร\nไตรปิฎก\nไตรเพท\nไตรภพ\nไตรภูมิ\nไตรภาคี\nไตรยางศ์\nไตรรงค์\nไตรรัตน์\nไตรลักษณ์\nไตรโลก\nไตรสรณคมน์\nไตรสิกขา\nไต่สวน\nถกเถียง\nถดถอย\nถนัดถนี่\nถนิมสร้อย\nถมถืด\nถมเถ\nถมไป\nถลากไถล\nถ้วนถี่\nถ้วยฟู\nถ่องแท้\nถอดถอน\nถ้อยคำ\nถ้อยแถลง\nถากถาง\nถ่านไฟฉาย\nถ่านหิน\nถามไถ่\nถ่ายทอด\nถ่ายทุกข์\nถ่ายเท\nถาวรวัตถุ\nถ้ำมอง\nถี่ถ้วน\nถึงใจ\nถูกใจ\nถูกชะตา\nเถรวาท\nเถ้าแก่\nเถ้าแก่เนี้ย\nแถมพก\nแถลงการณ์\nไถ่ถอน\nไถ่ถาม\nทดแทน\nทดรอง\nทดลอง\nทดสอบ\nทนทาน\nทนายความ\nทบทวน\nทแยงมุม\nทรงกลด\nทรงเครื่อง\nทรงเจ้า\nทรัพย์สิน\nทรามชม\nทรามเชย\nทรามวัย\nทรามสงวน\nทรามสวาท\nทรุดโทรม\nทฤษฎีบท\nท้วงติง\nท่วมท้น\nทวาทศ\nทวาทศมาส\nทวาบรยุค\nทวารบาล\nทวิบถ\nทวิบท\nทวิบาท\nทวิภาค\nทวิภาคี\nทวีคูณ\nทศกัณฐ์\nทศชาติ\nทศทิศ\nทศนิยม\nทศพร\nทศพล\nทศพิธราชธรรม\nทศมาส\nทศวรรษ\nท่อไอเสีย\nท้อถอย\nท้อแท้\nทองขาว\nทองคำ\nทองคำขาว\nทองคำเปลว\nทองเค\nทองแดง\nทองบรอนซ์\nทองม้วน\nทองย้อย\nทองสัมฤทธิ์\nทองหยอด\nทองหยิบ\nทองเหลือง\nทองเอก\nท่องเที่ยว\nท้องตรา\nท้องถิ่น\nท้องที่\nท้องน้อย\nท้องร่อง\nท้องเรื่อง\nทอดมัน\nทอดทิ้ง\nทอดน่อง\nทอดยอด\nทอดหุ่ย\nทอยกอง\nทะเบียนบ้าน\nทะเลทราย\nทะเลสาบ\nทะเลหลวง\nทักขิณาวัฏ\nทักท้วง\nทักทาย\nทักษิณาวรรต\nทักษิณาทาน\nทักษิณานุประทาน\nทั้งกลม\nทั้งคน\nทั้งดุ้น\nทั้งที\nทั้งนั้น\nทั้งนี้\nทั้งปวง\nทั้งผอง\nทั้งเพ\nทั้งมวล\nทั้งสิ้น\nทั้งหมด\nทั้งหลาย\nทัณฑ์บน\nทัดทาน\nทัดเทียม\nทันควัน\nทันใจ\nทันใด\nทันตา\nทันสมัย\nทันที\nทับถม\nทับทรวง\nทับศัพท์\nทั่วถึง\nทั่วไป\nท่าทาง\nท่าที\nท้าทาย\nทางการ\nทางข้าม\nทางด่วน\nทางเท้า\nทางโท\nทางใน\nทางผ่าน\nทางม้าลาย\nทางหลวง\nทางออก\nทางเอก\nทานกัณฑ์\nทานตะวัน\nท่านชาย\nทานบารมี\nท่านผู้หญิง\nท่านหญิง\nทาบทาม\nท้ายทอย\nทารุณกรรม\nทำคลอด\nทำใจ\nทำซ้ำ\nทำท่า\nทำที\nทำแท้ง\nทำโทษ\nทำบาป\nทำบุญ\nทำพิษ\nทำฟัน\nทำร้าย\nทำวัตร\nทำสาว\nทำเสน่ห์\nทำหมัน\nทำให้\nทิ้งขว้าง\nทิ้งทวน\nทิ้งท้าย\nทินกร\nทิพจักขุ\nทิพโสต\nทิพยจักษุ\nทิพยญาณ\nทิพยเนตร\nทิพยรส\nทิพากร\nทิ่มตำ\nทิ่มแทง\nทิวากร\nทิวากาล\nทิศทาง\nทีเด็ด\nทีท่า\nทีนี้\nทีหลัง\nทีฆนิกาย\nทีฆสระ\nที่ดิน\nที่นอน\nที่นั่ง\nที่ปรึกษา\nที่พึ่ง\nที่มั่น\nที่ราบ\nที่ว่าการ\nที่สุด\nที่หมาย\nที่ไหน\nทุกที\nทุกเมื่อ\nทุกข์สุข\nทุนทรัพย์\nทุนนิยม\nทุนรอน\nทุนสำรอง\nทุ่มเถียง\nทุ่มเท\nทูนหัว\nทูลกระหม่อม\nเทกระจาด\nเทครัว\nเทพเจ้า\nเทพดา\nเทพธิดา\nเทพนม\nเทพนิยม\nเทพนิยาย\nเทพบุตร\nเทพสังหรณ์\nเทศกาล\nเทศนาโวหาร\nเทศบัญญัติ\nเทศบาล\nเทศมนตรี\nเทห์ฟากฟ้า\nเท่ากับ\nเท่าใด\nเท่าตัว\nเท่าทัน\nเท่าทุน\nเท่าเทียม\nเท่านั้น\nเท่าไร\nเท้าช้าง\nเทิดทูน\nเที่ยงตรง\nเที่ยงแท้\nเที่ยงธรรม\nเทียนชนวน\nเทียนพรรษา\nเทียบเคียง\nเทียบเท่า\nเทือกเขา\nเทือกเถา\nแท็งก์น้ำ\nแท่นพิมพ์\nแท่นมณฑล\nแท่นหมึก\nแทรกซอน\nแทรกซ้อน\nแทรกซึม\nแทรกแซง\nแทะโลม\nไทยดำ\nไทยทาน\nไทยธรรม\nไทยน้อย\nไทยใหญ่\nธงชัย\nธงชาติ\nธงทิว\nธรณีวิทยา\nธรณีสงฆ์\nธรรมกาย\nธรรมการ\nธรรมเกษตร\nธรรมขันธ์\nธรรมคุณ\nธรรมจรรยา\nธรรมจริยา\nธรรมจักร\nธรรมจักษุ\nธรรมจาคะ\nธรรมจารี\nธรรมชาติ\nธรรมดา\nธรรมเนียม\nธรรมราชา\nธรรมศาสตร์\nธรรมสภา\nธรรมสังเวช\nธัญพืช\nธารพระกร\nธีรภาพ\nธีรราช\nนกเขา\nนกต่อ\nนกยูง\nนกรู้\nนกหวีด\nนครบาล\nนครรัฐ\nนงคราญ\nนงนุช\nนงพะงา\nนงเยาว์\nนงราม\nนงลักษณ์\nนบนอบ\nนพเก้า\nนพคุณ\nนพเคราะห์\nนพปฎล\nนพพล\nนพรัตน์\nนพศก\nนพศูล\nนมข้น\nนมผง\nนมไม้\nนมนาน\nนมหนู\nนมแมว\nนรีเวช\nนรีเวชวิทยา\nนวดฟั้น\nนวยนาด\nนวลระหง\nนวลลออ\nนวลละออง\nนวลจันทร์\nนอกครู\nนอกคอก\nนอกจาก\nนอกใจ\nนอกชาน\nนอกรีต\nนอกเหนือ\nนองเนือง\nนองเลือด\nนอนก้น\nนอนใจ\nนอบนบ\nนอนเล่น\nนอบน้อม\nน้อมนำ\nน้อยใจ\nน้อยหน้า\nนักการ\nนักการเมือง\nนักกีฬา\nนักข่าว\nนักท่องเที่ยว\nนักเทศน์\nนักโทษ\nนักธรรม\nนักบวช\nนักบิน\nนักบุญ\nนักปราชญ์\nนักพรต\nนักรบ\nนักเรียน\nนักเลง\nนักวิชาการ\nนักศึกษา\nนักสิทธิ์\nนักสืบ\nนักหนา\nนั่งเทียน\nนั่งร้าน\nนัดแนะ\nนัดหมาย\nนั่นแหละ\nนั่นเอง\nนับถือ\nนับประสา\nนัยน์ตา\nนาดำ\nนาปรัง\nนาปี\nนาสวน\nนาหว่าน\nนาคบาศ\nนาคปรก\nนาคราช\nนางกวัก\nนางกำนัล\nนางงาม\nนางใน\nนางบำเรอ\nนางแบบ\nนางพญา\nนางฟ้า\nนางไม้\nนางโลม\nนางสาว\nนางห้าม\nนางเอก\nนาฏกรรม\nนาฏดนตรี\nนาฏศิลป์\nนานนม\nน่านน้ำ\nน่านฟ้า\nนามกร\nนามธรรม\nนามไธย\nนามบัตร\nนามปากกา\nนามแฝง\nนามสกุล\nนามสงเคราะห์\nนามสมญา\nนายทะเบียน\nนายท่า\nนายท้าย\nนายทุน\nนายประกัน\nนายหน้า\nนายอำเภอ\nนารายณ์หัตถ์\nนารีผล\nนาวิกโยธิน\nนำจับ\nนำพา\nนำทาง\nนำร่อง\nนำสืบ\nนำแสดง\nน้ำกรด\nน้ำกาม\nน้ำเกลือ\nน้ำข้าว\nน้ำแข็ง\nน้ำแข็งไส\nน้ำแข็งแห้ง\nน้ำครำ\nน้ำคร่ำ\nน้ำค้าง\nน้ำค้างแข็ง\nน้ำคาวปลา\nน้ำคำ\nน้ำเค็ม\nน้ำเคย\nน้ำเงิน\nน้ำเงี้ยว\nน้ำจัณฑ์\nน้ำจิ้ม\nน้ำใจ\nน้ำเชื้อ\nน้ำเชื่อม\nน้ำซาวข้าว\nน้ำดอกไม้\nน้ำดี\nน้ำตก\nน้ำตา\nน้ำตาล\nน้ำท่า\nน้ำนม\nน้ำนวล\nน้ำบาดาล\nน้ำประสานทอง\nน้ำประปา\nน้ำปลา\nน้ำป่า\nน้ำผึ้ง\nน้ำพริก\nน้ำพริกเผา\nน้ำพี้\nน้ำพุ\nน้ำมนต์\nน้ำมนตร์\nน้ำมัน\nน้ำมือ\nน้ำมูก\nน้ำเมา\nน้ำย่อย\nน้ำยา\nน้ำรัก\nน้ำแร่\nน้ำลาย\nน้ำเลี้ยง\nน้ำสต๊อก\nน้ำส้ม\nน้ำส้มสายชู\nน้ำสังข์\nน้ำสาบาน\nน้ำเสียง\nน้ำหนวก\nน้ำหนอง\nน้ำหนัก\nน้ำหน้า\nน้ำหนึ่ง\nน้ำหมึก\nน้ำหอม\nน้ำเหลือง\nน้ำอบ\nน้ำอ้อย\nน้ำอัดลม\nนิ่งเฉย\nนิจศีล\nนิดเดียว\nนิดหน่อย\nนิติกร\nนิติกรรม\nนิติธรรม\nนิตินัย\nนิติบัญญัติ\nนิติบุคคล\nนิติภาวะ\nนิติวิทยาศาสตร์\nนิติเวช\nนิติเวชศาสตร์\nนิติศาสตร์\nนิเทศศาสตร์\nนิ่มนวล\nนิรุกติศาสตร์\nนิเวศวิทยา\nนิศากร\nนิศากาล\nนิศาชล\nนิศารัตน์\nนี่แน่ะ\nนี่แหละ\nนี่เอง\nนึกคิด\nนุงถุง\nนุ่งห่ม\nนุ่มนวล\nนุ่มนิ่ม\nเนตรนารี\nเนติบัณฑิต\nเนยเทียม\nเนยใส\nเนิ่นนาน\nเนิบนาบ\nเนื้อความ\nเนื้อคู่\nเนื้อเค็ม\nเนื้องอก\nเนื้อตัว\nเนื้อตาย\nเนื้อที่\nเนื้อแท้\nเนื้อเปื่อย\nเนื้อผ้า\nเนื้อเพลง\nเนื้อไม้\nเนื้อเยื่อ\nเนื้อร้อง\nเนื้อร้าย\nเนื้อเรื่อง\nเนื้อหา\nเนืองนอง\nเนืองนิตย์\nเนืองแน่น\nแน่ใจ\nแน่ชัด\nแน่แท้\nแน่นอน\nแน่นิ่ง\nแน่แน่ว\nแน่นแฟ้น\nแน่นหนา\nแนบเนียน\nแนบแน่น\nแนวคิด\nแนวทาง\nแนวโน้ม\nแนวป่า\nแนวรบ\nแนวร่วม\nแนวหน้า\nแนวหลัง\nแน่วแน่\nแนะนำ\nแนะแนว\nโน้มน้าว\nในหลวง\nบกพร่อง\nบงกช\nบงการ\nบดบัง\nบทกลอน\nบทกวี\nบทความ\nบทคัดย่อ\nบทเฉพาะกาล\nบทนำ\nบทบัญญัติ\nบทบาท\nบทประพันธ์\nบทเพลง\nบทร้อง\nบทเรียน\nบทลงโทษ\nบทสนทนา\nบทอัศจรรย์\nบทจร\nบทบงสุ์\nบทมาลย์\nบทรัช\nบทเรศ\nบทวลัญช์\nบนบาน\nบรมครู\nบรมธาตุ\nบรมบพิตร\nบรมวงศานุวงศ์\nบรมอัฐิ\nบรรณพิภพ\nบรรณศาลา\nบรรณาการ\nบรรณาธิการ\nบรรณานุกรม\nบรรณารักษ์\nบรรณารักษศาสตร์\nบรรดามี\nบรรดาศักดิ์\nบรรทัดฐาน\nบรรพบุรุษ\nบรรลัยกัลป์\nบรรลัยจักร\nบริคณห์สนธิ\nบวงสรวง\nบ่วงบาศ\nบ้วนพระโอษฐ์\nบ่อเกิด\nบอกกล่าว\nบอกบท\nบอกบุญ\nบอกใบ้\nบอกปัด\nบ้องกัญชา\nบ้องตื้น\nบ้องไฟ\nบ้องหู\nบอดสี\nบ่อนทำลาย\nบอบช้ำ\nบอบบาง\nบอบแบบ\nบังโกลน\nบังโคลน\nบังใบ\nบั้งไฟ\nบังคับการ\nบังคับบัญชา\nบัญชาการ\nบัณฑุกัมพล\nบัดดล\nบัดเดี๋ยว\nบัดนั้น\nบัดนี้\nบัดสีบัดเถลิง\nบัตรเครดิต\nบัตรพลี\nบัตรสนเท่ห์\nบัตรสินเชื่อ\nบั่นทอน\nบั้นท้าย\nบั้นปลาย\nบั้นพระองค์\nบั้นเอว\nบันไดลิง\nบันไดเลื่อน\nบันเทิงคดี\nบัวลอย\nบัวบก\nบ้าจี้\nบ้าดีเดือด\nบ้าน้ำลาย\nบ้าบิ่น\nบ้าระห่ำ\nบ้าเลือด\nบ้าหอบฟาง\nบากบั่น\nบากหน้า\nบางตา\nบางเบา\nบางที\nบาดเจ็บ\nบาดแผล\nบาดหมาง\nบาตรใหญ่\nบาทบงกช\nบาทบงสุ์\nบาทบริจาริกา\nบาทวิถี\nบานเกล็ด\nบานตะเกียง\nบานตะไท\nบานเบอะ\nบานปลาย\nบานแผละ\nบานพับ\nบ้านจัดสรร\nบ้านช่อง\nบ้านนอก\nบ้านพัก\nบ้านเมือง\nบ้านรับรอง\nบ้านเรือน\nบาปกรรม\nบายศรี\nบ่ายเบี่ยง\nบ่ายหน้า\nบ่าวไพร่\nบิดเบี้ยว\nบิดเบือน\nบิดพลิ้ว\nบี้แบน\nบีบคั้น\nบีบรัด\nบึ้งตึง\nบึ้งบูด\nบุกบั่น\nบุกเบิก\nบุกรุก\nบุคลิกภาพ\nบุคลิกลักษณะ\nบุญธรรม\nบุญนิธิ\nบุญฤทธิ์\nบุบสลาย\nบุ้ยใบ้\nบุรุษเพศ\nบุหงารำไป\nบู้บี้\nบูชายัญ\nบูดบึ้ง\nบูดเบี้ยว\nเบาความ\nเบาใจ\nเบาบาง\nเบาปัญญา\nเบามือ\nเบาแรง\nเบาสมอง\nเบาหวาน\nเบาโหวง\nเบ้าตา\nเบาะแส\nเบิกความ\nเบิกบาน\nเบี้ยล่าง\nเบี้ยเลี้ยง\nเบี้ยหวัด\nเบี่ยงบ่าย\nเบียดบัง\nเบียดเบียน\nเบียดเสียด\nเบื้องต้น\nเบื้องบน\nเบื้องหน้า\nเบื้องหลัง\nแบกะดิน\nแบเบาะ\nแบ่งเบา\nแบ่งปัน\nแบ่งแยก\nแบบฉบับ\nแบบแปลน\nแบบแผน\nแบบฝึกหัด\nแบบพิมพ์\nแบบสอบถาม\nแบบอย่าง\nแบะแฉะ\nแบะท่า\nโบแดง\nโบราณคดี\nโบราณวัตถุ\nโบราณสถาน\nใบขับขี่\nใบจอง\nใบตอง\nใบแทรก\nใบบอก\nใบบุญ\nใบเบิกทาง\nใบปลิว\nใบพัด\nใบโพ\nใบไม้\nใบระกา\nใบรับรอง\nใบลา\nใบเลี้ยง\nใบสั่ง\nใบสำคัญ\nใบสุทธิ\nใบเสร็จ\nใบหน้า\nใบอนุญาต\nใบระกา\nปกครอง\nปกคลุม\nปกป้อง\nปกปิด\nปฏิบัติการ\nปฏิบัติบูชา\nปฐพีวิทยา\nปฐมฌาน\nปฐมทัศน์\nปฐมเทศนา\nปฐมนิเทศ\nปฐมพยาบาล\nปฐมยาม\nปฐมฤกษ์\nปฐมวัย\nปฐมสมโพธิ\nปนเป\nป่นปี้\nปมเขื่อง\nปมเด่น\nปมด้อย\nปรนเปรอ\nปรบไก่\nปรบมือ\nปรสิตวิทยา\nประโปรย\nประพรม\nประกันชีวิต\nประกันภัย\nประจักษ์พยาน\nประจัญบาน\nประจันหน้า\nประจำการ\nประจำเดือน\nประจำเมือง\nประจำยาม\nประชดประชัน\nประชากร\nประชากรศาสตร์\nประชาคม\nประชาชน\nประชาราษฎร์\nประชาชาติ\nประชาชี\nประชาทัณฑ์\nประชาบาล\nประชาพิจารณ์\nประชาภิบาล\nประชามติ\nประชาสงเคราะห์\nประชาสัมพันธ์\nประดับประดา\nประดามี\nประดาน้ำ\nประเดี๋ยวเดียว\nประเดี๋ยวนี้\nประทับใจ\nประทุษร้าย\nประเทศราช\nประพาสต้น\nประเพณีนิยม\nประลัยกัลป์\nประวัติการณ์\nประวัติศาสตร์\nประสบการณ์\nประสบการณ์นิยม\nประสาทการ\nประสูติการ\nประสูติกาล\nประเส\nปรับทุกข์\nปรับโทษ\nปรับปรุง\nปรากฏการณ์\nปราดเปรียว\nปราดเปรื่อง\nปราบปราม\nปริญญาบัตร\nปรัยัติธรรม\nปรุโปร่ง\nปลงใจ\nปลงตก\nปลดทุกข์\nปลดปลง\nปลดปล่อย\nปลดเปลื้อง\nปลดระวาง\nปลดแอก\nปล้นสะดม\nปลอกกระสุน\nปลอกคอ\nปลอดโปร่ง\nปลอดภัย\nปลอมปน\nปลอมแปลง\nปลอบโยน\nปล่อยใจ\nปล่อยตัว\nปล่อยปละ\nปลั๊กไฟ\nปลากริม\nปลาเค็ม\nปลาจ่อม\nปลาเจ่า\nปลาแดก\nปลาตู้\nปลาทอง\nปลาร้า\nปลาส้ม\nปลาดาว\nปลาบิน\nปลาฝา\nปลาวาฬ\nปลาหมึก\nปลาบปลื้ม\nปลายข้าว\nปลายแถว\nปลายทาง\nปลิ้นปลอก\nปลิ้นปล้อน\nปลีกตัว\nปลีกย่อย\nปลุกใจ\nปลุกปล้ำ\nปลุกปั่น\nปลุกระดม\nปลุกเสก\nปลูกฝัง\nปลูกสร้าง\nปวดถ่วง\nปวดมวน\nปวดร้าว\nป่วนปั่น\nป่วยการ\nปอกลอก\nป้องกัน\nปักใจ\nปักดำ\nปักหลัก\nปัจเจกบุคคล\nปัจเจกพุทธะ\nปัจเจกโพธิ\nปัจฉิมชน\nปัจฉิมทิศ\nปัจฉิมภาค\nปัจฉิมยาม\nปัจฉิมลิขิต\nปัจฉิมวัย\nปัจฉิมวาจา\nปัญญาชน\nปัญญาวิมุติ\nปัญญาอ่อน\nปัดเป่า\nปันส่วน\nปั่นป่วน\nปั่นแปะ\nปั่นหัว\nปั้นจิ้ม\nปั้นเจ๋อ\nปั้นปึ่ง\nปั้นสิบ\nปั๊มน้ำมัน\nป่าช้า\nป่าชายเลน\nป่าดง\nป่าดงดิบ\nป่าดิบ\nป่าเถื่อน\nป่าเบญจพรรณ\nป่าละเมาะ\nปากกา\nปากขอ\nปากแข็ง\nปากคอ\nปากคำ\nปากคีบ\nปากจัด\nปากน้ำ\nปากเปล่า\nปากเสียง\nปานกลาง\nป่านนี้\nป้านลม\nป้ายสี\nป่าวร้อง\nปิดฉาก\nปิดบัง\nปิตุฆาต\nปิตุภูมิ\nปีมะโว้\nปีแสง\nปี่กลาง\nปี่ไฉน\nปี่ชวา\nปี่นอก\nปี่ใน\nปี่พาทย์\nปี่อ้อ\nปีกกา\nปีนเกลียว\nปีนป่าย\nปึกแผ่น\nปึงปัง\nปืนกล\nปืนครก\nปืนพก\nปืนยา\nปืนยาว\nปืนลม\nปืนเล็ก\nปืนเล็กยาว\nปืนสั้น\nปืนใหญ่\nปุบปับ\nปุ๊บปั๊บ\nปุ่มเปือก\nปุยฝ้าย\nปุ๋ยคอก\nปุ๋ยเคมี\nปุ๋ยวิทยาศาสตร์\nปุ๋ยหมัก\nปุ๋ยอินทรีย์\nปูจ๋า\nปูเสฉวน\nปู่เจ้า\nปู่ทวด\nปูนขาว\nปูนซีเมนต์\nปูนดิบ\nปูนแดง\nปูนปลาสเตอร์\nปูนปั้น\nเป็ดเทศ\nเป็ดน้ำ\nเป็นกลาง\nเป็นใจ\nเป็นต้น\nเป็นต่อ\nเป็นรอง\nเป็นไร\nเป็นลม\nเป็นห่วง\nเป็นอยู่\nเปรมปรีดิ์\nเปรอะเปื้อน\nเปรียบเทียบ\nเปรียบเปรย\nเปรี้ยวปาก\nเปรี้ยวหวาน\nเปรื่องปราด\nเปลญวน\nเปล่งปลั่ง\nเปล่าดาย\nเปล่าเปลี่ยว\nเปลี่ยนใจ\nเปลี่ยนตัว\nเปลี่ยนแปลง\nเปลี่ยนมือ\nเปลี่ยนหน้า\nเป๋อเหลอ\nเปะปะ\nเป่ากบ\nเป้านิ่ง\nเป้าหมาย\nเปิดฉาก\nเปิดเปิง\nเปิดโปง\nเปิดผนึก\nเปิดเผย\nเปียกปูน\nแป้งสาลี\nแป้งนวล\nแป้งเปียก\nแป้งมัน\nแป้งฝุ่น\nแป้งร่ำ\nแป้งสิงคโปร์\nแป้งหมี่\nแปดปน\nแปดเปื้อน\nแปรปรวน\nแปรผัน\nแปรพักตร์\nแปรรูป\nแปรอักษร\nแปลกปลอม\nแปะโป้ง\nโป้ปด\nโปร่งแสง\nโปร่งใส\nโปรดปราน\nโปรยทาน\nโปรยปราย\nโปโลน้ำ\nผกผัน\nผกากรอง\nผงขาว\nผงชูรส\nผงซักฟอก\nผงฟู\nผดุงครรภ์\nผมไฟ\nผลพลอยได้\nผลลัพธ์\nผลัดเปลี่ยน\nผลิตผล\nผลิตภัณฑ์\nผลุบโผล่\nผสมเทียม\nผสมผสาน\nผสมผเส\nผสมพันธุ์\nผสมโรง\nผสมเสร็จ\nผ่องแผ้ว\nผ่องใส\nผ่อนคลาย\nผ่อนชำระ\nผ่อนปรน\nผ่อนผัน\nผ่อนส่ง\nผอมโซ\nผอมแห้ง\nผักชี\nผักตบชวา\nผักบุ้ง\nผังเมือง\nผัดผ่อน\nผันแปร\nผันผวน\nผ่าตัด\nผ่าเผย\nผ่าหมาก\nผ่าเหล่า\nผ้าขนหนู\nผ้าขาวม้า\nผ้าขี้ริ้ว\nผ้าเช็ดตัว\nผ้าเช็ดปาก\nผ้าเช็ดมือ\nผ้าเช็ดหน้า\nผ้าดิบ\nผ้าต่วน\nผ้าไตร\nผ้าถุง\nผ้าแถบ\nผ้านวม\nผ้านุ่ง\nผ้าใบ\nผ้าป่า\nผ้าป่าน\nผ้าผ่อน\nผ้าพันคอ\nผ้าพันแผล\nผ้าแพร\nผ้าโพกหัว\nผ้ามัดหมี่\nผ้ายาง\nผ้าลูกไม้\nผ้าเหลือง\nผ้าอนามัย\nผ้าอ้อม\nผาดโผน\nผาติกรรม\nผิดหวัง\nผิวเผิน\nผิวพรรณ\nผิวหนัง\nผีกระสือ\nผีกระหัง\nผีกองกอย\nผีโขมด\nผีดิบ\nผีตองเหลือง\nผีถ้วยแก้ว\nผีแถน\nผีทะเล\nผีบุญ\nผีปอบ\nผีพุ่งไต้\nผีฟ้า\nผีเรือน\nผีสาง\nผีเสื้อ\nผีห่า\nผึ่งผาย\nผุดผ่อง\nผุดผาด\nผู้คน\nผู้คุม\nผู้จัดการ\nผู้ชาย\nผู้เชี่ยวชาญ\nผู้ดี\nผู้โดยสาร\nผู้ต้องขัง\nผู้ต้องหา\nผู้แทน\nผู้น้อย\nผู้บริโภค\nผู้บังคับบัญชา\nผู้ปกครอง\nผู้ประกอบการ\nผู้ป่วย\nผู้พิพากษา\nผู้เยาว์\nผู้ร้าย\nผู้วิเศษ\nผู้สื่อข่าว\nผู้เสียหาย\nผู้หญิง\nผู้ใหญ่\nผู้ใหญ่บ้าน\nผูกขวัญ\nผูกขาด\nผูกพัน\nผูกมัด\nเผชิญหน้า\nเผด็จการ\nเผด็จศึก\nเผยแผ่\nเผยแพร่\nเผละผละ\nเผ่าพันธุ์\nเผื่อแผ่\nแผงลอย\nแผนการ\nแผนงาน\nแผนที่\nแผนผัง\nแผนภาพ\nแผนภูมิ\nแผ่นดิน\nแผ่นเสียง\nแผ้วพาน\nโผงผาง\nฝนทอง\nฝอยทอง\nฝักแค\nฝักบัว\nฝักฝ่าย\nฝักใฝ่\nฝังใจ\nฝังหัว\nฝาชี\nฝาแฝด\nฝาละมี\nฝ่าพระบาท\nฝ่าฝืน\nฝ่าฟัน\nฝ้าฟาง\nฝากตัว\nฝากฝัง\nฝีดาษ\nฝีมะม่วง\nฝีจักร\nฝีเท้า\nฝีปาก\nฝีพาย\nฝีมือ\nฝีเย็บ\nฝึกงาน\nฝึกปรือ\nฝึกฝน\nฝึกสอน\nฝึกหัด\nฝืดเคือง\nใฝ่ฝัน\nพงพี\nพงศ์พันธุ์\nพญาโศก\nพญาไฟ\nพบปะ\nพบพาน\nพรสวรรค์\nพรมคด\nพรมแดน\nพรมมิ\nพรรคพวก\nพรรณราย\nพรวดพราด\nพรหมชาติ\nพรหมลิขิต\nพรหมโลก\nพรหมวิหาร\nพร้อมใจ\nพร้อมพรั่ง\nพร้อมเพรียง\nพร้อมมูล\nพร้อมสรรพ\nพร้อมหน้า\nพระครู\nพระคุณ\nพระเคราะห์\nพระเครื่อง\nพระเจ้า\nพระเจ้าอยู่หัว\nพระชายา\nพระทัย\nพระนาง\nพระนางเจ้า\nพระเป็นเจ้า\nพระผู้เป็นเจ้า\nพระพิมพ์\nพระพุทธเจ้า\nพระพุทธองค์\nพระภูมิ\nพระยา\nพระรอง\nพระสนม\nพระสนมเอก\nพระองค์\nพระองค์เจ้า\nพระเอก\nพรั่งพร้อม\nพรั่งพรู\nพรั่นพรึง\nพร่างพราว\nพรายน้ำ\nพรายแพรว\nพราวแพรว\nพร่ำพลอด\nพร่ำเพรื่อ\nพร่ำเพ้อ\nพริกไทย\nพริ้งพราย\nพริ้งเพรา\nพริ้งเพริศ\nพริบตา\nพริ้มพราย\nพริ้มเพรา\nพรุ่งนี้\nพฤติกรรม\nพฤติการณ์\nพฤตินัย\nพลการ\nพลขับ\nพลความ\nพลเมือง\nพลรบ\nพลร่ม\nพลเรือน\nพลโลก\nพลศึกษา\nพลบค่ำ\nพลอดรัก\nพลังงาน\nพลังเงียบ\nพลังจิต\nพลั้งปาก\nพลั้งเผลอ\nพลั้งพลาด\nพลัดถิ่น\nพลัดพราก\nพลาดท่า\nพลาดพลั้ง\nพลิกแพลง\nพลีกรรม\nพลุ่งพล่าน\nพวกพ้อง\nพวงมาลัย\nพวงมาลา\nพวงหรีด\nพวงคราม\nพวงชมพู\nพวงแสด\nพ่วงพี\nพวยน้ำ\nพวยพุ่ง\nพสกนิกร\nพหุคูณ\nพหุภาคี\nพหูพจน์\nพหูสูต\nพอควร\nพอใจ\nพอใช้\nพอใช้ได้\nพอดี\nพอตัว\nพอทำเนา\nพอประมาณ\nพอเพียง\nพอแรง\nพอสมควร\nพอเหมาะ\nพ่อขุน\nพ่อครัว\nพ่อตา\nพ่อบ้าน\nพ่อพันธุ์\nพ่อม่าย\nพ่อเมือง\nพ่อเลี้ยง\nพ่อสื่อ\nพอกพูน\nพ้องพาน\nพักผ่อน\nพักพิง\nพักฟื้น\nพักร้อน\nพักแรม\nพัดยศ\nพัดลม\nพันพัว\nพับฐาน\nพับเพียบ\nพัวพัน\nพาซื่อ\nพาดพิง\nพิณพาทย์\nพิธีกร\nพิธีกรรม\nพิธีการ\nพิธีรีตอง\nพิธีสาร\nพินัยกรรม\nพิมพ์เขียว\nพิมพ์ใจ\nพิมพ์ดีด\nพิษสง\nพี่น้อง\nพี่เบิ้ม\nพี่เลี้ยง\nพึงใจ\nพึงพอใจ\nพึ่งพา\nพึ่งพิง\nพืชพันธุ์\nพืชมงคล\nพื้นฐาน\nพื้นที่\nพื้นบ้าน\nพื้นเพ\nพื้นเมือง\nพื้นเสีย\nพุพอง\nพุทธกาล\nพุทธคุณ\nพุทธจักร\nพุทธเจดีย์\nพุทธฎีกา\nพุทธปฏิมา\nพุทธปฏิมากร\nพุทธมามกะ\nพุทธศักราช\nพุทธศาสนิกชน\nพุทธองค์\nพุทธชาด\nพุทธรักษา\nพุ่มพวง\nพุ่มไม้\nพู่กัน\nพูดจา\nเพ่งเล็ง\nเพดานบิน\nเพดานปาก\nเพริศพราย\nเพริศพริ้ง\nเพริศแพร้ว\nเพรียกพร้อง\nเพรียวลม\nเพลงเชิด\nเพลงยาว\nเพลิงกัลป์\nเพลินใจ\nเพลินตา\nเพลี่ยงพล้ำ\nเพ้อฝัน\nเพาะกาย\nเพาะชำ\nเพาะปลูก\nเพิกถอน\nเพิกเฉย\nเพิ่มเติม\nเพิ่มพูน\nเพียงตา\nเพียงพอ\nเพียบแประ\nเพียบพร้อม\nเพื่อนเกลอ\nเพื่อนตาย\nเพื่อนบ้าน\nเพื่อนฝูง\nเพื่อนยาก\nแพ้ท้อง\nแพร่หลาย\nแพร่งพราย\nแพรวพราว\nโพธิญาณ\nโพธิบัลลังก์\nโพธิสมภาร\nโพธิสัตว์\nโพ้นทะเล\nโพยภัย\nไพ่ตาย\nไพ่ป๊อก\nไพรวัน\nไพรสณฑ์\nไพรสัณฑ์\nไพร่พล\nไพร่ฟ้า\nไพร่สม\nไพร่ส่วย\nไพร่หลวง\nฟกช้ำ\nฟองเต้าหู้\nฟองน้ำ\nฟองมัน\nฟ้องกลับ\nฟ้องร้อง\nฟอนเฟะ\nฟักทอง\nฟัดเฟียด\nฟันดาบ\nฟันฝ่า\nฟันแท้\nฟันน้ำนม\nฟันปลา\nฟันฟาง\nฟันเฟือง\nฟันม้า\nฟันเลื่อย\nฟันหนู\nฟั่นเฝือ\nฟั่นเฟือน\nฟื้นตัว\nฟื้นฝอย\nฟื้นฟู\nฟุ้งซ่าน\nฟุ้งเฟ้อ\nฟุ้งเฟื่อง\nฟุตบอล\nฟูฟ่อง\nฟูเฟื่อง\nฟูมฟัก\nฟูมฟาย\nเฟะฟะ\nเฟื่องฟ้า\nเฟื่องฟุ้ง\nเฟื่องฟู\nไฟฉาย\nไฟแช็ก\nไฟธาตุ\nไฟฟ้า\nภัตกิจ\nภาคทัณฑ์\nภาคพื้น\nภาคเรียน\nภาคภูมิ\nภาพถ่าย\nภาพนิ่ง\nภาพประกอบ\nภาพพจน์\nภาพยนตร์\nภาพลวงตา\nภาพลักษณ์\nภายนอก\nภายใน\nภายหน้า\nภายหลัง\nภารกิจ\nภารธุระ\nภารโรง\nภารตวิทยา\nภาษาศาสตร์\nภาสกร\nภิญโญภาพ\nภินชาติ\nภูธร\nภูธเรศ\nภูบาล\nภูเบศ\nภูเบศวร์\nภูเขา\nภูเขาไฟ\nภูผา\nภูตคาม\nภูตบดี\nภูตรูป\nภูเตศวร\nภูมินทร์\nภูมิบาล\nภูมิประเทศ\nภูมิภาค\nภูมิรัฐศาสตร์\nภูมิลำเนา\nภูมิศาสตร์\nภูมิอากาศ\nภูมิธรรม\nภูมิปัญญา\nภูมิรู้\nภูมิใจ\nภูมิฐาน\nภูมิคุ้มกัน\nภูมิแพ้\nภูษาโยง\nเภทภัย\nเภสัชกร\nเภสัชกรรม\nเภสัชวิทยา\nเภสัชศาสตร์\nโภคทรัพย์\nโภคภัณฑ์\nโภชนากร\nโภชนาการ\nมกุฎราชกุมาร\nมงคลแฝด\nมงคลสูตร\nมงคลหัตถี\nมณเฑียรบาล\nมดดำ\nมดแดง\nมดเท็จ\nมดยอบ\nมดลูก\nมธุปายาส\nมธุรส\nมนเทียรบาล\nมนุษย์กบ\nมโนกรรม\nมโนคติ\nมโนทุจริต\nมโนธรรม\nมโนภาพ\nมโนมัย\nมโนรถ\nมโนรมย์\nมโนสุจริต\nมรรคนายก\nมรรคผล\nมฤคชาติ\nมฤคทายวัน\nมฤคราช\nมลทิน\nมลพิษ\nมลสาร\nมวกเหล็ก\nม้วนหน้า\nมวยไทย\nมวยปล้ำ\nมวยล้ม\nมวยวัด\nมวยสากล\nมวยหมู่\nมวลสาร\nมอคราม\nมอซอ\nมอหมึก\nมองเมียง\nมอบตัว\nมอบหมาย\nมอมเมา\nมะขามเทศ\nมะขามป้อม\nมะขามเปียก\nมะเขือเทศ\nมะเขือพวง\nมะพร้าวแก้ว\nมักคุ้น\nมักจี่\nมักง่าย\nมักน้อย\nมักมาก\nมักใหญ่\nมั่งคั่ง\nมั่งมี\nมัจจุราช\nมัชฌิมนิกาย\nมัชฌิมประเทศ\nมัชฌิมยาม\nมัชฌิมวัย\nมัดจำ\nมัดหมี่\nมัธยมกาล\nมัธยมศึกษา\nมันแกว\nมันเทศ\nมันฝรั่ง\nมันเปลว\nมันสมอง\nมั่นคง\nมั่นใจ\nมั่นหมาย\nมั่นเหมาะ\nมัวเมา\nมัวหมอง\nมั่วสุม\nม้าเทศ\nม้าน้ำ\nม้ามืด\nม้าเร็ว\nม้าล่อ\nม้าลาย\nมากมาย\nมาตรการ\nมาตรฐาน\nมาตราส่วน\nมาตุคาม\nมาตุฆาต\nมาตุภูมิ\nม่านตา\nม่านบังตา\nมายากร\nมายากล\nมายาการ\nมายาวี\nมารผจญ\nมารวิชัย\nมารสังคม\nมารหัวขน\nมาลาการ\nมิ่งขวัญ\nมิ่งมิตร\nมิจฉาจาร\nมิจฉาชีพ\nมิดชิด\nมิดเมี้ยน\nมิดหมี\nมิตรจิต\nมิตรภาพ\nมิตรสหาย\nมิน่า\nมีหน้า\nมีดโกน\nมีดดาบ\nมีดโต้\nมีดพก\nมีดพับ\nมีดสั้น\nมึนงง\nมึนชา\nมึนตึง\nมึนเมา\nมืดครึ้ม\nมืดมน\nมืดมัว\nมือจับ\nมือดี\nมือเติบ\nมือปืน\nมือเปล่า\nมือมืด\nมือสอง\nมือเสือ\nมือหนึ่ง\nมือใหม่\nมุกตลก\nมุขปาฐะ\nมุขมนตรี\nมุ่งมั่น\nมุ่งมาด\nมุ่งหน้า\nมุ่งหมาย\nมุ่งหวัง\nมุ้งลวด\nมุ้งสายบัว\nมุมก้ม\nมุมกลับ\nมุมเงย\nมุมฉาก\nมุมตรง\nมุมป้าน\nมุมมืด\nมุมแย้ง\nมุมสะท้อน\nมุมหักเห\nมุมแหลม\nมุสาวาท\nมูกเลือด\nมูกมัน\nมูกหลวง\nมูนดิน\nมูลฐาน\nมูลนาย\nมูลนิธิ\nมูลเหตุ\nมูลค่า\nมูลฝอย\nเม็ดเงิน\nเม็ดเลือด\nเม็ดโลหิต\nเม่นทะเล\nเมรุมาศ\nเมรุราช\nเมล์อากาศ\nเมาดิบ\nเมามัน\nเมามัว\nเมามาย\nเมินเฉย\nเมียน้อย\nเมียหลวง\nเมียงมอง\nเมี่ยงลาว\nเมี่ยงส้ม\nเมื่อกี้\nเมื่อตะกี้\nเมื่อใด\nเมื่อไร\nเมื่อไหร่\nเมื่อนั้น\nเมืองขึ้น\nเมืองท่า\nเมืองนอก\nเมืองหลวง\nเมื่อยขบ\nเมื่อยล้า\nแม่กอง\nแม่กุญแจ\nแม่คุณ\nแม่งาน\nแม่เจ้า\nแม่ชี\nแม่ทัพ\nแม่นม\nแม่น้ำ\nแม่บท\nแม่บ้าน\nแม่เบี้ย\nแม่พระ\nแม่พิมพ์\nแม่เพลง\nแม่มด\nแม่ม่าย\nแม่ไม้\nแม่ยก\nแม่ยาย\nแม่ร้าง\nแม่เรือน\nแม่แรง\nแม่เล้า\nแม่เลี้ยง\nแม่สี\nแม่สื่อ\nแม่เหล็ก\nแมงมุม\nแม่นยำ\nแมลงช้าง\nแมลงวัน\nแมลงปอ\nแมลงภู่\nแมลงเม่า\nแมวเซา\nแมวน้ำ\nแมวป่า\nแมวมอง\nไม้กลัด\nไม้กวาด\nไม้กางเขน\nไม้เกาหลัง\nไม้ขีดไฟ\nไม้จิ้มฟัน\nไม้เด็ด\nไม้ตาย\nไม้ตีพริก\nไม้ที\nไม้เท้า\nไม้บรรทัด\nไม้เมตร\nไม้ระแนง\nไม้เรียว\nไม้หมอน\nไม้อัด\nไม้จัตวา\nไม้ตรี\nไม้ไต่คู้\nไม้โท\nไม้ผัด\nไม้มลาย\nไม้ม้วน\nไม้ยมก\nไม้หน้า\nไม้หันอากาศ\nไม้เอก\nยกกลีบ\nยกครู\nยกเครื่อง\nยกเค้า\nยกทรง\nยกฟ้อง\nยกเมฆ\nยกยอ\nยกย่อง\nยกเลิก\nยกเว้น\nย่นย่อ\nยมทูต\nยมบาล\nยมราช\nยมโลก\nยวดยิ่ง\nยวดยาน\nยวนยี\nยวบยาบ\nย่อท้อ\nย่อส่วน\nย่อหน้า\nย่อหย่อน\nยอกย้อน\nยองใย\nย่องเบา\nย่องแย่ง\nยอดเยี่ยม\nยอดอก\nย้อนยอก\nย้อนรอย\nย้อนศร\nย้อนแสง\nย้อนหลัง\nยอบแยบ\nยอมความ\nย่อมเยา\nย่อยยับ\nยักยอก\nยักย้าย\nยักเยื้อง\nยัญกรรม\nยัญพิธี\nยัดเยียด\nยับเยิน\nยับยั้ง\nยั่วยวน\nยั่วยุ\nยั่วเย้า\nยากวาด\nยากันยุง\nยาเขียว\nยาใจ\nยาฉุน\nยาชา\nยาซัด\nยาดอง\nยาแดง\nยาถ่าย\nยาธาตุ\nยานัตถุ์\nยาเบื่อ\nยาโป๊\nยาแฝด\nยาพิษ\nยาระบาย\nยาสลบ\nยาสั่ง\nยาสีฟัน\nยาสูบ\nยาเส้น\nยาเสพติด\nยาหม่อง\nยาเหลือง\nย่าทวด\nย่านาง\nยากแค้น\nยากจน\nยากเย็น\nยากไร้\nยางนอก\nยางใน\nยางมะตอย\nยางมะตูม\nยางลบ\nยางสน\nยางอาย\nย่างกราย\nย่างเยื้อง\nย่างสด\nย่างสามขุม\nย่างเหยียบ\nยานเกราะ\nยานพาหนะ\nยานอวกาศ\nยานคาง\nยายทวด\nยาวเฟื้อย\nยาวยืด\nยาวเหยียด\nยำทวาย\nยำใหญ่\nยำเกรง\nยำเยง\nย่ำต๊อก\nย่ำยี\nย่ำแย่\nยิงเป้า\nยิ่งนัก\nยิ่งยวด\nยิ่งใหญ่\nยินดี\nยินยอม\nยินร้าย\nยิ้มกริ่ม\nยิ้มแฉ่ง\nยิ้มแต้\nยิ้มแป้น\nยิ้มเผล่\nยิ้มเยาะ\nยิ้มแย้ม\nยียวน\nยึดครอง\nยึดถือ\nยึดมั่น\nยึดเหนี่ยว\nยืดยาด\nยืดยาว\nยืดเยื้อ\nยืดหยุ่น\nยืดอก\nยืนกราน\nยืนต้น\nยืนพื้น\nยืนยง\nยืนยัน\nยืนหยัด\nยื้อยุด\nยุยง\nยุแยง\nยุแหย่\nยุคลบาท\nยุคเข็ญ\nยุคทอง\nยุคมืด\nยุ่งขิง\nยุ่งยาก\nยุ่งเหยิง\nยุติธรรม\nยุทธการ\nยุทธนาวี\nยุทธปัจจัย\nยุทธภัณฑ์\nยุทธภูมิ\nยุทธวิธี\nยุทธศาสตร์\nยุทธหัตถี\nยุทธนาการ\nยุทธนาธิการ\nยุบยับ\nยุบยิบ\nยุพราช\nยู่ยี่\nเย็นเจี๊ยบ\nเย็นใจ\nเย็นฉ่ำ\nเย็นเฉียบ\nเย็นชา\nเย็นชืด\nเย็นตา\nเย็นเยียบ\nเย็นเยือก\nเย็นวาบ\nเย็นวูบ\nเย็บกี่\nเย็บจักร\nเย็บด้าย\nเย้ยหยัน\nเย้าหยอก\nเยาะเย้ย\nเยี่ยมกราย\nเยี่ยมเยียน\nเยี่ยมเยือน\nเยี่ยมยอด\nเยื่อเคย\nเยื่อใย\nเยือกเย็น\nเยื้องกราย\nเยื้องยัก\nเยื้องย่าง\nแยกย้าย\nแยกแยะ\nแย่งชิง\nแยบคาย\nแยบยล\nแย้มพราย\nแย้มยิ้ม\nแย้มสรวล\nโยเย\nโย้เย้\nโยกโคลง\nโยกย้าย\nโยกโย้\nโยนกลอง\nใยหิน\nรกชัฏ\nรกร้าง\nรกเรี้ยว\nรกเรื้อ\nรกราก\nรงควัตถุ\nรชนีกร\nรถกระบะ\nรถเก๋ง\nรถเข็น\nรถแข่ง\nรถจักร\nรถจี๊ป\nรถตู้\nรถทัวร์\nรถบรรทุก\nรถพ่วง\nรถพยาบาล\nรถไฟ\nรถไฟฟ้า\nรถม้า\nรถเมล์\nรถยนต์\nรถราง\nรถลาก\nรถสปอร์ต\nรถสิบล้อ\nรบกวน\nรบรา\nรบเร้า\nรมดำ\nร่มเกล้า\nร่มชูชีพ\nร่มเย็น\nร่มรื่น\nร่วงโรย\nรวงผึ้ง\nรวงรัง\nรวดเร็ว\nรวนเร\nรวบยอด\nรวบรวม\nรวบรัด\nรวมพล\nรวมหัว\nร่วมใจ\nร่วมเพศ\nร่วมมือ\nร่วมรัก\nร่วมสมัย\nรวยริน\nรวยรื่น\nรสชาติ\nรสนิยม\nรองท้อง\nรองเท้า\nรองพื้น\nร่องน้ำ\nร่องรอย\nร้องขอ\nร้องทุกข์\nร้องเรียน\nร้องห่ม\nร้องไห้\nรองช้ำ\nรองทรง\nรอดชีวิต\nรอดตัว\nรอดตาย\nรอนแรม\nร่อนเร่\nร้อนใจ\nร้อนตัว\nร้อนรน\nร้อนรุ่ม\nร้อนวิชา\nร้อนอาสน์\nรอบจัด\nรอบเดือน\nรอบรู้\nรอยร้าว\nร่อยหรอ\nร้อยละ\nร้อยกรอง\nร้อยแก้ว\nร้อยหวาย\nระนาดทุ้ม\nระนาดเอก\nระเบิดขวด\nระเบิดมือ\nระเบียบการ\nรักใคร่\nรักษาการ\nรักษาการณ์\nรังไข่\nรังแตน\nรังนก\nรังผึ้ง\nรังเพลิง\nรังมด\nรังสรรค์\nรังสฤษฏ์\nรั้งรอ\nรังสีแพทย์\nรังสีวิทยา\nรัชกาล\nรัชทายาท\nรัชนีกร\nรัฐธรรมนูญ\nรัฐบาล\nรัฐบุรุษ\nรัฐประศาสน์\nรัฐประหาร\nรัฐพิธี\nรัฐมนตรี\nรัฐวิสาหกิจ\nรัฐศาสตร์\nรัฐสภา\nรัดกุม\nรัดเกล้า\nรัดตัว\nรัดประคด\nรัดรึง\nรัดรูป\nรัตติกาล\nรับขวัญ\nรับจ้าง\nรับช่วง\nรับใช้\nรับซื้อ\nรับทราบ\nรับประกัน\nรับประทาน\nรับปาก\nรับผิด\nรับผิดชอบ\nรับฟ้อง\nรับฟัง\nรับมือ\nรับรอง\nรับรู้\nรับสมัคร\nรับสั่ง\nรับหน้า\nรับเหมา\nรั่วไหล\nรามือ\nร่าเริง\nรากแก้ว\nรากขวัญ\nรากฐาน\nรากฟัน\nรากศัพท์\nรากเหง้า\nร่างกาย\nร่างแห\nร้างรา\nราชกรณียกิจ\nราชการ\nราชกิจ\nราชครู\nราชฐาน\nราชทัณฑ์\nราชทินนาม\nราชทูต\nราชธานี\nราชนาวี\nราชบัณฑิต\nราชบัลลังก์\nราชบาตร\nราชบุตร\nราชปะแตน\nราชภัฏ\nราชมัล\nราชยาน\nราชรถ\nราชลัญจกร\nราชเลขาธิการ\nราชเลขานุการ\nราชวงศ์\nราชวัติ\nราชสกุล\nราชสมบัติ\nราชสาส์น\nราชหัตถเลขา\nราชองครักษ์\nราชโองการ\nราชาคณะ\nราชาศัพท์\nราชินีนาถ\nร้านชำ\nร้านรวง\nราบคาบ\nราบรื่น\nราบเรียบ\nรายการ\nรายงาน\nรายจ่าย\nรายได้\nรายทาง\nรายรับ\nรายล้อม\nรายละเอียด\nรายวิชา\nร่ายยาว\nร่ายรำ\nร้ายกาจ\nร้ายแรง\nราวนม\nราวป่า\nร้าวฉาน\nร้าวราน\nรำพัด\nรำแพน\nรำวง\nร่ำไป\nร่ำร้อง\nร่ำเรียน\nร่ำไร\nร่ำลา\nร่ำไห้\nริเริ่ม\nริอ่าน\nริมฝีปาก\nริ้วรอย\nรีบร้อน\nรีบรุด\nรีบเร่ง\nรื่นรมย์\nรื่นเริง\nรื้อถอน\nรื้อฟื้น\nรุกฆาต\nรุกราน\nรุกล้ำ\nรุกไล่\nรุ่งขึ้น\nรุ่งแจ้ง\nรุ่งเช้า\nรุ่งเรือง\nรุ่งโรจน์\nรุ่งสว่าง\nรุ่งสาง\nรุ่งอรุณ\nรุจิเรข\nรุดหน้า\nรุนแรง\nรุมเร้า\nรุมล้อม\nรุ่มรวย\nรุ่มร้อน\nรุ่ยร่าย\nรู้แกว\nรู้ความ\nรู้คุณ\nรู้งาน\nรู้จัก\nรู้แจ้ง\nรู้ใจ\nรู้เชิง\nรู้ตัว\nรู้ทัน\nรู้เท่า\nรู้เรื่อง\nรู้สำนึก\nรู้สึก\nรู้เห็น\nรูปการณ์\nรูปโฉม\nรูปฌาน\nรูปถ่าย\nรูปทรง\nรูปธรรม\nรูปแบบ\nรูปพรรณ\nรูปพรหม\nรูปภพ\nรูปภาพ\nรูปร่าง\nรูปสมบัติ\nเร่ร่อน\nเร่งด่วน\nเร่งมือ\nเร่งรัด\nเร่งรีบ\nเร่งเร้า\nเร้นลับ\nเร่อร่า\nเร่าร้อน\nเราะราย\nเราะร้าย\nเริงใจ\nเริงรมย์\nเริดร้าง\nเริ่มต้น\nเริ่มแรก\nเรี่ยราด\nเรี่ยไร\nเรียกคืน\nเรียกตัว\nเรียกร้อง\nเรียกหา\nเรียบร้อย\nเรียงความ\nเรียงตัว\nเรียงเบอร์\nเรียงพิมพ์\nเรียงเม็ด\nเรียงราย\nเรียนรู้\nเรียบร้อย\nเรียบเรียง\nเรียบวุธ\nเรี่ยมเร้\nเรี่ยวแรง\nเรือกลไฟ\nเรือกอและ\nเรือกำปั่น\nเรือจ้าง\nเรือดำน้ำ\nเรือโดยสาร\nเรือตรวจการณ์\nเรือตังเก\nเรือธง\nเรือนำร่อง\nเรือบด\nเรือบิน\nเรือใบ\nเรือประมง\nเรือพ่วง\nเรือพิฆาต\nเรือยนต์\nเรือยาว\nเรือโยง\nเรือรบ\nเรือลากจูง\nเรือสำปั้น\nเรือสำเภา\nเรือหลวง\nเรือหางยาว\nเรืออีโปง\nเรือเอี้ยมจุ๊น\nเรื้อรัง\nเรือกสวน\nเรืองนาม\nเรืองรอง\nเรืองแสง\nเรื่องราว\nเรื่องสั้น\nเรือนแก้ว\nเรือนจำ\nเรือนเบี้ย\nเรือนแพ\nเรือนหอ\nเรื่อยเจื้อย\nเรื่อยเฉื่อย\nเรื่อยเปื่อย\nแรเงา\nแรกนา\nแรกนาขวัญ\nแรงงาน\nแรงดึงดูด\nแรงเทียน\nแรงม้า\nแรงเหวี่ยง\nแรมรอน\nแรมรา\nแรมโรย\nโรคจิต\nโรงครัว\nโรงงาน\nโรงเจ\nโรงเตี๊ยม\nโรงทาน\nโรงนา\nโรงพยาบาล\nโรงพัก\nโรงพิมพ์\nโรงเรียน\nโรงเรือน\nโรงแรม\nโรงเลี้ยง\nโรงเลื่อย\nโรงสี\nโรงสีข้าว\nโรงอาหาร\nโรมรัน\nโรยรา\nฤชากร\nฤดูกาล\nลงขัน\nลงแขก\nลงคอ\nลงตัว\nลงท้าย\nลงทุน\nลงโทษ\nลงพุง\nลงมือ\nลงรัก\nลงรอย\nลงแรง\nลงโรง\nลงเอย\nลดตัว\nลดละ\nลดเลี้ยว\nลดหย่อน\nลดหลั่น\nลนลาน\nล้นพ้น\nล้นหลาม\nล้นเหลือ\nลบล้าง\nลบเลือน\nลบหลู่\nลมกรด\nลมค้า\nลมงวง\nลมแดด\nลมทะเล\nลมบก\nลมบน\nลมบ้าหมู\nลมปราณ\nลมปาก\nลมพิษ\nลมว่าว\nลมเสีย\nลมหนาว\nลมหายใจ\nล่มจม\nล่มสลาย\nล้มละลาย\nล้มลุก\nล้มเลิก\nล่วงเกิน\nล่วงรู้\nล่วงละเมิด\nล่วงลับ\nล่วงล้ำ\nล่วงเลย\nล่วงหน้า\nลวดลาย\nลวดสปริง\nลวดหนาม\nล้วนแล้ว\nลหุโทษ\nล่อลวง\nล่อหลอก\nล่อแหลม\nล้อต๊อก\nล้อเลื่อน\nล้อเล่น\nล้อเลียน\nล้อหลอก\nลองเชิง\nลองดี\nลองภูมิ\nล่องหน\nลอดช่อง\nล่อนจ้อน\nลอบกัด\nล้อมวง\nลอยแก้ว\nลอยชาย\nลอยตัว\nลอยนวล\nลอยแพ\nลอยลำ\nละทิ้ง\nละเลย\nละเว้น\nละครนอก\nละครใน\nละครเพลง\nละครร้อง\nละครรำ\nละครลิง\nละครสัตว์\nละเอียดอ่อน\nลักไก่\nลักพา\nลักเพศ\nลักยิ้ม\nลักลอบ\nลักลั่น\nลักหลับ\nลัดเลาะ\nลับตา\nลับแล\nลับหลัง\nลาออก\nล่าช้า\nล่าทัพ\nล้าสมัย\nล้าหลัง\nลากข้าง\nล้างบาง\nล้างผลาญ\nลาดเขา\nลาดตระเวน\nลาดเท\nลาดยาง\nลานบิน\nลาภปาก\nลาภลอย\nลามปาม\nลามเลีย\nลายคราม\nลายเซ็น\nลายแทง\nลายน้ำ\nลายพร้อย\nลายมือ\nลายลักษณ์\nลายเส้น\nลำกล้อง\nลำแข้ง\nลำธาร\nลำแสง\nลำไส้\nลำตัด\nลำนำ\nล่ำสัน\nล้ำยุค\nล้ำสมัย\nล้ำลึก\nล้ำเลิศ\nล้ำเส้น\nล้ำหน้า\nลิงจุ่น\nลิงลม\nลิงโลด\nลิดรอน\nลิ้นไก่\nลิ้นชัก\nลิ้นปี่\nลิ้นควาย\nลิ้นงูเห่า\nลิ้นหมา\nลิบลับ\nลิบลิ่ว\nลิ่มเลือด\nลี้ภัย\nลี้ลับ\nลึกซึ้ง\nลึกลับ\nลึกล้ำ\nลืมตน\nลืมต้น\nลืมตัว\nลืมตา\nลืมเลือน\nลือชา\nลือชื่อ\nลือลั่น\nลุล่วง\nลุกลน\nลุกลาม\nลุกลี้ลุกลน\nลุกฮือ\nลุ่มน้ำ\nลุ่มลึก\nลุ่มหลง\nลุ่ทาง\nลูกกรง\nลูกกรอก\nลูกกรุง\nลูกกลอน\nลูกกลิ้ง\nลูกกวาด\nลูกกะจ๊อก\nลูกกุญแจ\nลูกเกด\nลูกแก้ว\nลูกขนไก่\nลูกข่าง\nลูกขุน\nลูกเขย\nลูกครึ่ง\nลูกคลื่น\nลูกความ\nลูกคอ\nลูกค้า\nลูกคิด\nลูกคู่\nลูกจ้าง\nลูกช้าง\nลูกชิด\nลูกชิ้น\nลูกชุบ\nลูกซอง\nลูกโซ่\nลูกดอก\nลูกดิ่ง\nลูกตะกั่ว\nลูกตุ้ม\nลูกเต้า\nลูกเต๋า\nลูกถ้วย\nลูกทุ่ง\nลูกเธอ\nลูกน้อง\nลูกน้ำ\nลูกนิมิต\nลูกบอล\nลูกบ้าน\nลูกบาศก์\nลูกบิด\nลูกเบี้ยว\nลูกประคบ\nลูกประคำ\nลูกปัด\nลูกปืน\nลูกโป่ง\nลูกผสม\nลูกผู้ชาย\nลูกผู้หญิง\nลูกพรรค\nลูกพี่\nลูกฟูก\nลูกไฟ\nลูกมือ\nลูกโม่\nลูกไม้\nลูกยาเธอ\nลูกรอก\nลูกรัง\nลูกเรือ\nลูกล้อ\nลูกลอย\nลูกเล่น\nลูกเลี้ยง\nลูกโลก\nลูกวัด\nลูกศร\nลูกศิษย์\nลูกสมุน\nลูกสะใภ้\nลูกสูบ\nลูกเสือ\nลูกหนัง\nลูกหนี้\nลูกหนู\nลูกหมาก\nลูกหลง\nลูกหลาน\nลูกหาบ\nลูกหิน\nลูกเห็บ\nลูกเหม็น\nลูกแหง่\nลูกอม\nลูกหม้อ\nลูบคม\nลูบคลำ\nลูบไล้\nเล็กน้อย\nเลขคณิต\nเลขผา\nเลขหมาย\nเล็ดลอด\nเล่นงาน\nเล่นแง่\nเล่นชู้\nเล่นตัว\nเล่นลิ้น\nเล่นหัว\nเลนส์นูน\nเลนส์เว้า\nเล็บครุฑ\nเลยเถิด\nเลศนัย\nเล่ห์กล\nเล่ห์เหลี่ยม\nเลอโฉม\nเลอมาน\nเลอเลิศ\nเลอสรวง\nเล่อล่า\nเลอะเลือน\nเล่าเรียน\nเล่าลือ\nเลาะลัด\nเลิกรา\nเลิกร้าง\nเลิกล้ม\nเลิศเลอ\nเลี้ยงชีพ\nเลี้ยงดู\nเลี้ยงต้อย\nเลียบเคียง\nเลี้ยวลด\nเลือกตั้ง\nเลือกเฟ้น\nเลือกสรร\nเลื่องลือ\nเลือดกำเดา\nเลือดเนื้อ\nเลือดฝาด\nเลือดเย็น\nเลือดร้อน\nเลือดหมู\nเลือดอุ่น\nเลือนราง\nเลื่อนเปื้อน\nเลื่อนลอย\nเลื่อมพราย\nเลื่อมใส\nเลื่อยฉลุ\nเลื่อยลันดา\nเลื่อยวงเดือน\nเลื้อยคลาน\nแลเหลียว\nแลกเปลี่ยน\nแล้วกัน\nและเล็ม\nโล่งใจ\nโล่งโถง\nโล่งอก\nโลดเต้น\nโลดโผน\nโลดลิ่ว\nโลดแล่น\nไล่ที่\nไล่เบี้ย\nไล่เลี่ย\nไล่เลียง\nไล่หลัง\nไล่ออก\nวกวน\nวงกบ\nวงกลม\nวงการ\nวงแขน\nวงเงิน\nวงจร\nวงนอก\nวงใน\nวงรี\nวงเล็บ\nวงเวียน\nวงแหวน\nวงศ์วาน\nวจีกรรม\nวจีเภท\nวจีภาค\nวนเวียน\nวอดวาย\nว็อบแว็บ\nวังวน\nวังหน้า\nวังหลวง\nวังหลัง\nวัดราษฎร์\nวัดวา\nวัดหลวง\nวัดผล\nวัดพื้น\nวัตถุนิยม\nวัตถุประสงค์\nวัตรปฏิบัติ\nวันโกน\nวันพระ\nวันเพ็ญ\nวัยรุ่น\nวัยวุฒิ\nว่ากล่าว\nว่าจ้าง\nว่าด้วย\nว่าที่\nวางก้าม\nวางใจ\nวางตัว\nวางตา\nวางโต\nวางท่า\nวางมวย\nวางมาด\nวางมือ\nวางวาย\nว่างเปล่า\nว่างเว้น\nวาดเขียน\nว่านเครือ\nวาบหวาม\nวายชนม์\nวายปราณ\nวายวาง\nวายวอด\nวายร้าย\nวายุภักษ์\nวาววับ\nวาววาม\nวาวแวว\nวาวแสง\nวิกฤตการณ์\nวิกฤติการณ์\nวิกฤตกาล\nวิกฤติกาล\nวิกลจริต\nวิงเวียน\nวิ่งเต้น\nวิ่งผลัด\nวิ่งรอก\nวิ่งราว\nวิจิตรศิลป์\nวิชาการ\nวิชาชีพ\nวิชาธร\nวิญญูชน\nวิดพื้น\nวิตกจริต\nวิถีทาง\nวิทยากร\nวิทยากล\nวิทยาการ\nวิทยาเขต\nวิทยาทาน\nวิทยาธร\nวิทยานิพนธ์\nวิทยาศาสตร์\nวิเทศสัมพันธ์\nวิธีการ\nวินัยธร\nวินัยปิฎก\nวินาศกรรม\nวินาศภัย\nวินาศสันตะโร\nวิภัชพยากรณ์\nวิภัชวาที\nวิไลวรรณ\nวิสัญญีแพทย์\nวิสัญญีภาพ\nวิสัญญีวิทยา\nวุฒิบัตร\nวุฒิสภา\nวุฒิสมาชิก\nวุ่นวาย\nวุ้นเส้น\nวูบวาบ\nเวจกุฎี\nเวจมรรค\nเวชกรรม\nเวชภัณฑ์\nเวชศาสตร์\nเวทมนตร์\nเวนคืน\nเวรกรรม\nเวฬุการ\nเวฬุวัน\nเว้าวอน\nเวิ้งว้าง\nเวียงวัง\nเวียนเทียน\nแว้งกัด\nแวดล้อม\nแวดวง\nแว่นขยาย\nแว่นแคว้น\nแว่นตา\nแวบวับ\nแววตา\nแวววาม\nแวววาว\nแวะเวียน\nโวยวาย\nไวไฟ\nไว้ใจ\nไว้ชื่อ\nไว้ตัว\nไว้ทุกข์\nไว้ลาย\nไว้หน้า\nไว้อาลัย\nศนิวาร\nศอกกลับ\nศอกกำ\nศอกกำมา\nศักดิ์ศรี\nศักดิ์สิทธิ์\nศารทวิษุวัติ\nศาลแขวง\nศาลจังหวัด\nศาลชั้นต้น\nศาลฎีกา\nศาลเตี้ย\nศาลทหาร\nศาลปกครอง\nศาลพระภูมิ\nศาลเพียงตา\nศาลแพ่ง\nศาลรัฐธรรมนูญ\nศาลแรงงาน\nศาลล้มละลาย\nศาลโลก\nศาลสูง\nศาลสูงสุด\nศาลอาญา\nศาลอุทธรณ์\nศาลากลาง\nศาลาดิน\nศาลาราย\nศาลาวัด\nศิลาฤกษ์\nศิลาแลง\nศิษย์เก่า\nศิษย์เอก\nศีลจุ่ม\nศีลธรรม\nศีลวัต\nศีลอด\nศูนย์กลาง\nศูนย์การค้า\nศูนย์ถ่วง\nศูนย์สูตร\nศูนย์หน้า\nเศร้าใจ\nเศร้าโศก\nเศร้าสร้อย\nเศร้าสลด\nเศร้าหมอง\nเศวตฉัตร\nเศษเกิน\nเศษซ้อน\nเศษวรรค\nเศษส่วน\nเศษเหล็ก\nโศกนาฏกรรม\nโศกศัลย์\nโศกเศร้า\nโศกสลด\nสกลโลก\nส่งเดช\nส่งท้าย\nส่งเสริม\nส่งเสีย\nส่งเสียง\nสงบเงียบ\nสงบเสงี่ยม\nสง่างาม\nสง่าราศี\nสดชื่น\nสดใส\nสตรีเพศ\nสติปัญญา\nสถลมารค\nสถานกงสุล\nสถานที่\nสถานทูต\nสถานการณ์\nสถานภาพ\nสถิติศาสตร์\nสนตะพาย\nสนใจ\nส้นตีน\nสนธิสัญญา\nสนนราคา\nสนับแข้ง\nสนับเพลา\nสนับมือ\nสนามบิน\nสนามเพลาะ\nสนิทสนม\nสนิมขุม\nสนิมสร้อย\nสนุกสนาน\nสบประมาท\nสบายใจ\nสภาพธรรม\nสมควร\nสมจริง\nสมใจ\nสมนัย\nสมน้ำหน้า\nสมประกอบ\nสมส่วน\nสมหวัง\nสมคบ\nสมทบ\nสมยอม\nสมรัก\nสมรู้\nสมสู่\nส้มฉุน\nส้มตำ\nส้มลิ้ม\nส้มกุ้ง\nส้มเช้า\nสมญานาม\nสมมติฐาน\nสมมุติฐาน\nสมมติเทพ\nสมรภูมิ\nสมัครใจ\nสมัยนิยม\nสมุทรศาสตร์\nสมุทรเสนา\nสยดสยอง\nสยองขวัญ\nสยามรัฐ\nสรรหา\nสรวมชีพ\nสรวลเส\nสร้อยเศร้า\nสร้างสรรค์\nสร้างเสริม\nสลดใจ\nสลบไสล\nสละสลวย\nสลาเหิน\nสลากภัต\nสวนครัว\nสวนป่า\nสวนสนุก\nสวนหย่อม\nส่วนกลาง\nส่วนเกิน\nส่วนตัว\nส่วนบุญ\nส่วนแบ่ง\nส่วนประกอบ\nส่วนพระองค์\nส่วนผสม\nส่วนรวม\nส่วนร่วม\nส่วนลด\nส่วนสัด\nสวมกอด\nสวมเขา\nสวมรอย\nสวยมภู\nสว่างไสว\nสวามิภักดิ์\nสวิงสวาย\nสสารนิยม\nส่อเสียด\nสอดคล้อง\nสอดแทรก\nสอดแนม\nสอบถาม\nสอบทาน\nสอบไล่\nสอบสวน\nส้อมเสียง\nสะสวย\nสะแกวัลย์\nสะแกแสง\nสะใจ\nสะเด็ดยาด\nสะเทือนใจ\nสะบัดช่อ\nสั่งสม\nสั่งสอน\nสั่งเสีย\nสังเกตการณ์\nสังคมนิยม\nสังคมวิทยา\nสังคมศาสตร์\nสังคมศึกษา\nสังคมสงเคราะห์\nสัญญาบัตร\nสัดส่วน\nสัตการ\nสัตบุรุษ\nสัตบริภัณฑ์\nสัตภัณฑ์\nสัตมหาสถาน\nสัตโลหะ\nสันเขา\nสันดอน\nสันหลัง\nสั่นเทา\nสั่นเทิ้ม\nสันติบาล\nสันติภาพ\nสันติวิธี\nสันติสุข\nสับเปลี่ยน\nสับสน\nสับหลีก\nสับหว่าง\nสัมมาคารวะ\nสัมมาชีพ\nส่าเหล้า\nสากกะเบือ\nสาทิสลักษณ์\nสาธุการ\nสาธุชน\nสาบเสือ\nสาปสรร\nสาปแช่ง\nสาปส่ง\nสามง่าม\nสามล้อ\nสามเหลี่ยม\nสามเวท\nสามัญชน\nสามัญสำนึก\nสายดิ่ง\nสายดิน\nสายตรวจ\nสายน้ำ\nสายบัว\nสายพาน\nสายฟ้า\nสายยาง\nสายยู\nสายใย\nสายรก\nสายรุ้ง\nสายล่อฟ้า\nสายลับ\nสายเลือด\nสายโลหิต\nสายวัด\nสายส่ง\nสายสวาท\nสายสะดือ\nสายสะพาย\nสายสัมพันธ์\nสายสิญจน์\nสายสืบ\nสายไหม\nสายอากาศ\nสายตา\nสายหยุด\nสารตรา\nสารประกอบ\nสารละลาย\nสารส้ม\nสารหนู\nสารทฤดู\nสาวใช้\nสาวน้อย\nสาวใหญ่\nสำนักงาน\nสำนักพิมพ์\nสำนักสงฆ์\nสำมะโนครัว\nสำเร็จรูป\nสิกขาบท\nสิงสถิต\nสิงสู่\nสิ่งก่อสร้าง\nสิ่งของ\nสิ่งปฏิกูล\nสิ่งพิมพ์\nสิ่งแวดล้อม\nสิ่งศักดิ์สิทธิ์\nสิทธิกร\nสิทธิ์ขาด\nสิทธิชัย\nสิทธิโชค\nสิทธิบัตร\nสินค้า\nสินจ้าง\nสินเชื่อ\nสินไถ่\nสินทรัพย์\nสินน้ำใจ\nสินบน\nสินแร่\nสินสมรส\nสินสอด\nสินไหม\nสิ้นเชิง\nสิ้นสุด\nสีผึ้ง\nสีลม\nสีชอล์ก\nสีถ่าน\nสีเทียน\nสีน้ำ\nสีน้ำมัน\nสีโปสเตอร์\nสีฝุ่น\nสี่เหลี่ยม\nสีหน้า\nสึกหรอ\nสืบทอด\nสืบค้น\nสืบสวน\nสืบสาว\nสืบเสาะ\nสื่อผสม\nสื่อมวลชน\nสื่อสาร\nสุกงอม\nสุกดิบ\nสุกปลั่ง\nสุกใส\nสุขนาฏกรรม\nสุขภัณฑ์\nสุขภาพ\nสุขลักษณะ\nสุขวิทยา\nสุขศาลา\nสุขศึกษา\nสุดท้าย\nสุตกวี\nสุนทรพจน์\nสุภาพชน\nสู่ขอ\nสู่รู้\nสู่สม\nสูงส่ง\nสูญเปล่า\nสูญสิ้น\nสูญเสีย\nสูญหาย\nเสสรวล\nเสแสร้ง\nเสกสรร\nเสถียรภาพ\nเส้นชัย\nเส้นตรง\nเส้นตาย\nเส้นทาง\nเส้นใย\nเส้นรุ้ง\nเส้นเลือด\nเส้นแวง\nเส้นสาย\nเส้นเสียง\nเส้นหมี่\nเส้นเอ็น\nเสบียงกรัง\nเสมอภาค\nเสมอหน้า\nเสมอเหมือน\nเสมียนตรา\nเสร็จสรรพ\nเสร็จสิ้น\nเสริมส่ง\nเสริมสร้าง\nเสริมสวย\nเสรีไทย\nเสรีธรรม\nเสรีนิยม\nเสรีภาพ\nเสาเข็ม\nเสาธง\nเสียใจ\nเสียเชิง\nเสียดาย\nเสียที\nเสียเที่ยว\nเสียเปรียบ\nเสียเปล่า\nเสียรู้\nเสียแรง\nเสียสละ\nเสียหลัก\nเสียหาย\nเสี่ยงทาย\nเสียดแทง\nเสียดแทรก\nเสียดสี\nเสี้ยนศึก\nเสี้ยนหนาม\nเสี้ยมสอน\nเสียวซ่าน\nเสียวไส้\nเสือดาว\nเสือดำ\nเสือปลา\nเสือป่า\nเสือไฟ\nเสื่อกก\nเสื่อกระจูด\nเสื่อน้ำมัน\nเสื่อลำแพน\nเสื้อกล้าม\nเสื้อกั๊ก\nเสื้อเกราะ\nเสื้อครุย\nเสื้อแสง\nเสื้อเมือง\nเสือกคลาน\nเสือกสน\nเสือกไส\nเสื่อมคลาย\nเสื่อมถอย\nเสื่อมทราม\nเสื่อมโทรม\nเสื่อมสลาย\nเสื่อมสูญ\nเสื่อมเสีย\nเสือหมอบ\nแสกหน้า\nแสดงออก\nแสเถา\nแสนกล\nแสนรู้\nแสร้งว่า\nใส่ความ\nใส่ไคล้\nใส่ใจ\nใส่ไฟ\nไส้กรอก\nไส้ไก่\nไส้ติ่ง\nไส้ศึก\nไส้อั่ว\nไส้เดือน\nไส้ตัน\nไสยเวท\nไสยศาสตร์\nหกล้ม\nหงส์หยก\nหงอนไก่\nหงอยก๋อย\nหงอยเหงา\nหงายท้อง\nหงายหลัง\nหงำเหงอะ\nหงำเหงือก\nหดหาย\nหดหู่\nหนทาง\nหนวกหู\nหน่วงเหนี่ยว\nหน่วยก้าน\nหน่อไม้\nหนองใน\nหนองแซง\nหนักข้อ\nหนักใจ\nหนักแน่น\nหนักหน่วง\nหนักหนา\nหนังกลับ\nหนังตะลุง\nหนังเรียด\nหนังสด\nหนังใหญ่\nหนังสือพิมพ์\nหนาแน่น\nหน้ากระดาน\nหน้ากาก\nหน้ากาฬ\nหน้าแข้ง\nหน้าจั่ว\nหน้าฉาน\nหน้าตัก\nหน้าตา\nหน้าต่าง\nหน้าท้อง\nหน้าทับ\nหน้าที่\nหน้าที่นั่ง\nหน้าบัน\nหน้าปัด\nหน้าผา\nหน้าผาก\nหน้าม้า\nหน้ามุข\nหน้าไม้\nหน้าเลือด\nหน้าอก\nหนามเตย\nหน่ายหนี\nหน่ายแหนง\nหนาวเหน็บ\nหนำใจ\nหนี้สิน\nหนี้ส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น\nกณิกนันต์\nกณิการ์\nกด\nกตเวทิตา\nกตเวที\nกตัญชลี\nกตัญญุตา\nกตัญญู\nกตาธิการ\nกตาภินิหาร\nกติกา\nกถา\nกถิกาจารย์\nกทลี\nกน\nก่น\nก้น\nกนก\nกนิษฐ์\nกนิษฐา\nกบ\nกบฏ\nกบดาน\nกบทู\nกบาล\nกบินทร์\nกบิล\nกบี่\nกบูร\nกเบนทร์\nกม\nก้ม\nกมณฑลาภิเษก\nกมณฑโลทก\nกมล\nกมลา\nกมลาศ\nกมลาสน์\nกมเลศ\nกมัณฑลุ\nกมุท\nกร\nกรกฎ\nกรกฎาคม\nกรกฏ\nกรง\nกรชกาย\nกรณฑ์\nกรณิการ์\nกรณี\nกรณีย์\nกรณียกิจ\nกรณียะ\nกรด\nกรน\nกรบ\nกรบูร\nกรพินธุ์\nกรม\nกรรกฎ\nกรรกศ\nกรรเกด\nกรรไกร\nกรรเจียก\nกรรชิง\nกรรเชียง\nกรรโชก\nกรรฐ์\nกรรฐา\nกรรณ\nกรรณา\nกรรณิกา\nกรรณิการ์\nกรรดิ\nกรรดิก\nกรรดึก\nกรรตุ\nกรรไตร\nกรรทบ\nกรรแทก\nกรรบิด\nกรรบูร\nกรรภิรมย์\nกรรม\nกรรม์\nกรรม์ภิรมย์\nกรรมชวาต\nกรรมัชวาต\nกรรมาชีพ\nกรรมาธิการ\nกรรมาร\nกรรษก\nกรรสะ\nกรรแสง\nกรวด\nกรวบ\nกรวม\nกร้วม\nกรวย\nกรวิก\nกรสาปน์\nกรสุทธิ์\nกรอ\nกร้อ\nกรอก\nกร็อกกร๋อย\nกรอกแกรก\nกรอง\nกรองกรอย\nกรอด\nกร่อน\nกรอบ\nกรอม\nกร่อย\nกระ\nกระกร\nกระกรุ่น\nกระกลับกลอก\nกระกี้\nกระเกรอก\nกระเกริก\nกระเกริ่น\nกระคน\nกระคาย\nกระงกกระเงิ่น\nกระง่องกระแง่ง\nกระง่อนกระแง่น\nกระเง้ากระงอด\nกระโงก\nกระจก\nกระจง\nกระจร\nกระจอก\nกระจองหง่อง\nกระจ๋องหง่อง\nกระจองอแง\nกระจ้อน\nกระจอนหู\nกระจ้อย\nกระจ๋อหวอ\nกระจะ\nกระจัก\nกระจัง\nกระจัด\nกระจับ\nกระจ่า\nกระจ่าง\nกระจาด\nกระจาน\nกระจาบ\nกระจาม\nกระจาย\nกระจาว\nกระจิก\nกระจิ๋ง\nกระจิด\nกระจิบ\nกระจิ๋ม\nกระจิริด\nกระจิ๋ว\nกระจี้\nกระจี๋\nกระจุก\nกระจุ๋งกระจิ๋ง\nกระจุบ\nกระจุ๊บ\nกระจุ๋มกระจิ๋ม\nกระจุย\nกระจู้\nกระจู๋กระจี๋\nกระจูด\nกระเจอะกระเจิง\nกระเจา\nกระเจ่า\nกระเจ้า\nกระเจาะ\nกระเจิง\nกระเจิดกระเจิง\nกระเจี้ยง\nกระเจี๊ยบ\nกระเจียว\nกระเจี๊ยว\nกระแจะ\nกระโจน\nกระโจม\nกระฉอก\nกระฉ่อน\nกระฉับกระเฉง\nกระฉิ่ง\nกระฉีก\nกระฉูด\nกระเฉก\nกระเฉด\nกระแฉก\nกระโฉกกระเฉก\nกระโฉม\nกระชดกระช้อย\nกระชอน\nกระชอมดอก\nกระช้อย\nกระชัง\nกระชั้น\nกระชับ\nกระชาก\nกระชาย\nกระชิง\nกระชิด\nกระชุ\nกระชุก\nกระชุ่มกระชวย\nกระเชอ\nกระเชา\nกระเช้า\nกระเชียง\nกระแชง\nกระแชะ\nกระโชก\nกระซ่องกระแซ่ง\nกระซับ\nกระซาบ\nกระซิก\nกระซิบ\nกระซี้\nกระซุง\nกระซุบกระซิบ\nกระซุ้ม\nกระซู่\nกระเซ็น\nกระเซอ\nกระเซอะกระเซอ\nกระเซอะกระเซิง\nกระเซ้า\nกระเซิง\nกระแซ\nกระแซะ\nกระโซกระเซ\nกระฎี\nกระฎุมพี\nกระดก\nกระด้ง\nกระดนโด่\nกระดวง\nกระดวน\nกระด้วมกระเดี้ยม\nกระดอ\nกระดอง\nกระดองหาย\nกระดอน\nกระดอม\nกระดักกระเดี้ย\nกระดังงัว\nกระดังงา\nกระดาก\nกระด้าง\nกระดางลาง\nกระดาด\nกระดาดขาว\nกระดาน\nกระดานพน\nกระดาษ\nกระดำกระด่าง\nกระดิก\nกระดิ่ง\nกระดิ้ง\nกระดิบ\nกระดี่\nกระดี้กระเดียม\nกระดึง\nกระดืบ\nกระดุ\nกระดุกกระดิก\nกระดุ้งกระดิ้ง\nกระดุบ\nกระดุบกระดิบ\nกระดุม\nกระดูก\nกระเดก\nกระเด้ง\nกระเด็น\nกระเด้า\nกระเดาะ\nกระเดิด\nกระเดี้ย\nกระเดียด\nกระเดือก\nกระเดื่อง\nกระแด็ก\nกระแด้ง\nกระแด้แร่\nกระแด่ว\nกระแดะ\nกระโดก\nกระโดง\nกระโดด\nกระโดน\nกระได\nกระตรับ\nกระตราก\nกระตรุด\nกระตรุม\nกระต้วมกระเตี้ยม\nกระต้อ\nกระต่องกระแต่ง\nกระต๊อบ\nกระต้อยตีวิด\nกระตัก\nกระตั้ว\nกระต่าย\nกระติก\nกระติ๊ด\nกระติบ\nกระตือรือร้น\nกระตุก\nกระตุ้งกระติ้ง\nกระตุ่น\nกระตุ้น\nกระตูบ\nกระเตง\nกระเต็น\nกระเตอะ\nกระเตาะ\nกระเตาะกระแตะ\nกระเตื้อง\nกระแต\nกระแตแต้แว้ด\nกระโตกกระตาก\nกระโตน\nกระถด\nกระถอบ\nกระถั่ว\nกระถาง\nกระถิก\nกระถิน\nกระเถิบ\nกระโถน\nกระทก\nกระทง\nกระทบ\nกระทรวง\nกระทอก\nกระท้อน\nกระท่อนกระแท่น\nกระท่อม\nกระท้อมกระแท้ม\nกระทะ\nกระทั่ง\nกระทั้น\nกระทา\nกระทาย\nกระทาสี\nกระทาหอง\nกระทำ\nกระทิกกระทวย\nกระทิง\nกระทึง\nกระทืบ\nกระทุ\nกระทุง\nกระทุ้ง\nกระทุ่ม\nกระทู้\nกระเท่\nกระเทียบ\nกระเทียม\nกระเทือน\nกระเทื้อม\nกระแทก\nกระแท่น\nกระแทะ\nกระไทชาย\nกระน่อง\nกระนั้น\nกระนี้\nกระแนะกระแหน\nกระโน้น\nกระไน\nกระบก\nกระบม\nกระบวน\nกระบวย\nกระบวร\nกระบอก\nกระบอง\nกระบะ\nกระบัด\nกระบั้วกระเบี้ย\nกระบ่า\nกระบ้า\nกระบาก\nกระบาย\nกระบาล\nกระบิ\nกระบิ้ง\nกระบิด\nกระบิล\nกระบี่\nกระบือ\nกระบุง\nกระบุ่มกระบ่าม\nกระบู้กระบี้\nกระบูน\nกระบูร\nกระเบง\nกระเบญ\nกระเบ็ดกระบวน\nกระเบน\nกระเบา\nกระเบิก\nกระเบียด\nกระเบียน\nกระเบื้อง\nกระแบก\nกระแบะ\nกระโบม\nกระปมกระปำ\nกระปมกระเปา\nกระปรอก\nกระปรอกว่าว\nกระปรี้กระเปร่า\nกระปอก\nกระป้อกระแป้\nกระป่อง\nกระป๋อง\nกระปอดกระแปด\nกระป๋อหลอ\nกระปั้วกระเปี้ย\nกระป่ำ\nกระปุก\nกระปุ๊กลุก\nกระปุ่ม\nกระปุ่มกระป่ำ\nกระปุ่มกระปิ่ม\nกระเป๋า\nกระเปาะ\nกระโปก\nกระโปรง\nกระผม\nกระผลีกระผลาม\nกระผาน\nกระผีก\nกระพรวน\nกระพริ้ม\nกระพอก\nกระพอง\nกระพ้อม\nกระพัก\nกระพัง\nกระพังเหิร\nกระพังโหม\nกระพัด\nกระพัตร\nกระพัน\nกระพั่น\nกระพา\nกระพาก\nกระพี้\nกระพือ\nกระพุ้ง\nกระพุ่ม\nกระเพาะ\nกระเพิง\nกระเพื่อม\nกระแพ้ง\nกระฟัดกระเฟียด\nกระฟูมกระฟาย\nกระมล\nกระมอบ\nกระมอมกระแมม\nกระมัง\nกระมัน\nกระมิดกระเมี้ยน\nกระมุท\nกระเมาะ\nกระย่อง\nกระย่องกระแย่ง\nกระย่อน\nกระย่อม\nกระยา\nกระยาง\nกระยาจก\nกระยาหงัน\nกระยิก\nกระยิ้มกระย่อง\nกระยึกกระยือ\nกระยืดกระยาด\nกระเย้อกระแหย่ง\nกระรอก\nกระเรียน\nกระโรกน้ำข้าว\nกระโรกใหญ่\nกระไร\nกระลด\nกระลบ\nกระลอก\nกระลอม\nกระละหล่ำ\nกระลัด\nกระลับ\nกระลัมพร\nกระลา\nกระลำ\nกระลำพัก\nกระลำพุก\nกระลิง\nกระลี\nกระลุมพาง\nกระลุมพุก\nกระลุมพู\nกระลูน\nกระลู่น์\nกระเล็น\nกระเลียด\nกระเลือก\nกระโลง\nกระวน\nกระวัด\nกระวาด\nกระวาน\nกระวาย\nกระวิน\nกระวี\nกระวีกระวาด\nกระวูดกระวาด\nกระเวน\nกระเวยกระวาย\nกระแวน\nกระโวยกระวาย\nกระษัย\nกระษาปณ์\nกระสง\nกระสบ\nกระสม\nกระสรวล\nกระสร้อย\nกระสวน\nกระสวย\nกระสอบ\nกระสะ\nกระสัง\nกระสัน\nกระสับกระส่าย\nกระสา\nกระสานติ์\nกระสาบ\nกระสาย\nกระสือ\nกระสุงกระสิง\nกระส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ทิง\nกากะเยีย\nกากี\nกาง\nก้าง\nกางเกง\nกางเขน\nก๊าซ\nกาซะลอง\nกาญจนา\nกาฐ\nกาด\nก๊าด\nกาน\nก่าน\nก้าน\nก๊าน\nกานดา\nกานต์\nกานน\nก้านพร้าว\nกานพลู\nกาน้า\nกาบ\nก้าบ\nกาบู\nกาพย์\nกาเฟอีน\nกาแฟ\nกาม\nก้าม\nกามารมณ์\nกามินี\nกาเมสุมิจฉาจาร\nกาย\nก่าย\nกาเยน\nการ\nการณ์\nการ์ด\nการ์ตูน\nการบูร\nการย์\nการวิก\nการเวก\nการะเกด\nการะบุหนิง\nการัณย์\nการันต์\nการางหัวขวาน\nการิตการก\nการิตวาจก\nการุญ\nการุณย์\nกาเรการ่อน\nกาล\nกาลกรรณี\nกาลกิณี\nกาลจักร\nกาลัญญุตา\nกาลัญญู\nกาลัด\nกาลานุกาล\nกาลิก\nกาลี\nกาแล\nกาแล็กซี\nกาแล็กโทส\nกาว\nก้าว\nกาววาว\nกาวาง\nกาแวน\nกาศิก\nกาษฐะ\nกาษา\nกาสร\nกาสะ\nกาสา\nกาสาร\nกาสาวะ\nกาสิโน\nกาหล\nกาหลง\nกาหลา\nกาเหว่า\nกาไหล่\nกาฬ\nกาฬาวก\nกาฮัง\nกำ\nก่ำ\nกำกวม\nกำกัด\nกำกับ\nก้ำกึ่ง\nกำกูน\nก้ำเกิน\nกำเกียง\nกำคูน\nกำจร\nกำจัด\nกำจาย\nกำชับ\nกำชำ\nกำซาบ\nกำซำ\nกำด้น\nกำดัด\nกำดาล\nกำเดา\nกำธร\nกำนล\nกำนัน\nกำนัล\nกำเนิด\nกำบัง\nก่ำบึ้ง\nกำเบ้อ\nกำปอ\nกำปั่น\nกำผลา\nกำพง\nกำพด\nกำพต\nกำพร้า\nกำพราก\nกำพวด\nกำพอง\nกำพืด\nกำพุด\nกำพู\nกำเพลิง\nกำแพง\nกำภู\nกำมลาศน์\nกำมเลศ\nกำมะถัน\nกำมะลอ\nกำมะหยี่\nกำมะหริด\nกำมังละการ\nกำมังวิลิต\nกำมัชพล\nกำยาน\nกำยำ\nกำรอ\nกำราบ\nกำราล\nกำเริบ\nกำไร\nกำลัง\nกำลุง\nกำเลา\nกำไล\nกำสรด\nกำสรวล\nกำหนด\nกำหนัด\nกำเหน็จ\nกำแหง\nกิก\nกิ๊ก\nกิ่ง\nกิ้งก่า\nกิ้งกือ\nกิ้งโครง\nกิจ\nกิจจะ\nกิจจา\nกิดาการ\nกิดาหยัน\nกิตติ\nกิตติมศักดิ์\nกิน\nกินนร\nกินปลี\nกินเปี้ยว\nกินริน\nกินรี\nกิ๊บ\nกิมตึ๋ง\nกิมิชาติ\nกิมิวิทยา\nกิโมโน\nกิโยตีน\nกิระ\nกิริณี\nกิรินท\nกิริเนศวร\nกิริยา\nกิเลน\nกิเลส\nกิโล\nกิโลมกะ\nกิ่ว\nกิ๋ว\nกี\nกี่\nกี้\nกี๊\nกี๋\nกีฏวิทยา\nกีด\nกีตาร์\nกีบ\nกีรติ\nกีฬา\nกึก\nกึง\nกึ่ง\nกึ๋น\nกุ\nกุก\nกุ๊ก\nกุกกุฏ\nกุกกุร\nกุกรรม\nกุ้ง\nกุงอน\nกุงาน\nกุโงก\nกุจี\nกุญแจ\nกุญชร\nกุฎ\nกุฎา\nกุฎี\nกุฎุมพี\nกุฏฐัง\nกุฏิ\nกุณฑ์\nกุณฑล\nกุณฑี\nกุณโฑ\nกุณาล\nกุณี\nกุด\nกุดัง\nกุดั่น\nกุดา\nกุทัณฑ์\nกุน\nกุ๊น\nกุนเชียง\nกุนที\nกุโนกามอ\nกุบ\nกุบกับ\nกุม\nกุ่ม\nกุมฝอย\nกุมภ์\nกุมภนิยา\nกุมภัณฑ์\nกุมภา\nกุมภิล\nกุมภีล์\nกุมเหง\nกุมาร\nกุมารา\nกุมารี\nกุมุท\nกุย\nกุ๊ย\nกุ๋ย\nกุยช่าย\nกุยเฮง\nกุรระ\nกุรุพินท์\nกุเรา\nกุล\nกุลา\nกุลาหล\nกุลี\nกุลีกุจอ\nกุเลา\nกุแล\nกุเวร\nกุศราช\nกุศล\nกุศโลบาย\nกุสุม\nกุสุมภ์\nกุสุมา\nกุสุมาลย์\nกุสุมิตลดาเวลลิตา\nกุหนี\nกุหนุง\nกุหร่า\nกุหล่า\nกุหลาบ\nกุแหละ\nกู\nกู่\nกู้\nกู๊ก\nกูฏ\nกูฏา\nกูณฑ์\nกูด\nกูบ\nกูปรี\nกูรมะ\nกูรมาวตาร\nเก\nเก้\nเก๊\nเก๋\nเกก\nเก๊ก\nเกกมะเหรก\nเก๊กฮวย\nเก้กัง\nเก็ง\nเก่ง\nเก้ง\nเก๋ง\nเกงกอย\nเก่งกาจ\nเกงเขง\nเก๋งเคง\nเก็จ\nเกจิอาจารย์\nเกชา\nเกณฑ์\nเกด\nเก็ด\nเกตุ\nเกน\nเก็บ\nเกม\nเกย\nเกยูร\nเกรง\nเกร็ง\nเกร็ด\nเกรน\nเกร่อ\nเกรอะ\nเกราะ\nเกริก\nเกริน\nเกริ่น\nเกรียก\nเกรียง\nเกรียด\nเกรียน\nเกรียบ\nเกรียม\nเกรียว\nเกรี้ยว\nเกเร\nเกล็ด\nเกลศ\nเกลอ\nเกลา\nเกล้า\nเกลาะ\nเกลี่ย\nเกลี้ย\nเกลียง\nเกลี้ยง\nเกลียด\nเกลียว\nเกลือ\nเกลื้อ\nเกลือก\nเกลื่อน\nเกลื้อน\nเกวัฏ\nเกวียน\nเกศ\nเกศว\nเกศวะ\nเกศา\nเกศินี\nเกศี\nเกษตร\nเกษม\nเกษียณ\nเกษียน\nเกษียร\nเกส\nเกสร\nเกสรี\nเกสา\nเกสี\nเก้อ\nเกอิชา\nเกะ\nเกะกะ\nเกา\nเก่า\nเก้า\nเก๋า\nเกาต์\nเกาทัณฑ์\nเกาบิล\nเกาลัด\nเกาลิน\nเกาไศย\nเกาหลี\nเกาเหลา\nเกาเหลียง\nเก้าอี้\nเกาะ\nเกิ้ง\nเกิด\nเกิน\nเกิบ\nเกีย\nเกียกกาย\nเกียง\nเกี่ยง\nเกี๋ยง\nเกียจ\nเกียด\nเกียน\nเกี้ยมไฉ่\nเกี้ยมอี๋\nเกียร์\nเกียรติ\nเกียรติ์\nเกี่ยว\nเกี้ยว\nเกี๊ยว\nเกี๊ยะ\nเกื้อ\nเกือก\nเกื้อกูล\nเกือบ\nแก\nแก่\nแก้\nแกง\nแก่ง\nแก้ง\nแก๊ง\nแกงได\nแกงแนง\nแกโดลิเนียม\nแกน\nแก่น\nแก๊ป\nแกม\nแก้ม\nแกมมา\nแกรก\nแกร่ง\nแกร็น\nแกรนิต\nแกรไฟต์\nแกร่ว\nแกระ\nแกล\nแกล้ง\nแกลน\nแกลบ\nแกล้ม\nแกลลอน\nแกลเลียม\nแกล้ว\nแกละ\nแกแล\nแกว\nแก้ว\nแกว่ง\nแก๊ส\nแกะ\nโก\nโก่\nโก้\nโก๋\nโกก\nโกกนุท\nโกกิลา\nโกโก้\nโกง\nโก่ง\nโกงกาง\nโก้งเก้ง\nโกงโก้\nโก้งโค้ง\nโกเชาว์\nโกญจนาท\nโกญจา\nโกฏิ\nโกฐ\nโกฐาส\nโกณะ\nโกดัง\nโกทัณฑ์\nโกน\nโก่น\nโก๋น\nโกมล\nโกมุท\nโกเมน\nโกเมศ\nโกย\nโกรก\nโกรกกราก\nโกรง\nโกร่ง\nโกร่งกร่าง\nโกรงเกรง\nโกร๋งเกร๋ง\nโกรญจ\nโกรต๋น\nโกรธ\nโกรธา\nโกร๋น\nโกรม\nโกรย\nโกรศ\nโกโรโกเต\nโกโรโกโรก\nโกโรโกโส\nโกลน\nโกลาหล\nโกไล\nโกวิท\nโกศ\nโกศล\nโกษม\nโกสน\nโกสัช\nโกสินทร์\nโกสีย์\nโกสุม\nโกไสย\nโกหก\nใกล้\nไก\nไก่\nไก๊\nไก๋\nไก่กอม\nไกพัล\nไกร\nไกรพ\nไกรลาส\nไกรศร\nไกรศรี\nไกรสร\nไกรสรี\nไกรสิทธิ\nไกล\nไกล่\nไกลาส\nไกว\nไกวัล\nขงจื๊อ\nขจร\nขจรจบ\nขจัด\nขจ่าง\nขจาย\nขจาว\nขจิต\nขจี\nขจุย\nขเจา\nขณะ\nขด\nขน\nข้น\nขนง\nขนด\nขนบ\nขนม\nขนอง\nขนอน\nขนอบ\nขนัด\nขนัน\nขนาก\nขนาง\nขนาด\nขนาน\nขนาบ\nขนาย\nขนำ\nขนิษฐ\nขนิษฐา\nขนุน\nขนุนนก\nขบ\nขบถ\nขบวน\nขบวร\nขม\nข่ม\nขมงโกรย\nขมวด\nขมวน\nขมอง\nขม่อม\nขมัง\nขมับ\nขมา\nขม้ำ\nขมิ้น\nขมิบ\nขมีขมัน\nขมึง\nขมึงทึง\nขมุ\nขมุกขมัว\nขมุบ\nขโมย\nขยด\nขยม\nขย่ม\nขยอก\nขยอง\nขย่อน\nขย้อน\nขยะ\nขยัก\nขยัน\nขยั้น\nขยับ\nขยาด\nขยาย\nขยำ\nขย้ำ\nขยิก\nขยิบ\nขยิ่ม\nขยี้\nขยุกขยิก\nขยุกขยุย\nขยุบ\nขยุบขยิบ\nขยุม\nขยุ้ม\nขยุย\nขรม\nขรรค์\nขรัว\nขริบ\nขรี\nขรึม\nขรุขระ\nขลบ\nขล้อ\nขลัง\nขลับ\nขลาด\nขลาย\nขลิบ\nขลุก\nขลุกขลัก\nขลุกขลิก\nขลุบ\nขลุม\nขลุ่ย\nขลู\nขลู่\nขวง\nข่วง\nขวด\nข่วน\nขวนขวาย\nขวบ\nขวย\nขวักไขว่\nขวัญ\nขวั้น\nขวับ\nขวับเขวียว\nขวา\nขวาก\nขวาง\nขว้าง\nขวาด\nขวาน\nขวายขวน\nขวาว\nขว้าว\nขวิด\nขอ\nข่อ\nข้อ\nของ\nข้อง\nขอด\nขอน\nข้อน\nขอบ\nขอม\nข่อย\nข้อย\nข่อยหยอง\nขะแจะ\nขะเน็ด\nขะมอมขะแมม\nขะมักเขม้น\nขะมุกขะมอม\nขะยิก\nขะยุก\nขะเย้อแขย่ง\nขัค\nขัง\nขังขอก\nขัช\nขัณฑสกร\nขัณฑสีมา\nขัด\nขัดมอน\nขัตติยมานะ\nขัน\nขั้น\nขันติ\nขันตี\nขันโตก\nขันที\nขันธ์\nขันธาวาร\nขับ\nขัว\nขั้ว\nขา\nข่า\nข้า\nขาก\nขาก๊วย\nขาง\nข่าง\nข้าง\nขาณุ\nขาด\nขาทนียะ\nขาน\nขาบ\nข้าพเจ้า\nขาม\nข่าม\nข้าม\nขาย\nข่าย\nขาล\nขาว\nข่าว\nข้าว\nข้าวอังกุลี\nขำ\nขิก\nขิง\nขิงแกลง\nขิงแครง\nขิด\nขิปสัทโท\nขิม\nขี่\nขี้\nขี้เข็บ\nขีณาสพ\nขีด\nขี้ตังนี\nขีปนาวุธ\nขี้ยอก\nขีระ\nขึง\nขึ้ง\nขึ้น\nขึ้นฉ่าย\nขืน\nขื่น\nขื่อ\nขุก\nขุด\nขุน\nขุ่น\nขุนเพ็ด\nขุม\nขุย\nขู่\nขูด\nเข\nเข้\nเขก\nเข็ง\nเข่ง\nเขจร\nเข็ญ\nเข็ด\nเขดา\nเขต\nเขน\nเข็น\nเข่น\nเขนง\nเขน็ด\nเขนย\nเขบ็จขบวน\nเขบ็ต\nเขม\nเข็ม\nเข้ม\nเข้มขาบ\nเขม็ง\nเขม็ดแขม่\nเขม่น\nเขม้น\nเขม้นขะมัก\nเขมร\nเขมา\nเขม่า\nเขมือบ\nเขย\nเขยก\nเขย่ง\nเขย้อแขย่ง\nเขย่า\nเขยิน\nเขยิบ\nเขยื้อน\nเขรอะ\nเขลง\nเขลอะ\nเขละ\nเขลา\nเขลาะ\nเขว\nเขษม\nเขฬะ\nเขะขะ\nเขา\nเข่า\nเข้า\nเขิง\nเขิน\nเขิบ\nเขี่ย\nเขียง\nเขียด\nเขียดตะปาด\nเขียน\nเขี่ยน\nเขียม\nเขียว\nเขี้ยว\nเขียะ\nเขือ\nเขือง\nเขื่อง\nเขื่อน\nเขือม\nแข\nแข้\nแขก\nแข็ง\nแข่ง\nแข้ง\nแขน\nแข่น\nแข้น\nแขนง\nแขม\nแขม็บ\nแขม่ว\nแขยง\nแขย่ง\nแขวก\nแขวง\nแขวน\nแขวะ\nโข\nโขก\nโขง\nโข่ง\nโขด\nโขดง\nโขน\nโขนง\nโขม\nโขมง\nโขมด\nโขยก\nโขยง\nโขย่ง\nโขยด\nโขลก\nโขลง\nโขลน\nโขษม\nไข\nไข่\nไข้\nไขว่\nไขว้\nคคนะ\nคคนัมพร\nคคนางค์\nคคนานต์\nคง\nคงคา\nคงไคย\nคช\nคชาชาติ\nคชาชีพ\nคชาธาร\nคชาภรณ์\nคณนา\nคณบดี\nคณะ\nคณาจารย์\nคณาธิการ\nคณาธิปไตย\nคณานับ\nคณิกา\nคณิต\nคเณศ\nคด\nคดี\nคติ\nคทา\nคน\nค้น\nคนทา\nคนทิสอ\nคนที\nคนโท\nคนธ์\nคันธ์\nคนธรรพ์\nคเนจร\nคบ\nคม\nคมน์\nคมนาการ\nคมนาคม\nคมิกภัต\nครก\nครบ\nครรชิต\nครรภ\nครรภ์\nครรลอง\nครรโลง\nครรไล\nครวญ\nครวี\nครหา\nครอก\nครอง\nครองแครง\nคร่อเงาะ\nคร่อเทียน\nครอบ\nคร่อม\nคระเมิม\nคระแลง\nคระไล\nคระแวง\nคระหน\nคระหวน\nคระหาย\nคระโหย\nครั่ง\nครั้ง\nครัดเคร่ง\nครัน\nครั่น\nครั้น\nครับ\nครัว\nครา\nคร่า\nคราก\nคราง\nคราญ\nคราด\nคร้าน\nคราบ\nคราม\nคร้าม\nครามครัน\nคราว\nคร่าว\nคราส\nครำ\nคร่ำ\nคร่ำเคร่ง\nคริปทอน\nคริสต์\nครีบ\nครีม\nครีษมายัน\nครึ\nครึกครื้น\nครึกโครม\nครึ่ง\nครึ่ด\nครึน\nครึ้ม\nครืด\nครืน\nครื้น\nครืนครั่น\nครื้นครั่น\nครื้นครึก\nครื้นเครง\nครือ\nครุ\nครุคระ\nครุฑ\nครุ่น\nครุมเครือ\nครุย\nครุวนา\nครู\nครู่\nครูด\nคฤโฆษ\nคฤนถ์\nคฤหบดี\nคฤหัสถ์\nคฤหาสน์\nคลวง\nคลอ\nคล้อ\nคลอก\nคลอง\nคล่อง\nคล้อง\nคลอด\nคลอน\nคล้อย\nคลอรีน\nคลอโรฟอร์ม\nคลอโรฟีลล์\nคละ\nคละคลุ้ง\nคลัก\nคลั่ก\nคลัง\nคลั่ง\nคลัตช์\nคลับคล้าย\nคลับคลา\nคลา\nคล้า\nคลางแคลง\nคลาด\nคลาน\nคลาย\nคล้าย\nคล้ายคลึง\nคล่าว\nคลำ\nคล่ำ\nคล้ำ\nคลิ้งโคลง\nคลิด\nคลินิก\nคลี\nคลี่\nคลึง\nคลื่น\nคลุก\nคลุ้ง\nคลุบ\nคลุม\nคลุ่ม\nคลุ้ม\nควง\nควณ\nควน\nควบ\nควย\nควร\nควัก\nควั่ก\nควั่งคว้าง\nควัน\nควั่น\nคว้า\nควาก\nคว้าง\nควาญ\nควาน\nคว้าน\nความ\nควาย\nคว่าว\nคว่ำ\nควินิน\nควิวคว่าง\nคหกรรม\nคหกรรมศาสตร์\nคหบดี\nคหัฐ\nคอ\nค้อ\nคอก\nค็อกคัส\nค็อกเทล\nคอเคซอยด์\nค่องอ้อย\nคอด\nคอแดง\nคอน\nค่อน\nค้อน\nคอนกรีต\nคอนเดนเซอร์\nคอนแวนต์\nคอนเสิร์ต\nคอม\nค่อม\nค้อม\nคอมพิวเตอร์\nคอมมานโด\nคอมมิวนิสต์\nคอย\nค่อย\nค้อย\nคอยล์\nคอร์ด\nคอแลน\nคอสติกโซดา\nคะ\nค่ะ\nคะไขว่\nคะค้อย\nคะคาน\nคะนน\nคะนอง\nคะน้า\nคะนึง\nคะเน\nคะเนงร้าย\nคะเน็ด\nคะแนน\nคะมำ\nคะยั้นคะยอ\nคะเยอ\nคัก\nคั่ก\nคัคนะ\nคัคนัมพร\nคัคนางค์\nคัคนานต์\nคั่ง\nคังไคย\nคัจฉ\nคัณฑมาลา\nคัณฑสูตร\nคัด\nคัดเค้า\nคัดมอน\nคัดเม็ง\nคัทลียา\nคัน\nคั่น\nคั้น\nคันถรจนาจารย์\nคันธกุฎี\nคันธมาทน์\nคันธารราษฎร์\nคับ\nคับค้อน\nคับคา\nคับแค\nคัพภ์\nคัมภีร์\nคัมภีรภาพ\nคัล\nคั่ว\nคา\nค่า\nค้า\nค่าคบ\nคาง\nค่าง\nค้าง\nคางคก\nค้างคาว\nคาด\nคาถา\nคาทอลิก\nคาน\nค้าน\nคาบ\nคาพยุต\nคาม\nคามวาสี\nคามณีย์\nคามภีร์\nคาย\nค่าย\nคาร์บอน\nคาร์บอเนต\nคาร์บอลิก\nคาร์บูเรเตอร์\nคาร์โบรันดัม\nคาร์โบไฮเดรต\nคารม\nคารวะ\nคาราเต้\nคาราวาน\nคาว\nค่าว\nค้าว\nคาวตอง\nคาวี\nคาวุต\nคาส\nคำ\nค่ำ\nค้ำ\nคำนวณ\nคำนวร\nคำนับ\nคำนัล\nคำนึง\nคำนูณ\nคำฝอย\nคำเพลิง\nคำรน\nคำรบ\nคำราม\nคำแสด\nคำแหง\nคำโอง\nคิก\nคิง\nคิด\nคิมหันต์\nคิรี\nคิลาน\nคิลานะ\nคิว\nคิ้ว\nคี่\nคีต\nคีบ\nคีม\nคีรี\nคีรีบูน\nคึก\nคึ่ก\nคึกคัก\nคืน\nคืบ\nคือ\nคุ\nคุก\nคุกกี้\nคุกคาม\nคุกพาทย์\nคุ้ง\nคุณ\nคุด\nคุดทะราด\nคุต\nคุตติ\nคุ่น\nคุ้น\nคุป\nคุปต์\nคุปติ\nคุม\nคุ่ม\nคุ้ม\nคุย\nคุ้ย\nคุยหฐาน\nคุยหประเทศ\nคุรุ\nคุลา\nคุลิก่า\nคุลีการ\nคุหา\nคู\nคู่\nคู้\nคูณ\nคูถ\nคูน\nคูปอง\nคูเรียม\nคูหา\nเค้ก\nเค้เก้\nเค้ง\nเคณฑะ\nเคด\nเค็ด\nเคน\nเค้น\nเคเบิล\nเค็ม\nเคมี\nเคย\nเครง\nเคร่ง\nเครงครา\nเครงครำ\nเครดิต\nเครน\nเครา\nเคร่า\nเคราหณี\nเคราะห์\nเครียด\nเครียว\nเครือ\nเครื่อง\nเคล้ง\nเคล็ด\nเคล้น\nเคล้า\nเคล่าคล่อง\nเคลิบเคลิ้ม\nเคลิ้ม\nเคลีย\nเคลื่อน\nเคลือบ\nเคว้ง\nเคหะ\nเคหา\nเคอะ\nเค้า\nเคาน์เตอร์\nเคารพ\nเคาะ\nเคาะแคะ\nเคียง\nเคียด\nเคียน\nเคียม\nเคี่ยม\nเคียร\nเคียว\nเคี่ยว\nเคี้ยว\nเคือง\nแค\nแค่\nแค้\nแคแล\nแคดเมียม\nแค็ตตาล็อก\nแคแตร\nแคโทด\nแคน\nแค่น\nแค้น\nแคบ\nแคบหมู\nแคปซูล\nแคม\nแคร่\nแครก\nแครง\nแคระ\nแคลคูลัส\nแคลง\nแคลเซียม\nแคลน\nแคล้ว\nแคล่วคล่อง\nแคลอรี\nแคลิฟอร์เนียม\nแคว\nแควก\nแคว้น\nแคแสด\nแคะ\nโค\nโคก\nโคเคน\nโค่ง\nโค้ง\nโคจร\nโคเซแคนต์\nโคไซน์\nโคตร\nโคแทนเจนต์\nโคธา\nโคน\nโค่น\nโคบอลต์\nโคปผกะ\nโคม\nโคม่า\nโครก\nโครกคราก\nโครง\nโคร่ง\nโคร่งคร่าง\nโครม\nโครเมียม\nโครโมโซม\nโคราช\nโครำ\nโคล\nโคลง\nโคลน\nโควตา\nโคออร์ดิเนต\nใคร\nใคร่\nใคร่ครวญ\nไค\nไค้\nไคร้\nไคร้เครือ\nไคล\nไคล้\nฆนะ\nฆราวาส\nฆ้อง\nฆ่า\nฆาต\nฆาน\nฆานินทรีย์\nเฆี่ยน\nโฆรวิส\nโฆษก\nโฆษณา\nโฆษะ\nโฆษ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nเฉ่ง\nเฉด\nเฉท\nเฉนียน\nเฉพาะ\nเฉย\nเฉลย\nเฉลว\nเฉลา\nเฉลิม\nเฉลี่ย\nเฉลียง\nเฉลี่ยง\nเฉลียบ\nเฉลียว\nเฉวียง\nเฉวียน\nเฉอะแฉะ\nเฉา\nเฉาก๊วย\nเฉาฮื้อ\nเฉาะ\nเฉิด\nเฉิบ\nเฉียง\nเฉียงพร้านางแอ\nเฉียด\nเฉียบ\nเฉียว\nเฉี่ยว\nเฉือน\nเฉื่อย\nแฉ\nแฉ่\nแฉก\nแฉง\nแฉ่ง\nแฉลบ\nแฉล้ม\nแฉะ\nโฉ\nโฉ่\nโฉเก\nโฉ่งฉ่าง\nโฉงเฉง\nโฉด\nโฉนด\nโฉบ\nโฉเบ๊\nโฉม\nโฉลก\nไฉน\nไฉไล\nชก\nชคัตตรัย\nชง\nชงโค\nชงฆ์\nชงฆา\nชงโลง\nชฎา\nชฎามังษี\nชฎามังสี\nชฎิล\nชด\nชน\nชนก\nชนนี\nชนม์\nชนวน\nชนะ\nชนัก\nชนา\nชนาง\nชนิด\nชเนตตี\nชบา\nชม\nชมดชม้อย\nชมนาด\nชมพู\nชมพู่\nชมรม\nชม้อย\nชม้าย\nชไม\nชยา\nชโย\nชรทึง\nชรริน\nชรอุ่ม\nชระล้ำ\nชระลุ\nชระอาบ\nชระเอม\nชรัด\nชรา\nชล\nชโลง\nชโลม\nช่วง\nชวด\nชวน\nชวย\nช่วย\nชวร\nชวลิต\nชวา\nชวาล\nชวาลา\nช่อ\nชอก\nช็อก\nช็อกโกเลต\nช็อกโกแลต\nชอง\nช่อง\nช้อง\nชองระอา\nชอน\nช่อน\nช้อน\nชอบ\nชอม\nช้อย\nชอล์ก\nชอ่ำ\nชอุ่ม\nชะ\nชะคราม\nชะงอก\nชะง่อน\nชะงัก\nชะงัด\nชะง้ำ\nชะงุ้ม\nชะเง้อ\nชะเงื้อม\nชะแง้\nชะโงก\nชะฉ่า\nชะช่อง\nชะชะ\nชะช้า\nชะโด\nชะตา\nชะต้า\nชะนี\nชะเนาะ\nชะเนียง\nชะพลู\nชะเพลิง\nชะมด\nชะมบ\nชะมวง\nชะมัง\nชะมัด\nชะแม่\nชะรอย\nชะลอ\nชะลอม\nชะล่า\nชะลาน\nชะลิน\nชะลูด\nชะเลง\nชะเลย\nชะแล็ก\nชะแลง\nชะวาก\nชะวาด\nชะเวิกชะวาก\nชะแวง\nชะอม\nชะอ้อน\nชะเอม\nชะโอน\nชัก\nชักคราม\nชักช้า\nชัง\nชั่ง\nชังคา\nชังฆ\nชัชวาล\nชัฏ\nชัด\nชัดช้า\nชัน\nชั้น\nชันกาด\nชันชี\nชันตุ\nชันนะตุ\nชันนุ\nชันโรง\nชันษา\nชันสูตร\nชัปนะ\nชัพ\nชัมพูนท\nชัย\nชัยพฤกษ์\nชัยภูมิ\nชัลลุกา\nชั่ว\nชั้ว\nชัวชม\nชา\nช้า\nชาคระ\nชาคริต\nชาคริยานุโยค\nช่าง\nช้าง\nช้าช่อน\nชาญ\nชาด\nชาดก\nชาต\nชาตบุษย์\nชาตรี\nชาตะ\nชาตา\nชาติ\nชาน\nชานุ\nช้าปี่\nชาปีไหน\nช้าแป้น\nช้าพลู\nชาม\nชามพูนท\nชามาดร\nชามาดา\nชามาตุ\nชาย\nชายา\nชาล\nชาลา\nชาลินี\nช้าเลือด\nชาว\nชาวี\nชำ\nช่ำ\nช้ำ\nชำงัด\nชำงาย\nช่ำชอง\nชำนะ\nชำนัญ\nชำนัน\nชำนาญ\nชำนิ\nชำเนียร\nชำมะนาด\nชำมะเลียง\nชำร่วย\nชำระ\nช้ำรั่ว\nชำรุด\nชำเรา\nชำเราะ\nชำแรก\nชำแระ\nชำเลือง\nชำแหละ\nชิ\nชิง\nชิ่ง\nชิงชัน\nชิงช้า\nชิงช้าชาลี\nชิงชี่\nชิงฮื้อ\nชิชะ\nชิชิ\nชิณณะ\nชิด\nชิเดนทรีย์\nชิต\nชิตินทรีย์\nชิน\nชิ้น\nชินโต\nชิโนรส\nชิม\nชิมแปนซี\nชิยา\nชิรณะ\nชิระ\nชิวหา\nชิสา\nชี\nชี่\nชี้\nชีปะขาว\nชีผะขาว\nชีผ้าขาว\nชีพ\nชีฟอง\nชีรณ\nชีระ\nชีวเคมี\nชีวประวัติ\nชีวภาพ\nชีววิทยา\nชีวะ\nชีวัน\nชีวา\nชีวาตม์\nชีวาลัย\nชีวิต\nชีวิตักษัย\nชีวิน\nชีวี\nชืด\nชื่น\nชื้น\nชื่อ\nชุก\nชุกชี\nชุ้ง\nชุณห\nชุด\nชุติ\nชุน\nชุบ\nชุม\nชุ่ม\nชุมนุม\nชุมพร\nชุมพา\nชุมแพรก\nชุมรุม\nชุมแสง\nชุมเห็ด\nชุ่ย\nชุลมุน\nชุลี\nชุษณะ\nชู\nชู้\nเช็ค\nเช้ง\nเช้งวับ\nเชงเลง\nเช็ด\nเชน\nเช่น\nเชย\nเชลง\nเชลย\nเชลแล็ก\nเชลียง\nเชวง\nเชษฐะ\nเชษฐา\nเชอ\nเช่า\nเช้า\nเชาว์\nเชาวน์\nเชิง\nเชิญ\nเชิด\nเชิ้ต\nเชียง\nเชี่ยน\nเชียบ\nเชี่ยม\nเชียร\nเชียร์\nเชียว\nเชี่ยว\nเชื่อ\nเชื้อ\nเชือก\nเชื่อง\nเชือด\nเชือน\nเชื่อม\nแช\nแช่\nแช่ง\nแชงมา\nแชบ๊วย\nแช่ม\nแชร์\nแชล่ม\nแชสซี\nแชะ\nโชก\nโชค\nโชงโลง\nโชดก\nโชดึก\nโชต\nโชตก\nโชติ\nโชติก\nโชน\nโชมโรม\nโชย\nโชยงการ\nโชยชาย\nโชยติส\nโชว์\nใช่\nใช้\nไช\nไชนะ\nไชย\nไชโย\nซก\nซ่ก\nซงดำ\nซ่งฮื้อ\nซด\nซน\nซ้น\nซบ\nซม\nซวดเซ\nซวน\nซวย\nซอ\nซอก\nซอง\nซ่อง\nซ้อง\nซองแมว\nซ้องแมว\nซอน\nซ่อน\nซ้อน\nซอม\nซ่อม\nซ้อม\nซอมซ่อ\nซอย\nซอส\nซัก\nซักส้าว\nซัง\nซั้ง\nซัด\nซับ\nซัลฟา\nซั้ว\nซา\nซ่า\nซาก\nซาง\nซ่าง\nซาด\nซาน\nซ่าน\nซาบซ่าน\nซาบซึ้ง\nซ่าโบะ\nซาแมเรียม\nซ้าย\nซาลาเปา\nซาว\nซ่าหริ่ม\nซำ\nซ้ำ\nซิ\nซี\nซิก\nซิกข์\nซิกซี้\nซิกแซ็ก\nซิการ์\nซิงโคนา\nซิ่น\nซินนามิก\nซินแส\nซิบ\nซิป\nซิฟิลิส\nซิลิคอน\nซิว\nซี่\nซีก\nซีเซียม\nซีด\nซี้ด\nซีนอน\nซีป่าย\nซีเมนต์\nซีเรียม\nซีลีเนียม\nซีอิ๊ว\nซึก\nซึง\nซึ่ง\nซึ้ง\nซึม\nซื่อ\nซื้อ\nซุก\nซุง\nซุน\nซุบ\nซุป\nซุ่ม\nซุ้ม\nซุ่มซ่าม\nซุย\nซู่\nซูโครส\nซูด\nซู้ด\nซูดซาด\nซูบ\nเซ\nเซ็ก\nเซแคนต์\nเซ็ง\nเซ่ง\nเซ้ง\nเซ็งแซ่\nเซต\nเซน\nเซ็น\nเซ่น\nเซนติกรัม\nเซนติเกรด\nเซนติเมตร\nเซนติลิตร\nเซปักตะกร้อ\nเซราะ\nเซรุ่ม\nเซลเซียส\nเซลล์\nเซลลูลอยด์\nเซลลูโลส\nเซ่อ\nเซอร์โคเนียม\nเซอะ\nเซา\nเซ้าซี้\nเซาะ\nเซิง\nเซิ้ง\nเซียน\nเซียบ\nเซียมซี\nเซียว\nเซี่ยว\nเซี่ยวกาง\nเซื่อง\nแซ\nแซ่\nแซ็กคาริน\nแซง\nแซงแซว\nแซด\nแซบ\nแซม\nแซยิด\nแซ่ว\nแซะ\nโซ\nโซ่\nโซก\nโซ่ง\nโซงโขดง\nโซเซ\nโซดา\nโซเดียม\nโซม\nโซรม\nโซลา\nไซ\nไซ้\nไซเกิล\nไซโคลน\nไซน์\nไซยาไนด์\nไซร้\nไซเรน\nไซโล\nฌาน\nฌาปน\nฌาปนกิจ\nฌาปนสถาน\nเฌอ\nเฌอเอม\nญวน\nญัตติ\nญาณ\nญาติ\nญานาซะฮ์\nญิบ\nญี่ปุ่น\nเญยธรรม\nไญยธรรม\nฎีกา\nฐกัด\nฐากูร\nฐาน\nฐานะ\nฐานันดร\nฐานานุกรม\nฐานานุรูป\nฐานานุศักดิ์\nฐานียะ\nฐาปน\nฐาปนา\nฐายี\nฐิต\nฐิติ\nฑาหก\nฑาหะ\nเฒ่า\nณรงค์\nเณร\nดก\nดง\nด้ง\nด้น\nดนโด่\nดนตรี\nดนัย\nดนุ\nดนู\nดบัสวิน\nดบัสวี\nดม\nดรงค์\nดรณี\nดรรชนี\nดราฟต์\nดรุณ\nดรุณี\nดล\nดวง\nด้วง\nดวด\nด่วน\nด้วน\nด้วย\nดอก\nดอง\nด่อง\nด้อง\nดองฉาย\nดองดึง\nดอด\nดอน\nด่อน\nดอม\nด้อม\nดอย\nด้อย\nดอลลาร์\nดะ\nดะโต๊ะ\nดะหมัง\nดัก\nดักดาน\nดักแด้\nดัง\nดั่ง\nดั้ง\nดัชนี\nดัด\nดัตช์\nดัน\nดั้น\nดับ\nดัมพ์\nดั้วเดี้ย\nดัสกร\nดา\nด่า\nดาก\nด่าง\nด้าง\nดาด\nดาน\nด่าน\nด้าน\nดาบ\nดาบส\nดาม\nด้าม\nด้ามจิ้ว\nดามพ์\nดาย\nด้าย\nดารกะ\nดารณี\nดารดาษ\nดาระ\nดารา\nดาล\nดาลัด\nดาว\nด่าว\nด้าว\nดาวดึงส์\nดาวบส\nดาษ\nดาษดา\nดำ\nด่ำ\nด้ำ\nดำกล\nดำเกิง\nดำแคง\nดำดง\nดำนาณ\nดำเนิน\nดำบล\nดำรง\nดำรวจ\nดำรัส\nดำริ\nดำรี\nดำรู\nดำฤษณา\nดำเลิง\nดิก\nดิ่ง\nดิฉัน\nดิฐ\nดิตถ์\nดิถี\nดิน\nดิ้น\nดิบ\nดิรัจฉาน\nดิลก\nดิ่ว\nดิ้ว\nดิ้วเดี้ยว\nดิษฐ์\nดิสโพรเซียม\nดี\nดีเซล\nดีด\nดีดีที\nดีบุก\nดีปลี\nดีเปรสชัน\nดีหมี\nดีหลี\nดึก\nดึง\nดึ่ง\nดึ่ม\nดื่น\nดื่ม\nดือ\nดื้อ\nดุ\nดุก\nดุกดิก\nดุกทะเล\nดุ้ง\nดุ้งดิ้ง\nดุจ\nดุด\nดุน\nดุ้น\nดุบ\nดุม\nดุ่ม\nดุ่ย\nดุรงค์\nดุริยะ\nดุริยางค์\nดุริยางคศาสตร์\nดุริยางคศิลป์\nดุล\nดุษฎี\nดุษณี\nดุษณีภาพ\nดุษิต\nดุสิต\nดุเหว่า\nดู\nดูกค่าง\nดูกร\nดูด\nดูรา\nดูแล\nเด\nเด่\nเดก\nเด็ก\nเดกซ์โทรส\nเดคากรัม\nเดคาเมตร\nเดคาลิตร\nเด้ง\nเด็จ\nเดช\nเดชน์\nเดชนะ\nเดชะ\nเดโช\nเดซิกรัม\nเดซิเมตร\nเดซิลิตร\nเด็ด\nเดน\nเด่น\nเดนมาร์ก\nเดรัจฉาน\nเด๋อ\nเด๋อด๋า\nเดา\nเด้า\nเดาะ\nเดิน\nเดิ่น\nเดิม\nเดียง\nเดียด\nเดียรดาษ\nเดียรถีย์\nเดียรัจฉาน\nเดียว\nเดี่ยว\nเดี๋ยว\nเดียะ\nเดื่อ\nเดือก\nเดื่อง\nเดือด\nเดือน\nเดือย\nแด\nแด่\nแดก\nแด็ก\nแดกงา\nแดกแด้\nแดง\nแดด\nแดน\nแด่น\nแด่ว\nแดะ\nแดะแด๋\nโด\nโด่\nโดกเดก\nโด่ง\nโดด\nโดน\nโดม\nโดมร\nโดย\nโดรณ\nใด\nได\nได้\nไดแซ็กคาไรด์\nไดนาโม\nไดนาไมต์\nไดโนเสาร์\nไดเรกตริกซ์\nตก\nต๊กโต\nตง\nต๋ง\nตงฉิน\nตงิด\nตงุ่น\nตด\nตติย\nตถาคต\nตน\nต้น\nตนัย\nตนุ\nตบ\nตบะ\nตปนียะ\nตม\nต้ม\nตมูก\nตยาคี\nตรง\nตรณี\nตรม\nตรรก\nตรรกะ\nตรลบ\nตรลอด\nตรลาด\nตรวจ\nตรวน\nตรอก\nตรอง\nตรอมใจ\nตรอมตรม\nตระ\nตระกล\nตระกวน\nตระกอง\nตระการ\nตระกูล\nตระคัร\nตระเตรียม\nตระนาว\nตระบก\nตระบอก\nตระบอง\nตระบัด\nตระบัน\nตระเบ็ง\nตระแบก\nตระแบง\nตระโบม\nตระพอง\nตระพัง\nตระลาการ\nตระวัน\nตระเว็ด\nตระเวน\nตระสัก\nตระหง่าน\nตระหนก\nตระหนัก\nตระหน่ำ\nตระหนี่\nตรัง\nตรังค์\nตรับ\nตรับฟัง\nตรัย\nตรัยตรึงศ์\nตรัส\nตรัสสา\nตรา\nตรากตรำ\nตราชู\nตราบ\nตราสัง\nตรำ\nตริ\nตริว\nตรี\nตรีปวาย\nตรีพิธพรรณ\nตรียัมปวาย\nตรึก\nตรึง\nตรุ\nตรุณ\nตรุณะ\nตรุษ\nตรู\nตรู่\nตฤณ\nตฤตีย\nตฤษณา\nตลก\nตลบ\nตลอด\nตลับ\nตลาด\nตลิ่ง\nตลึง\nตวง\nต่วน\nต้วมเตี้ยม\nตวัก\nตวัด\nตวาด\nตอ\nตอม่อ\nต่อ\nต้อ\nตอก\nต๊อก\nต๊อกต๋อย\nตอง\nต้อง\nตองกราย\nต้องเต\nตองแตก\nต่องแต่ง\nตองเหลือง\nตอด\nตอน\nต้อน\nตอบ\nตอเบา\nตอม\nต่อม\nต๋อม\nต่อย\nต้อย\nต้อยตริ่ง\nต้อยติ่ง\nต้อยตีวิด\nตอแย\nตอร์ปิโด\nต่อไส้\nตอแหล\nตะ\nตะกรน\nตะกร้อ\nตะกรัน\nตะกรับ\nตะกร้า\nตะกราม\nตะกรุด\nตะกรุม\nตะกรุมตะกราม\nตะกละ\nตะกลาม\nตะกวด\nตะกอ\nตะกอน\nตะกัง\nตะกั่ว\nตะกาง\nตะกาด\nตะกาย\nตะกาว\nตะกุกตะกัก\nตะกุย\nตะกู\nตะกูด\nตะเกียกตะกาย\nตะเกียง\nตะเกียบ\nตะแก\nตะแก่\nตะแกรง\nตะโก\nตะโก้\nตะโกก\nตะโกน\nตะโกรง\nตะโกรม\nตะไกร\nตะขบ\nตะขอ\nตะขาบ\nตะขิดตะขวง\nตะเข้\nตะเข็บ\nตะโขง\nตะคร้อ\nตะครอง\nตะครั่นตะครอ\nตะคร้ำ\nตะคริว\nตะคิว\nตะครุบ\nตะคอก\nตะคัน\nตะค้า\nตะคาก\nตะค้าน\nตะคุ่ม\nตะเครียว\nตะเคียว\nตะเคียน\nตะแคง\nตะไคร่\nตะไคร้\nตะเฆ่\nตะนอย\nตะนาว\nตะบม\nตะบอง\nตะบอย\nตะบัน\nตะบิ้ง\nตะบิด\nตะบิดตะบอย\nตะบี้ตะบัน\nตะบึง\nตะบูน\nตะเบ็ง\nตะเบ็งมาน\nตะเบ๊ะ\nตะแบก\nตะแบง\nตะโบม\nตะไบ\nตะปบ\nตะปลิง\nตะปิ้ง\nตะปุ่มตะป่ำ\nตะปู\nตะพง\nตะพด\nตะพอง\nตะพัก\nตะพัง\nตะพัด\nตะพั้น\nตะพาก\nตะพาน\nตะพาบ\nตะพาย\nตะพึด\nตะพึดตะพือ\nตะพุ่น\nตะเพรา\nตะเพิง\nตะเพิด\nตะเพียน\nตะโพก\nตะโพง\nตะโพน\nตะเภา\nตะใภ้\nตะม่อ\nตะมอย\nตะรังกะนู\nตะรังตังกวาง\nตะรังตังช้าง\nตะราง\nตะลอง\nตะลอน\nตะล่อม\nตะละ\nตะลาน\nตะลิงปลิง\nตะลิบ\nตะลีตะลาน\nตะลึง\nตะลึงพรึงเพริด\nตะลุง\nตะลุ่ม\nตะลุ่มนก\nตะลุมบอน\nตะลุ่มโปง\nตะลุมพอ\nตะลุมพุก\nตะลุย\nตะเลง\nตะแลงแกง\nตะไล\nตะวัน\nตะเวน\nตะหลิว\nตะหลุก\nตะหลุง\nตะแหง่ว\nตะแหมะแขะ\nตะโหงก\nตัก\nตักกะ\nตักเตือน\nตั๊กแตน\nตักษัย\nตัง\nตั่ง\nตั้ง\nตังเก\nตังฉ่าย\nตังเม\nตังวาย\nตังโอ๋\nตัจฉก\nตัจฉนี\nตัณฑุล\nตัณหา\nตัด\nตัน\nตันตระ\nตันติ\nตันหยง\nตับ\nตับปิ้ง\nตัว\nตั๋ว\nตัวจี๊ด\nตัวตืด\nตั้วโผ\nตั้วเหี่ย\nตา\nตาก\nตากวาง\nต่าง\nตาด\nตาน\nต่าน\nต้าน\nตานนกกด\nตานี\nตาบ\nตาม\nตามะแน\nตามิน\nตาย\nตาราไต\nตาล\nตาลุ\nต๋าว\nตาเสือ\nตาหนู\nตาฬ\nตำ\nต่ำ\nตำนาน\nตำบล\nตำแบ\nตำแย\nตำรวจ\nตำรับ\nตำรา\nตำรุ\nตำลึง\nตำเสา\nตำหนัก\nตำหนิ\nตำแหน่ง\nติ\nติก\nติ๊ก\nติกะ\nติกาหรัง\nติง\nติ่ง\nติ๋ง\nติ่งตั่ง\nติ๋งต่าง\nติงส\nติงสติ\nติณ\nติด\nติตติกะ\nติตติร\nติตถ\nติตถะ\nติถี\nติมิงคละ\nติรัจฉาน\nติลก\nติละ\nติ้ว\nตี\nตี่\nตีน\nตีบ\nตีรถะ\nตีระ\nตึ\nตึก\nตึ้ก\nตึ้กตั้ก\nตึง\nตึดตื๋อ\nตึ๊ดตื๋อ\nตืด\nตื่น\nตื้น\nตื้อ\nตื๊อ\nตื๋อ\nตุ\nตุ๊\nตุ๊กแก\nตุ๊กตา\nตุ๊กต่ำ\nตุกติก\nตุ๊กติ๊ก\nตุ๊กตุ่น\nตุ๊กตุ๋ย\nตุง\nตุ้งก่า\nตุ้งติ้ง\nตุ๊ดตู่\nตุน\nตุ่น\nตุ๋น\nตุนาหงัน\nตุบ\nตุ้บ\nตุ๊บป่อง\nตุปัดตุป่อง\nตุปัดตุเป๋\nตุ่ม\nตุ้ม\nตุ๋ม\nตุ้มกว้าว\nตุมกา\nตุ้มแซะ\nตุมตัง\nตุ้มเต๋น\nตุ้มปี่\nตุมพะ\nตุ่ย\nตุ้ย\nตุ๊ย\nตุ๋ยตุ่ย\nตุรคะ\nตุรงค์\nตุล\nตุลา\nตุหรัดตุเหร่\nตู\nตู่\nตู้\nตูก\nตูด\nตูบ\nตูม\nเต๊ก\nเต็ง\nเต่ง\nเตช\nเตโช\nเต้น\nเต็นท์\nเต็ม\nเตย\nเตร่\nเตร็ด\nเตรตา\nเตรียม\nเตรียมตรม\nเตละ\nเตลิด\nเตว็ด\nเต่อ\nเตอะ\nเตะ\nเตา\nเต่า\nเต้า\nเต๋า\nเต่าเกียด\nเต้าเจี้ยว\nเต้าทึง\nเต้าหู้\nเต้าฮวย\nเต๊าะ\nเตาะแตะ\nเติ่ง\nเติบ\nเติม\nเตี้ย\nเตียง\nเตียน\nเตียบ\nเตี๋ยม\nเตียรถ์\nเตียว\nเตี่ยว\nเตือน\nแต่\nแต้\nแตก\nแตง\nแต่ง\nแตงเม\nแต้จิ๋ว\nแตด\nแต๊ดแต๋\nแตน\nแต้ม\nแตร\nแตระ\nแต้ว\nแต้วแร้ว\nแต้วแล้ว\nแต่ว่า\nแต้แว้ด\nแตะ\nโต\nโต้\nโตก\nโต่ง\nโต้ง\nโตงเตง\nโตฎก\nโต๊ด\nโตน\nโตนด\nโต้โผ\nโตมร\nโตย\nโตรก\nโต๊ะ\nใต้\nไต\nไต่\nไต้\nไต๋\nไตร\nไตรกิศยา\nไตรดายุค\nไตร่ตรอง\nไตรย\nไต้หวัน\nถก\nถกล\nถงาด\nถด\nถนน\nถนอม\nถนัด\nถนัน\nถนำ\nถนิม\nถม\nถ่ม\nถมอ\nถมึงทึง\nถลก\nถลกบาตร\nถลน\nถล่ม\nถลอก\nถลัน\nถลา\nถลาก\nถลาย\nถลำ\nถลึงตา\nถลุง\nถ่วง\nถ้วน\nถ้วย\nถวัล\nถวัลย์\nถวาย\nถวิน\nถวิล\nถ่อ\nถ้อ\nถอก\nถอง\nถ่อง\nถ้อง\nถอด\nถอน\nถอบ\nถอบแถบ\nถ่อม\nถอย\nถ่อย\nถ้อย\nถะ\nถะถั่น\nถะมัดถะแมง\nถัก\nถัง\nถั่ง\nถัด\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นยา\nบิลเลียด\nบิวเรตต์\nบิสมัท\nบี้\nบีฑา\nบีตา\nบีบ\nบีเยศ\nบึก\nบึกบึน\nบึง\nบึ่ง\nบึ้ง\nบุ\nบุก\nบุคคล\nบุคลากร\nบุคลาธิษฐาน\nบุคลิก\nบุง\nบุ่ง\nบุ้ง\nบุ้งกี๋\nบุญ\nบุญญาธิการ\nบุญญานุภาพ\nบุญญาภินิหาร\nบุญญาภิสังขาร\nบุณฑริก\nบุณมี\nบุณย์\nบุตร\nบุตรี\nบุถุชน\nบุทคล\nบุนนาค\nบุบ\nบุบบิบ\nบุปผชาติ\nบุพกรรม\nบุพการี\nบุพกิจ\nบุพชาติ\nบุพทักษิณ\nบุพนิมิต\nบุพบท\nบุพพาจารย์\nบุพเพสันนิวาส\nบุพโพ\nบุ๋ม\nบุ่มบ่าม\nบุ้ย\nบุรณะ\nบุรพทิศ\nบุรพบท\nบุรพาจารย์\nบูรพาจารย์\nบุระ\nบุราณ\nบุรินทร์\nบุริมทิศ\nบุริมพรรษา\nบุริมสิทธิ\nบุรี\nบุรุษ\nบุโรทั่ง\nบุษกร\nบุษบก\nบุษบง\nบุษบัน\nบุษบา\nบุษบามินตรา\nบุษปราค\nบุษปะ\nบุษย์\nบุษย์น้ำทอง\nบุษยมาส\nบุษยะ\nบุษราคัม\nบุหงัน\nบุหงา\nบุหรง\nบุหรี่\nบุหลัน\nบู่\nบู้\nบูชนียสถาน\nบูชา\nบูชิต\nบูด\nบูดู\nบูร\nบูรณ์\nบูรณภาพ\nบูรณมี\nบูรณะ\nบูรณาการ\nบูรพ์\nบูรพะ\nบูรพา\nเบ้\nเบ่ง\nเบ๊จี๋\nเบญกานี\nเบญจกัลยาณี\nเบญจกามคุณ\nเบญจขันธ์\nเบญจดุริยางค์\nเบญจธรรม\nเบญจบรรพต\nเบญจพรรณ\nเบญจเพส\nเบญจมาศ\nเบญจรงค์\nเบญจศก\nเบญจศีล\nเบญจะ\nเบญจา\nเบญจางค์\nเบญจางคประดิษฐ์\nเบญญา\nเบญพาด\nเบ็ด\nเบ็ดเตล็ด\nเบ็ดเสร็จ\nเบน\nเบนซิน\nเบรก\nเบริลเลียม\nเบส\nเบ้อ\nเบอร์\nเบอร์คีเลียม\nเบ้อเร่อ\nเบ้อเร่อเท่อ\nเบ้อเริ่ม\nเบ้อเริ่มเทิ่ม\nเบอะ\nเบอะบะ\nเบะ\nเบา\nเบ้า\nเบาราณ\nเบาะ\nเบิก\nเบิ่ง\nเบี้ย\nเบี่ยง\nเบียด\nเบียน\nเบียร์\nเบี้ยว\nเบือ\nเบื่อ\nเบื้อ\nเบื้อง\nเบือน\nแบ\nแบ้\nแบก\nแบคทีเรีย\nแบ่ง\nแบงก์\nแบดมินตัน\nแบตเตอรี่\nแบน\nแบนโจ\nแบบ\nแบ็บ\nแบเรียม\nแบหลา\nแบะ\nโบ\nโบ้\nโบ๋\nโบก\nโบกขรณี\nโบกขรพรรษ\nโบชุก\nโบต\nโบนัส\nโบ๊เบ๊\nโบย\nโบรมีน\nโบรอน\nโบราณ\nโบสถ์\nใบ\nใบ้\nไบ่\nปก\nปกติ\nปกรณ์\nปกรณัม\nปกิณกะ\nปกีรณัม\nปโกฏิ\nปง\nป่ง\nปงช้าง\nปฎล\nปฏัก\nปฏิกรณ์\nปฏิกรรม\nปฏิการะ\nปฏิกิริยา\nปฏิกูล\nปฏิคม\nปฏิคหิต\nปฏิคาหก\nปฏิฆะ\nปฏิชีวนะ\nปฏิญญา\nปฏิญาณ\nปฏิทิน\nปฏิบถ\nปฏิบัติ\nปฏิปทา\nปฏิปักษ์\nปฏิปัน\nปฏิปุจฉาพยากรณ์\nปฏิปุจฉาวาที\nปฏิพัทธ์\nปฏิพากย์\nปฏิภาค\nปฏิภาณ\nปฏิมา\nปฏิมากร\nปฏิยุทธ์\nปฏิรพ\nปฏิรูป\nปฏิโลม\nปฏิวัติ\nปฏิวาต\nปฏิวาท\nปฏิเวธ\nปฏิสนธิ\nปฏิสวะ\nปฏิสังขรณ์\nปฏิสันถาร\nปฏิสัมภิทา\nปฏิเสธ\nปฐพี\nปฐม\nปฐวี\nปณต\nปณาม\nปณิธาน\nปณิธิ\nปณีต\nปด\nปดิวรัดา\nปติ\nปถพี\nปถมัง\nปถวี\nปทัฏฐาน\nปทัสถาน\nปทานุกรม\nปทีป\nปทุม\nปน\nป่น\nปนัดดา\nปปัญจะ\nปม\nปรนัย\nปรปักษ์\nปรโลก\nปรวาที\nปรก\nปรกติ\nปรง\nปรตยักษ์\nปรน\nปรนนิบัติ\nปรนิมมิตวสวัตดี\nปรบ\nปรปักษ์\nปรมัตถ์\nปรมาจารย์\nปรมาณู\nปรมาภิไธย\nปรมาภิเษก\nปรมินทร์\nบรเมนทร์\nปรเมศวร์\nปรเมษฐ์\nปรวด\nปรวนแปร\nปรศุ\nปรสิต\nปร๋อ\nปรองดอง\nปรอด\nปรอท\nปรอย\nประ\nประกบ\nประกฤต\nประกฤติ\nประกล\nประกวด\nประกวดประขัน\nประกอบ\nประกัน\nประกับ\nประกาย\nประกายพรึก\nประการ\nประกาศ\nประกาศนียบัตร\nประกาศิต\nประกำ\nประกิด\nประกิต\nประคด\nประคนธรรพ\nประคนธรรพ์\nประคบ\nประคบประหงม\nประคอง\nประคับประคอง\nประคัลภ์\nประคำ\nประคิ่น\nประคุณ\nประเคน\nประเคราะห์\nประโคน\nประโคนธรรพ\nประโคนธรรพ์\nประโคม\nประจง\nประจญ\nประจบ\nประจบประแจง\nประจวบ\nประจ๋อประแจ๋\nประจักษ์\nประจักษนิยม\nประจัญ\nประจัน\nประจาก\nประจาค\nประจาน\nประจำ\nประจิม\nประจิ้มประเจ๋อ\nประจุ\nประจุคมน์\nประจุบัน\nประเจก\nประเจิด\nประเจิดประเจ้อ\nประเจียด\nประแจ\nประชด\nประชน\nประชวม\nประชวร\nประชัน\nประชา\nประชาธิปไตย\nประชิด\nประชี\nประชุม\nประเชิญ\nประณต\nประณม\nประณาม\nประณิธาน\nประณิธิ\nประณีต\nประณุท\nประดง\nประดน\nประดวน\nประดอน\nประดอย\nประดัก\nประดักประเดิด\nประดัง\nประดับ\nประดา\nประดาก\nประดาป\nประดาษ\nประดิชญา\nประดิดประดอย\nประดิทิน\nประดิษฐ์\nประดิษฐกรรม\nประดิษฐาน\nประดุง\nประดุจ\nประดู่\nประเด\nประเด็น\nประเดิม\nประเดียง\nประเดี๋ยว\nประเดี๋ยวประด๋าว\nประแดง\nประแดะ\nประโดง\nประโดย\nประตง\nประตัก\nประตาป\nประติชญา\nประติญาณ\nประติทิน\nประติมากร\nประติมากรรม\nประติรพ\nประตู\nประถม\nประถมจินดา\nประทม\nประท้วง\nประทวน\nประทักษ์\nประทักษิณ\nประทัง\nประทัด\nประทับ\nประทาน\nประทาย\nประทาศี\nประทิน\nประทิ่น\nประทีป\nประทุฐ\nประทุน\nประทุษ\nประทุษฐ์\nประเทศ\nประเทา\nประเทียด\nประเทียบ\nประเทือง\nประธาน\nประธานาธิบดี\nประนม\nประนอ\nประนอม\nประนัง\nประนัปดา\nประนีประนอม\nประปราน\nประปราย\nประปา\nประเปรี้ยง\nประเปรียว\nประพจน์\nประพนธ์\nประพรม\nประพฤติ\nประพฤทธิ์\nประพัด\nประพัทธ์\nประพันธ์\nประพาต\nประพาส\nประพาสมหรณพ\nประพาฬ\nประพิณ\nประพิมพ์ประพาย\nประพุทธ์\nประเพณี\nประโพธ\nประไพ\nประไพร\nประภพ\nประภัสสร\nประภา\nประภาคาร\nประภาพ\nประภาษ\nประภาส\nประเภท\nประมง\nประมวล\nประมาณ\nประมาท\nประมุข\nประมุท\nประมูล\nประเมิน\nประโมง\nประโมทย์\nประยงค์\nประยุกต์\nประยุทธ์\nประยุร\nประยูร\nประโยค\nประโยชน์\nประโรหิต\nประลมพ์\nประลอง\nประลัย\nประลาต\nประลาย\nประลุ\nประเล่ห์\nประเล้าประโลม\nประโลม\nประวรรต\nประวรรตน์\nประวัติ\nประวาล\nประวาลปัทม์\nประวาส\nประวิง\nประวิช\nประวิตร\nประวิน\nประวีณ\nประเวณี\nประเวศ\nประเวศน์\nประศม\nประศาสน์\nประศุ\nประสก\nประสงค์\nประสบ\nประสพ\nประสม\nประสะ\nประสัก\nประสันนาการ\nประสัยห์\nประสา\nประสาท\nประสาธน์\nประสาน\nประสาร\nประสิทธิ์\nประสิทธิผล\nประสิทธิภาพ\nประสีประสา\nประสูต\nประสูติ\nประเสบัน\nประเสบันอากง\nประเสริฐ\nประหนึ่ง\nประหม่า\nประหยัด\nประหลาด\nประหล่ำ\nประหวัด\nประหวั่น\nประหัตประหาร\nประหาณ\nประหาร\nประเหล\nประเหส\nประไหมสุหรี\nประอบ\nประอร\nปรัก\nปรักปรำ\nปรักมะ\nปรัง\nปรัชญา\nปรัตถจริยา\nปรัตยุบัน\nปรัน\nปรับ\nปรัมปรา\nปรัศจิม\nปรัศนา\nปรัศนี\nปรัศว์\nปรัสสบท\nปร่า\nปรากฏ\nปรากรม\nปรากฤต\nปราการ\nปราง\nปรางค์\nปราจีน\nปราชญ์\nปราชญา\nปราชัย\nปราณ\nปราณี\nปราด\nปราน\nปรานี\nปราบ\nปราบดาภิเษก\nปราปต์\nปราม\nปรามาส\nปราโมช\nปราโมทย์\nปราย\nปรารถนา\nปรารภ\nปรารมภ์\nปราศ\nปราศจาก\nปราศรัย\nปราษณี\nปราษาณ\nปราสัย\nปราสาท\nปรำ\nปริ\nปริก\nปริกขาร\nปริกรรม\nปริกัป\nปริคณห์\nปริจาค\nปริจาริกา\nปริเฉท\nปริชน\nปริซึม\nปริญญา\nปริณาม\nปริณายก\nปริต\nปริตตะ\nปริตโตทก\nปริตร\nปริทรรศน์\nปริทัยหัคคี\nปริทัศน์\nปริเทพ\nปริเทวะ\nปรินิพพาน\nปริบ\nปริบท\nปริปันถ์\nปริพนธ์\nปริพัตร\nปริพันธ์\nปริพาชก\nปริภัณฑ์\nปริภาษ\nปริภูมิ\nปริโภค\nปริ่ม\nปริมณฑล\nปริมาณ\nปริมาตร\nปริยัติ\nปริยานุช\nปริยาย\nปริเยศ\nปริโยสาน\nปริวรรต\nปริวัตร\nปริวาร\nปริวาส\nปริวิตก\nปริเวณ\nปริศนา\nปริษัท\nปริสัญญู\nปริสุทธิ\nปริหาน\nปริหาร\nปรี่\nปรีชญา\nปรีชา\nปรี๊ด\nปรีดา\nปรีดิ\nปรีดิ์\nปรีดี\nปรีติ\nปรียะ\nปรียา\nปรึก\nปรึกษา\nปรึง\nปรือ\nปรื๋อ\nปรุ\nปรุง\nปรู\nปรู๋\nปรูด\nปรู๊ด\nปรู๊ดปร๊าด\nปรู๊ฟ\nปฤงคพ\nปฤจฉา\nปฤษฎางค์\nปฤษฐ\nปลก\nปลกเปลี้ย\nปลง\nปล่ง\nปลด\nปล้น\nปลวก\nปลอก\nปล่อง\nปล้อง\nปลอด\nปล้อน\nปลอบ\nปลอม\nปล่อย\nปละ\nปลัก\nปลั๊ก\nปลัง\nปลั่ง\nปลัด\nปลัดขิก\nปลา\nปลาต\nปลาบ\nปลาย\nปลาสเตอร์\nปลาสนาการ\nปล้ำ\nปลิง\nปลิด\nปลิ้น\nปลิโพธ\nปลิม\nปลิ่ม\nปลิว\nปลี\nปลีก\nปลื้ม\nปลุก\nปลูก\nปวกเปียก\nปวง\nป่วง\nปวด\nป่วน\nป้วน\nป้วนเปี้ยน\nป่วย\nปวัตน์\nปวารณา\nปวาล\nปวาส\nปวาฬ\nปวิช\nปวิตร\nปวิธ\nปวิเวก\nปวีณ\nปวุติ\nปเวณี\nปเวส\nปเวสน์\nปศุ\nปสันนะ\nปสันนาการ\nปสาท\nปสาน\nปสาสน์\nปสุ\nปสุต\nปสูติ\nปหังสนะ\nปหาน\nปหาร\nปหาส\nปอ\nป้อ\nป๋อ\nปอก\nปอง\nป่อง\nป้อง\nปอด\nปอน\nป้อน\nปอนด์\nปอเนาะ\nปอบ\nป้อแป้\nปอม\nป้อม\nป๋อม\nปอย\nป้อย\nป้อยอ\nปะ\nปะกน\nปะกัง\nปะการัง\nปะกำ\nปะขาว\nปะงาบ\nปะตาปา\nปะตาระกาหลา\nปะติดปะต่อ\nปะติยาน\nปะทะ\nปะทะปะทัง\nปะทุ\nปะทุน\nปะปน\nปะมง\nปะราลี\nปะรำ\nปะไร\nปะลอม\nปะเลง\nปะแล่ม\nปะโลง\nปะวะหล่ำ\nปะหงับ\nปะหนัน\nปะหัง\nปะเหลาะ\nปัก\nปักข์\nปักเป้า\nปักษ์\nปักษา\nปักษิน\nปักษี\nปัง\nปั๋ง\nปังสุ์\nปังสุกุล\nปัจจัตตะ\nปัจจันต์\nปัจจันตคาม\nปัจจันตชนบท\nปัจจันตประเทศ\nปัจจัย\nปัจจามิตร\nปัจจุคมน์\nปัจจุทธรณ์\nปัจจุบัน\nปัจจุสมัย\nปัจเจก\nปัจโจปการกิจ\nปัจฉา\nปัจฉิม\nปัจถรณ์\nปัจนึก\nปัจยาการ\nปัจเวกขณ์\nปัชชุน\nปัญจนที\nปัญจวัคคีย์\nปัญจก\nปัญจกะ\nปัญจมี\nปัญจวีสติ\nปัญญัติ\nปัญญา\nปัญหา\nปัฏ\nปัฏนะ\nปัฐยาวัต\nปัณฑรหัตถี\nปัณณะ\nปัณณาส\nปัณณาสก์\nปัณรสี\nปัณหิ\nปัด\nปัตคาด\nปัตตะ\nปัตตานึก\nปัตตานุโมทนา\nปัตตาเวีย\nปัตติ\nปัตติก\nปัตถร\nปัตถะ\nปัตนิ\nปัตนี\nปัตหล่า\nปัถพี\nปัถวี\nปัทม์\nปัทมะ\nปัทมาสน์\nปัน\nปั่น\nปั้น\nปั้นจั่น\nปันจุเหร็จ\nปั้นลม\nปั้นหยา\nปั้นเหน่ง\nปับ\nปั๊บ\nปัปผาสะ\nปัพพาชนียกรรม\nปัพภาระ\nปั๊ม\nปัยกา\nปัยยิกา\nปัวเปีย\nปัศจิม\nปัศตัน\nปัสสาวะ\nปัสสาสะ\nปา\nป่า\nป้า\nปาก\nปาง\nป้าง\nปาจรีย์\nปาจิตตีย์\nปาจีน\nปาฏลิ\nปาฏิบท\nปาฏิบุคลิก\nปาฏิโภค\nปาฏิหาริย์\nปาฐก\nปาฐกถา\nปาฐะ\nปาณกชาติ\nปาณะ\nปาณาติบาต\nปาณิ\nปาณี\nปาด\nปาติโมกข์\nปาตี\nปาเต๊ะ\nปาท่องโก๋\nปาทังกา\nปาทาน\nปาทุกา\nปาน\nป่าน\nป้าน\nปานะ\nปานียะ\nป้าบ\nป๊าบ\nปาพจน์\nปาม\nปาโมกข์\nป่าย\nป้าย\nปายาส\nปาร์เกต์\nปารมี\nปารเมศ\nปาราชิก\nปาริฉัตร\nปาริชาต\nปารุสกวัน\nปาล\nปาล์ม\nปาลิไลยก์\nปาลี\nปาว\nป่าว\nป๊าว\nปาวาร\nปาษาณ\nปาส\nปาสาณ\nปาสาทิกะ\nปาหนัน\nปาหี่\nปำ\nป้ำ\nป้ำเป๋อ\nปิกนิก\nปิ้ง\nปิงคละ\nปิงปอง\nปิฎก\nปิฏฐะ\nปิฐิ\nปิณฑะ\nปิด\nปิตตะ\nปิตา\nปิตามหัยกา\nปิตามหัยยิกา\nปิตุ\nปิตุจฉา\nปิตุภูมิ\nปิตุลา\nปิโตรเลียม\nปิ่น\nปิ่นแก้ว\nปิ่นโต\nปิปผลี\nปิ่ม\nปิ้ม\nปิยะ\nปิยังคุ\nปิโยรส\nปิลันธน์\nปิ๋ว\nปิศาจ\nปิหกะ\nปี\nปี่\nปี้\nปี๋\nปีก\nปีฐะ\nปี๊ด\nปีติ\nปีน\nปีบ\nปี๊บ\nปีศาจ\nปีฬกะ\nปึก\nปึง\nปึ่ง\nปึ๋ง\nปึ้ด\nปึมปื้อ\nปืน\nปื้น\nปือ\nปื้อ\nปื๋อ\nปุ\nปุ๊\nปุก\nปุกปุย\nปุคละ\nปุ้งกี๋\nปุงควะ\nปุงลิงค์\nปุงลึงค์\nปุจฉา\nปุฏะ\nปุณฑริก\nปุด\nปุตตะ\nปุถุชน\nปุนนาค\nปุนภพ\nปุนัพสุ\nปุบ\nปุ๊บ\nปุปผะ\nปุปะ\nปุพพะ\nปุ่ม\nปุ่มป่ำ\nปุ้ม\nปุ๋ม\nปุย\nปุ้ย\nปุ๋ย\nปุรณะ\nปุระ\nปุราณ\nปุราณะ\nปุริมพรรษา\nปุเรจาริก\nปุโรหิต\nปุลลิงค์\nปุลลึงค์\nปุลินท์\nปุโลปุเล\nปุษยะ\nปุสสะ\nปู\nปู่\nปูชกะ\nปูชนียบุคคล\nปูชนียวัตถุ\nปูชนียะ\nปูชา\nปูชิต\nปูด\nปูน\nปูม\nปู้ยี่ปู้ยำ\nปูระ\nปูลู\nเป้\nเป๋\nเปก\nเป๊ก\nเป่ง\nเป้ง\nเป๋ง\nเป็ด\nเปตพลี\nเปตอง\nเป็น\nเปยยาล\nเปร็ง\nเปรต\nเปรม\nเปรย\nเปรอ\nเปรอะ\nเปราะ\nเปรียง\nเปรี้ยง\nเปรี้ยงปร้าง\nเปรียญ\nเปรียบ\nเปรี่ยม\nเปรียว\nเปรี้ยว\nเปรียะ\nเปรี๊ยะ\nเปรื่อง\nเปรื้อย\nเปล\nเปล่ง\nเปลว\nเปลา\nเปล่า\nเปล้า\nเปลาะ\nเปลี้ย\nเปลี่ยน\nเปลี่ยม\nเปลี่ยว\nเปลือก\nเปลือง\nเปลื้อง\nเปลือย\nเปศะ\nเปศัส\nเปสการ\nเปสละ\nเปสุญวาท\nเป๋อ\nเป้อเย้อ\nเปอร์\nเปอร์เซ็นต์\nเปะ\nเปา\nเป่า\nเป้า\nเป๊า\nเป๋า\nเป๋าฮื้อ\nเปาะ\nเป๊าะ\nเปาะเปี๊ยะ\nเปาะแปะ\nเปิก\nเปิง\nเปิงมาง\nเปิด\nเปิ่น\nเปิบ\nเปิ๊บ\nเปีย\nเปียก\nเปี๊ยก\nเปี๊ยบ\nเปี่ยม\nเปี้ยว\nเปี๊ยว\nเปียะ\nเปี๊ยะ\nเปือก\nเปื้อน\nเปื่อย\nแป\nแป้ง\nแป๋ง\nแปด\nแป๊ด\nแปทู\nแป้น\nแป๊น\nแปบ\nแป๊บ\nแปม\nแปร\nแปร๋\nแปรก\nแปรง\nแปร่ง\nแปร๊ด\nแปร้น\nแปร๋น\nแปรปรวน\nแประ\nแปล\nแปล้\nแปลก\nแปลง\nแปลน\nแปลบ\nแปล๊บ\nแป้ว\nแป๊ว\nแปะ\nแป๊ะ\nแป๊ะซะ\nโป\nโป่\nโป้\nโป๊\nโปก\nโป๊ก\nโป๊กเกอร์\nโปกขรณี\nโปกขรพรรษ\nโปเก\nโปง\nโป่ง\nโป้ง\nโป่งข่าม\nโปงลาง\nโป่งวิด\nโปฐบท\nโปฐปทมาส\nโปดก\nโปตถกะ\nโปน\nโป๊ป\nโป๊ยเซียน\nโปรแกรม\nโปรง\nโปร่ง\nโปรด\nโปรตอน\nโปรตีน\nโปรเตสแตนต์\nโปรแทรกเตอร์\nโปรย\nโปล่ง\nโปลิโอ\nโปโล\nโปสก\nโปสต์การ์ด\nโปะ\nโป๊ะ\nโป๊ะจ้าย\nไป\nไป่\nไป๋\nไปยาล\nไปรษณีย์\nไปรษณียบัตร\nไปรษณียภัณฑ์\nไปรษณียากร\nไปล่\nไปศาจ\nผก\nผกา\nผกาย\nผคม\nผง\nผงก\nผงม\nผงะ\nผงาด\nผง่าน\nผจง\nผจญ\nผจัญ\nผจาน\nผชุม\nผณิน\nผณินทร\nผณิศวร\nผด\nผดุง\nผเดิน\nผทม\nผนวก\nผนวช\nผนัง\nผนิด\nผนึก\nผม\nผยอง\nผรณาปีติ\nผรสุ\nผริต\nผรุสวาท\nผล\nผลคุน\nผลคุนี\nผล็อย\nผละ\nผลัก\nผลัด\nผลับ\nผลัวะ\nผลา\nผลาญ\nผลานิสงส์\nผลาผล\nผลาหาร\nผลิ\nผลิกะ\nผลิต\nผลิน\nผลี\nผลีผลาม\nผลึก\nผลึ่ง\nผลือ\nผลุ\nผลุง\nผลุด\nผลุน\nผลุนผลัน\nผลุบ\nผลุบผลับ\nผลุย\nผลู\nผวน\nผวย\nผวา\nผสม\nผสาน\nผอง\nผ่อง\nผ่อน\nผอบ\nผอม\nผ็อย\nผอูน\nผะ\nผะดา\nผะสา\nผัก\nผัคคุณ\nผัคคุณี\nผัง\nผัด\nผัน\nผับ\nผัว\nผัวะ\nผัสสะ\nผัสสาหาร\nผา\nผ่า\nผ้า\nผาก\nผาง\nผ่าง\nผาณิต\nผาด\nผาติ\nผ่าน\nผาม\nผาย\nผ่ายผอม\nผาล\nผาลคุน\nผาลา\nผ่าว\nผาสุก\nผ้าฮาด\nผำ\nผ้ำ\nผิ\nผิง\nผิด\nผิตะ\nผิน\nผิว\nผี\nผี้ว์\nผึง\nผึ่ง\nผึ้ง\nผึ้งรวง\nผืน\nผื่น\nผุ\nผุด\nผุยผง\nผุสราคา\nผู้\nผูก\nเผ\nเผง\nเผชิญ\nเผ็ด\nเผด็จ\nเผดิม\nเผดียง\nเผ่น\nเผนิก\nเผย\nเผยอ\nเผยิบ\nเผยิบผยาบ\nเผล\nเผล่\nเผล็ด\nเผลอ\nเผลอไผล\nเผละ\nเผลาะ\nเผลาะแผละ\nเผลียง\nเผอเรอ\nเผอิญ\nเผอิล\nเผะ\nเผา\nเผ่า\nเผ้า\nเผาะ\nเผิ้ง\nเผิน\nเผียน\nเผือ\nเผื่อ\nเผือก\nเผือด\nเผือน\nเผื่อน\nแผ่\nแผก\nแผง\nแผด\nแผน\nแผ่น\nแผนก\nแผล\nแผลง\nแผล็บ\nแผล็ว\nแผละ\nแผ่ว\nแผ้ว\nโผ\nโผง\nโผฏฐัพพะ\nโผน\nโผเผ\nโผย\nโผล่\nโผลกเผลก\nโผละ\nโผอน\nโผะ\nไผ\nไผ่\nไผท\nฝน\nฝรั่ง\nฝรั่งเศส\nฝ่อ\nฝอย\nฝัก\nฝัง\nฝั่ง\nฝัด\nฝัน\nฝา\nฝ่า\nฝ้า\nฝาก\nฝาง\nฝาด\nฝาน\nฝาย\nฝ่าย\nฝ้าย\nฝิ่น\nฝี\nฝี่\nฝีก\nฝึก\nฝืด\nฝืน\nฝุ่น\nฝูง\nเฝ้า\nเฝือ\nเฝือก\nเฝือง\nเฝื่อน\nแฝก\nแฝง\nแฝด\nใฝ่\nไฝ\nพก\nพกุล\nพง\nพงศ์\nพงศกร\nพงศธร\nพงศา\nพงศาวดาร\nพจน์\nพจนา\nพจนานุกรม\nพจนารถ\nพจนีย์\nพจมาน\nพจี\nพชระ\nพญา\nพญาลอ\nพณิช\nพณิชย์\nพดด้วง\nพธู\nพนันดร\nพนาดร\nพนาดอน\nพนาราม\nพนาลัย\nพนาลี\nพนาวาส\nพนาเวศ\nพนาศรม\nพนาสณฑ์\nพนาสัณฑ์\nพเนจร\nพ่น\nพ้น\nพนม\nพนอง\nพนอม\nพนัก\nพนักงาน\nพนัง\nพนัน\nพนัส\nพนา\nพนาย\nพนิดา\nพนิต\nพบ\nพม่า\nพยนต์\nพยศ\nพยัก\nพยักพเยิด\nพยัคฆ์\nพยัคฆา\nพยัคฆิน\nพยัคฆี\nพยัชน์\nพยัญชนะ\nพยัต\nพยับ\nพยากรณ์\nพยาฆร์\nพยางค์\nพยาธิ\nพยาน\nพยาบาท\nพยาบาล\nพยาม\nพยามะ\nพยายาม\nพยุ\nพยุง\nพยุหยาตรา\nพยุหโยธา\nพยุหเสนา\nพยุหะ\nพยู่ห์\nพเยีย\nพร\nพรต\nพรม\nพรรค\nพรรค์\nพรรคานต์\nพรรณ\nพรรณนา\nพรรดึก\nพรรลาย\nพรรษ\nพรรษา\nพรรเอิญ\nพรวด\nพรวน\nพรหม\nพรหมจรรย์\nพรหมจาริณี\nพรหมจารี\nพรหมา\nพรหมาสตร์\nพรหมินทร์\nพรอก\nพร่อง\nพร้อง\nพรอด\nพร้อม\nพร้อมพรัก\nพร่อย\nพร้อย\nพระ\nพระนอม\nพระนาด\nพระฮาม\nพรักพร้อม\nพรั่ง\nพรัด\nพรั่น\nพรับ\nพร่า\nพร้า\nพราก\nพราง\nพร่าง\nพราด\nพราน\nพราย\nพราว\nพราหมณ์\nพราหมณะ\nพราหมณี\nพราหมี\nพรำ\nพร่ำ\nพริก\nพริ้ง\nพริบ\nพริ้ม\nพรึง\nพรึน\nพรึบ\nพรึ่บ\nพรืด\nพรุ\nพรุ่ง\nพรุน\nพรู\nพรูด\nพฤกษ์\nพฤกษชาติ\nพฤกษเทวดา\nพฤกษราช\nพฤกษศาสตร์\nพฤกษา\nพฤฒ\nพฤฒา\nพฤฒาจารย์\nพฤฒิ\nพฤต\nพฤติ\nพฤทธ์\nพฤทธิ์\nพฤนต์\nพฤนท์\nพฤศจิก\nพฤศจิกายน\nพฤษภ\nพฤษภาคม\nพฤหัสบดี\nพล\nพละ\nพลากร\nพลาดิศัย\nพลาธิการ\nพลานามัย\nพลบ\nพลวก\nพลวง\nพลวัต\nพลศาสตร์\nพลอ\nพล้อ\nพลอง\nพลอด\nพลอน\nพลอมแพลม\nพลอย\nพล่อย\nพลั่ก\nพลัง\nพลั่ง\nพลั้ง\nพลัด\nพลัน\nพลับ\nพลับพลา\nพลับพลึง\nพลั่ว\nพล่า\nพลาง\nพลาญ\nพลาด\nพล่าน\nพลาม\nพล่าม\nพลาย\nพลาสติก\nพลาสมา\nพลาหก\nพลำ\nพล้ำ\nพลำภัง\nพลิก\nพลิพัท\nพลิ้ว\nพลี\nพลุ\nพลุก\nพลุ่ก\nพลุกพล่าน\nพลุ่ง\nพลุ้ย\nพลู\nพลูโต\nพลูโทเนียม\nพวก\nพวง\nพ่วง\nพวน\nพวย\nพสก\nพสุ\nพสุธา\nพสุสงกรานต์\nพหล\nพหุ\nพหุล\nพหู\nพอ\nพ่อ\nพ้อ\nพอก\nพอง\nพ้อง\nพอน\nพ้อม\nพอโลเนียม\nพะ\nพะงา\nพะงาบ\nพะจง\nพะทำมะรง\nพะนอ\nพะเน้าพะนอ\nพะเนิน\nพะเนียง\nพะแนง\nพะพาน\nพะพิง\nพะเพิง\nพะยอม\nพ่ะย่ะค่ะ\nพะยูง\nพะยูน\nพะเยิบ\nพะเยิบพะยาบ\nพะรุงพะรัง\nพะโล้\nพะไล\nพะวง\nพะวักพะวน\nพะวา\nพะว้าพะวัง\nพะอง\nพะอากพะอำ\nพะอืดพะอม\nพัก\nพักตร์\nพักตรา\nพักร\nพัง\nพังกา\nพังงา\nพังผืด\nพังพวย\nพังพอน\nพังพาน\nพังพาบ\nพังเพย\nพัช\nพัชนี\nพัชระ\nพัญจน์\nพัฒนะ\nพัฒนา\nพัฒนากร\nพัฒนาการ\nพัด\nพัดชา\nพัดดึงส์\nพัตร\nพัทธ์\nพัทธยา\nพัทธสีมา\nพัทร\nพัน\nพันตู\nพันทาง\nพันธ์\nพันธะ\nพันธกรณี\nพันธบัตร\nพันธมิตร\nพันธนะ\nพันธนาคาร\nพันธนาการ\nพันธุ์\nพันธุกรรม\nพันลึก\nพันลือ\nพันเลิศ\nพันเอิญ\nพับ\nพัลลภ\nพัลวัน\nพัว\nพัวะ\nพัศดี\nพัสดุ\nพัสตร์\nพัสถาน\nพา\nพาก\nพากเพียร\nพากย์\nพาง\nพ่าง\nพาชี\nพาณิช\nพาณิชย์\nพาณิชยกรรม\nพาณิชยการ\nพาณิชยศาสตร์\nพาณิชยศิลป์\nพาณินี\nพาณี\nพาณีนี\nพาด\nพาท\nพาทย์\nพาธ\nพาธา\nพาน\nพ่าน\nพานร\nพานรินทร์\nพาม\nพาย\nพ่าย\nพายม้า\nพายัพ\nพายุ\nพาร์เซก\nพารณ\nพารา\nพาราฟิน\nพาล\nพาลา\nพาลี\nพาลุก\nพาโล\nพาไล\nพาส\nพาสน์\nพาสนา\nพาสุกรี\nพ่าห์\nพาหนะ\nพาหะ\nพาหา\nพาหิรกะ\nพาหิระ\nพาหุ\nพาหุรัด\nพาหุสัจจะ\nพาเหียร\nพาฬ\nพำ\nพำนัก\nพำพึม\nพำลา\nพิกล\nพิกสิต\nพิกัด\nพิกัติ\nพิกัน\nพิการ\nพิกุล\nพิเคราะห์\nพิฆน์\nพิฆเนศ\nพิฆเนศวร\nพิฆาต\nพิง\nพิจัย\nพิจาร\nพิจารณ์\nพิจารณา\nพิจิก\nพิจิต\nพิจิตร\nพิชญ์\nพิชัย\nพิชาน\nพิชิต\nพิเชฐ\nพิเชียร\nพิฑูรย์\nพิณ\nพิดทูล\nพิดาน\nพิโดร\nพิตร\nพิถี\nพิถีพิถัน\nพิทย\nพิทย์\nพิทยา\nพิทยาคม\nพิทยาคาร\nพิทยาธร\nพิทยาลัย\nพิทักษ์\nพิทูร\nพิเทศ\nพิธาน\nพิธี\nพิธุ\nพินทุ\nพินอบพิเทา\nพินัย\nพินาศ\nพินิจ\nพินิต\nพินิศ\nพินิศจัย\nพิเนต\nพิบัติ\nพิบุล\nพิบูล\nพิปริต\nพิปลาส\nพิพรรธ\nพิพรรธน์\nพิพักพิพ่วน\nพิพัฒ\nพิพัฒน์\nพิพากษ์\nพิพากษา\nพิพาท\nพิพิธ\nพิพิธภัณฑ์\nพิพิธภัณฑสถาน\nพิภพ\nพิภัช\nพิภาค\nพิภูษณะ\nพิเภก\nพิมปะการัง\nพิมพ์\nพิมพการัง\nพิมพา\nพิมพาภรณ์\nพิมล\nพิมเสน\nพิมาน\nพิมุข\nพิโมกข์\nพิโมกษ์\nพิโยกพิเกน\nพิโยค\nพิรอด\nพิระ\nพิรากล\nพิราบ\nพิราม\nพิราลัย\nพิริยะ\nพิรี้พิไร\nพิรุณ\nพิรุธ\nพิรุฬห์\nพิเรนทร์\nพิเราะ\nพิโรธ\nพิไร\nพิลังกาสา\nพิลาป\nพิลาส\nพิลิปดา\nพิลึก\nพิลึกกึกกือ\nพิลึกพิลั่น\nพิโลน\nพิไล\nพิศ\nพิศวง\nพิศวาส\nพิศาล\nพิศุทธ์\nพิศุทธิ์\nพิเศษ\nพิษ\nพิษฐาน\nพิษนาศน์\nพิสดาร\nพิสมร\nพิสมัย\nพิสัง\nพิสัช\nพิสัย\nพิสิฐ\nพิสุทธิ์\nพิสูจน์\nพิหค\nพิหาร\nพิฬาร\nพี\nพี่\nพี้\nพีชคณิต\nพีระมิด\nพึง\nพึ่ง\nพึ่บ\nพึ่บพั่บ\nพึม\nพึมพำ\nพืช\nพืด\nพื้น\nพุ\nพุก\nพุกาม\nพุง\nพุ่ง\nพุงดอ\nพุฒ\nพุฒิ\nพุด\nพุดตาน\nพุทธ\nพุทธะ\nพุทธังกูร\nพุทธางกูร\nพุทธันดร\nพุทธาภิเษก\nพุทธาวาส\nพุทธิ\nพุทโธ่\nพุทรา\nพุธ\nพุ่ม\nพุมเรียง\nพุ้ย\nพู\nพูพอน\nพู่\nพูด\nพูน\nพู้น\nพู่ระหง\nเพ\nเพ็ก\nเพกา\nเพคะ\nเพ็ง\nเพ่ง\nเพ็จ\nเพชฉลูกรรม\nเพชฌฆาต\nเพชร\nเพชรดา\nเพชรปาณี\nเพชรฤกษ์\nเพชรายุธ\nเพชรกลับ\nเพชรสังฆาต\nเพชรหลีก\nเพชรหึง\nเพ็ญ\nเพฑูริย์\nเพณี\nเพ็ดทูล\nเพดาน\nเพท\nเพทนา\nเพทาย\nเพทุบาย\nเพโทบาย\nเพ่นพ่าน\nเพนียด\nเพไนย\nเพ้ย\nเพรง\nเพรซีโอดิเมียม\nเพรา\nเพราะ\nเพริด\nเพริศ\nเพรียก\nเพรียง\nเพรียบ\nเพรี้ยม\nเพรียว\nเพรื่อ\nเพรือง\nเพล\nเพลง\nเพล็ด\nเพล้โพล้\nเพลา\nเพลาะ\nเพลิง\nเพลิดเพลิน\nเพลิน\nเพลีย\nเพลี้ย\nเพลี่ยง\nเพศ\nเพส\nเพสลาด\nเพ่อ\nเพ้อ\nเพ้อเจ้อ\nเพอิญ\nเพะ\nเพา\nเพาะ\nเพิก\nเพิง\nเพิ่ง\nเพิดเพ้ย\nเพิ่ม\nเพี้ย\nเพียง\nเพี้ยง\nเพียงออ\nเพี้ยน\nเพียบ\nเพียร\nเพื่อ\nเพื่อน\nแพ\nแพ้\nแพง\nแพ่ง\nแพงพวย\nแพทย์\nแพทยศาสตร์\nแพน\nแพ่น\nแพนก\nแพนงเชิง\nแพร\nแพร่\nแพรก\nแพร่ง\nแพรว\nแพร้ว\nแพลง\nแพลทินัม\nแพล็บ\nแพลม\nแพลเลเดียม\nแพละ\nแพละโลม\nแพว\nแพ้ว\nแพศย์\nแพศยา\nแพะ\nโพ\nโพก\nโพกพาย\nโพง\nโพงพาง\nโพชฌงค์\nโพซิตรอน\nโพด\nโพทะเล\nโพแทสเซียม\nโพธ\nโพธิ\nโพธิ์\nโพน\nโพ้น\nโพนทะนา\nโพบาย\nโพย\nโพยก๊วน\nโพยม\nโพรก\nโพรง\nโพรโทแอกทิเนียม\nโพรมีเทียม\nโพระดก\nโพล่\nโพลง\nโพล่ง\nโพล้ง\nโพลน\nโพล้เพล้\nโพละ\nโพสพ\nไพ\nไพ่\nไพจิตร\nไพชน\nไพชยนต์\nไพฑูรย์\nไพที\nไพบูลย์\nไพพรรณ\nไพร\nไพร่\nไพรจิตร\nไพรชน\nไพรชยนต์\nไพรฑูรย์\nไพรที\nไพรบูลย์\nไพรเราะ\nไพรัช\nไพรำ\nไพริน\nไพรินทร์\nไพรี\nไพเราะ\nไพโรจน์\nไพล\nไพล่\nไพศาขะ\nไพศาล\nไพเศษ\nไพสพ\nไพสิฐ\nไพหาร\nฟก\nฟ้ง\nฟรักโทส\nฟรี\nฟลูออรีน\nฟ่อ\nฟ้อ\nฟอก\nฟอง\nฟ่อง\nฟ้อง\nฟอด\nฟอน\nฟ่อน\nฟ้อน\nฟ้อแฟ้\nฟอร์มาลดีไฮด์\nฟอร์มาลิน\nฟอสฟอรัส\nฟอสเฟต\nฟัก\nฟักฟุ้น\nฟัง\nฟังก์ชัน\nฟัด\nฟัน\nฟั่น\nฟั้น\nฟ้า\nฟาก\nฟาง\nฟ่าง\nฟาด\nฟาทอม\nฟาน\nฟ่าม\nฟาย\nฟาร์ม\nฟาสซิสต์\nฟิด\nฟิต\nฟิบ\nฟิล์ม\nฟิวส์\nฟิสิกส์\nฟี่\nฟี้\nฟืดฟาด\nฟืน\nฟื้น\nฟืม\nฟุ\nฟุ้ง\nฟุต\nฟุน\nฟุบ\nฟุ่บ\nฟุ่มเฟือย\nฟุลสแก๊ป\nฟู\nฟู่\nฟูก\nฟูด\nฟูม\nเฟ็ด\nเฟ้น\nเฟลด์สปาร์\nเฟ้อ\nเฟอร์เมียม\nเฟอะ\nเฟอะฟะ\nเฟะ\nเฟะฟะ\nเฟิน\nเฟี้ยม\nเฟี้ยว\nเฟือ\nเฟื้อ\nเฟือง\nเฟื่อง\nเฟื้อง\nเฟือน\nเฟือย\nเฟื้อย\nแฟ่\nแฟง\nแฟชั่น\nแฟน\nแฟบ\nแฟ้ม\nแฟรนเซียม\nแฟลกซ์\nแฟลต\nแฟะ\nโฟกัส\nไฟ\nภควดี\nภควัต\nภควันต์\nภควัม\nภควา\nภควาน\nภคะ\nภคันทลา\nภคินี\nภณะ\nภณิดา\nภพ\nภมร\nภมริน\nภมรี\nภมุกา\nภยันตราย\nภยาคติ\nภระ\nภรณี\nภรต\nภรรดร\nภรรดา\nภรรยา\nภระมร\nภระมรี\nภราดร\nภราดรภาพ\nภราดา\nภริยา\nภฤศ\nภวะ\nภวตัณหา\nภวนะ\nภวังค์\nภวังคจิต\nภักดี\nภักตะ\nภักติ\nภักษ์\nภักษา\nภักษาหาร\nภัค\nภัคน์\nภังคะ\nภังคี\nภัจ\nภัณฑ์\nภัณฑาคาร\nภัณฑาคาริก\nภัณฑารักษ์\nภัณฑนะ\nภัณฑู\nภัต\nภัตตาคาร\nภัตตาหาร\nภัตร\nภัทระ\nภัทรกัป\nภัพ\nภัย\nภัสดา\nภัสตรา\nภัสมะ\nภัสสร\nภา\nภาค\nภาคย์\nภาคยานุวัติ\nภาคินี\nภาคิไนย\nภาคี\nภาคียะ\nภาชนะ\nภาชี\nภาณ\nภาณวาร\nภาณกะ\nภาณี\nภาณุ\nภาดร\nภาดา\nภาตระ\nภาตา\nภาตุ\nภาติกะ\nภาติยะ\nภาพ\nภาพย์\nภาม\nภาย\nภาร\nภาระ\nภารดี\nภารต\nภารตี\nภารยทรัพย์\nภารยา\nภารา\nภาวนา\nภาวะ\nภาษ\nภาษณ์\nภาษา\nภาษิต\nภาษี\nภาส\nภาสน์\nภาสวร\nภาสา\nภาสุระ\nภิกขา\nภิกขาจาร\nภิกขุ\nภิกขุนี\nภิกษา\nภิกษาจาร\nภิกษาหาร\nภิกษุ\nภิกษุณี\nภิงคาร\nภิญโญ\nภิตติ\nภินท์\nภินทนาการ\nภิยโย\nภิรมย์\nภิรมย์สุรางค์\nภิษัช\nภิสัก\nภีตะ\nภีมะ\nภีรุ\nภุกต์\nภุขัน\nภุช\nภุชงค์\nภุต\nภุมมะ\nภุมรัตน์\nภุมวาร\nภุมรา\nภุมริน\nภุมรี\nภุมเรศ\nภู\nภู่\nภูต\nภูติ\nภูม\nภูมิ\nภูมี\nภูริ\nภูรี\nภูวดล\nภูวนาถ\nภูวเนตร\nภูวไนย\nภูษา\nภูษิต\nเภกะ\nเภตรา\nเภท\nเภทุบาย\nเภรี\nเภสัช\nโภค\nโภคะ\nโภคิน\nโภคี\nโภไคย\nโภไคศวรรย์\nโภช\nโภชย์\nโภชก\nโภชนะ\nโภชนา\nโภชนาหาร\nโภชนียะ\nไภริน\nไภรี\nไภษัชคุรุ\nไภษัชย์\nมกร\nมกราคม\nมกุฎ\nมคธ\nมฆวัน\nมฆะ\nมฆา\nม่ง\nมงกุฎ\nมงโกรย\nมงคล\nมงคลวาร\nมณฑ์\nมณฑก\nมณฑนะ\nมณฑป\nมณฑล\nมณฑา\nมณฑารพ\nมณฑิระ\nมณเฑียร\nมณี\nมด\nมตะ\nมตกภัต\nมติ\nมทนะ\nมทะ\nมธุ\nมธุกร\nมธุการี\nมธุลีห์\nมธุระ\nมธุรพจน์\nมน\nมนินทรีย์\nม่น\nมนต์\nมนตร์\nมนตรี\nมนท์\nมนทิราลัย\nมนเทียร\nมนสิการ\nมนัส\nมนัสวี\nมนินทรีย์\nมนิมนา\nมนิลา\nมนุญ\nมนุษย์\nมนุษยชาติ\nมนุษยธรรม\nมนุษย์มนา\nมนุษยโลก\nมนุษยศาสตร์\nมนุษยสัมพันธ์\nมนุสาร\nมนู\nมนูสาร\nมโน\nมโนช\nมโนชญ์\nมโนราห์\nมโนสาเร่\nมโนห์รา\nมมังการ\nมยุรฉัตร\nมยุระ\nมยุรา\nมยุรี\nมยุเรศ\nมยูร\nมรกต\nมรคา\nมรฑป\nมรณ์\nมรณะ\nมรณกรรม\nมรณบัตร\nมรณภัย\nมรณภาพ\nมรดก\nมรรค\nมรรคา\nมรรตัย\nมรรยาท\nมรรษ\nมรสุม\nมริจ\nมริยาท\nมรีจิ\nมรุต\nมฤค\nมฤคย์\nมฤคศิระ\nมฤคศิรมาส\nมฤคเศียร\nมฤคินทร์\nมฤเคนทร์\nมฤดก\nมฤต\nมฤตยู\nมฤทุ\nมล\nมละ\nมลัก\nมลังเมลือง\nมล้าง\nมลาย\nมลายู\nมวก\nม่วง\nมวน\nม่วน\nม้วน\nม้วนต้วน\nมวย\nม้วย\nมวล\nมหกรรม\nมหรณพ\nมหรรณพ\nมหรสพ\nมหัจฉริยะ\nมหัต\nมหัทธนะ\nมหันต์\nมหันตโทษ\nมหัพภาค\nมหัศจรรย์\nมหา\nมหากฐิน\nมหากาฬ\nมหาขันธกะ\nมหาจักร\nมหาชน\nมหาชัย\nมหาชาติ\nมหาโชตรัต\nมหาดไทย\nมหาดเล็ก\nมหาตมะ\nมหาไถ่\nมหาเทพ\nมหาเทพี\nมหาเทวี\nมหาธาตุ\nมหานิกาย\nมหานิล\nมหาบพิตร\nมหาบัณฑิต\nมหาพน\nมหาพรหม\nมหาภารตะ\nมหาภิเนษกรมณ์\nมหาภูต\nมหาเมฆ\nมหายาน\nมหายุค\nมหาราช\nมหาฤกษ์\nมหาละลวย\nมหาละลาย\nมหาวงศ์\nมหาวรรค\nมหาวิทยาลัย\nมหาศักราช\nมหาศาล\nมหาสงกรานต์\nมหาสดมภ์\nมหาสดำ\nมหาสมุทร\nมหาสาวก\nมหาหงส์\nมหาหิงคุ์\nมหาอำนาจ\nมหาอุจ\nมหาอุด\nมหาอุปรากร\nมหาอุปราช\nมหิ\nมหิดล\nมหิธร\nมหิป\nมหิงส์\nมหิทธิ\nมหินท์\nมหิมา\nมหิศร\nมหิศวร\nมหิษ\nมหิษี\nมหึมา\nมเหยงค์\nมเหศ\nมเหศวร\nมเหศักดิ์\nมเหสักข์\nมเหสิ\nมเหสี\nมเหาฬาร\nมโหรสพ\nมโหระทึก\nมโหรี\nมโหฬาร\nมไหศวรรย์\nมอ\nมอง\nมองโกลอยด์\nมองโกเลีย\nมองคร่อ\nมอญ\nมอด\nม่อต้อ\nมอเตอร์\nมอเตอร์ไซค์\nมอน\nม่อน\nมอบ\nมอม\nมอมแมม\nม่อย\nมอร์ฟีน\nมอระกู่\nมอลโทส\nม่อลอกม่อแลก\nม่อห้อม\nม่อฮ่อม\nมะ\nมะกรูด\nมะกล่ำ\nมะกอก\nมะก่อง\nมะกะโรนี\nมะกา\nมะเกลือ\nมะเกี๋ยง\nมะข่วง\nมะขวิด\nมะขาม\nมะเขือ\nมะแข่น\nมะคังแดง\nมะค่า\nมะคำไก่\nมะคำดีควาย\nมะงั่ว\nมะงุมมะงาหรา\nมะซัก\nมะซาง\nมะดัน\nมะดีหวี\nมะดูก\nมะเดหวี\nมะเดื่อ\nมะต้อง\nมะตะบะ\nมะตาด\nมะตาหะรี\nมะตึ่ง\nมะตื๋น\nมะตูม\nมะแตก\nมะโต\nมะนาว\nมะปราง\nมะปริง\nมะฝ่อ\nมะพร้าว\nมะพลับ\nมะพูด\nมะแพน\nมะแพร้ว\nมะเฟือง\nมะแฟน\nมะไฟ\nมะม่วง\nมะม่าว\nมะมี่\nมะมื่น\nมะมุด\nมะเมอ\nมะเมีย\nมะเมื่อย\nมะแม\nมะยง\nมะยม\nมะระ\nมะริด\nมะรืน\nมะรุม\nมะรุมมะตุ้ม\nมะเร็ง\nมะเรื่อง\nมะโรง\nมะลอกมะแลก\nมะละกอ\nมะลิ\nมะลื่น\nมะลืมดำ\nมะลุลี\nมะแว้ง\nมะสัง\nมะเส็ง\nมะหวด\nมะหะหมัด\nมะหาด\nมะหิ่ง\nมะเหงก\nมะอึก\nมะฮอกกานี\nมัก\nมักกะโรนี\nมักกะลีผล\nมักกะสัน\nมักขะ\nมั่กขั้ก\nมักขิกา\nมัค\nมัคคะ\nมัคคุเทศก์\nมัคนายก\nมัฆวาน\nมั่ง\nมังกง\nมังกร\nมังกุ\nมังคละ\nมังค่า\nมังคุด\nมังตาน\nมังสวิรัติ\nมังสะ\nมังสี\nมัจจะ\nมัจจุ\nมัจฉริยะ\nมัจฉรี\nมัจฉะ\nมัจฉา\nมัชชะ\nมัชวิรัติ\nมัชชาระ\nมัชฌันติกสมัย\nมัชฌิม\nมัชฌิมา\nมัญจา\nมัญชิษฐา\nมัญชุ\nมัญชุสา\nมัญชูสา\nมัญเชฏฐะ\nมัฏฐะ\nมัณฑนศิลป์\nมัณฑนา\nมัด\nมัตตะ\nมัตตัญญู\nมัตตา\nมัตติกา\nมัตถกะ\nมัตถลุงค์\nมัตสยะ\nมัตสยา\nมัตสระ\nมัตสริน\nมัททวะ\nมัทนะ\nมัทยะ\nมัธยฐาน\nมัธยม\nมัธยันห์\nมัธยัสถ์\nมัน\nมั่น\nมันตา\nมันถะ\nมันทิระ\nมันทิราลัย\nมับ\nมั้ม\nมัมมี่\nมัย\nมัลละ\nมัลลิกา\nมัว\nมัวซัว\nมั่ว\nมัศยา\nมัสตุ\nมัสตาร์ด\nมัสมั่น\nมัสยิด\nมัสรู่\nมัสลิน\nมัสสุ\nมา\nม้า\nมาก\nมาคสิระ\nมาฆบูชา\nมาฆะ\nม้าง\nมางสะ\nมาณพ\nมาณวิกา\nมาด\nมาดา\nมาตงค์\nมาตร\nมาตรา\nมาตฤ\nมาตังคะ\nมาตา\nมาตามหัยกะ\nมาตามหัยกา\nมาตามหัยยิกา\nมาติกะ\nมาติกา\nมาตุ\nมาตุจฉา\nมาตุรงค์\nมาตุเรศ\nมาตุละ\nมาตุลา\nมาตุลานี\nมาทะ\nมาธยมิก\nมาธยมิกะ\nมาธุระ\nมาธุสร\nมาธูระ\nมาน\nม่าน\nม้าน\nมานพ\nมานะ\nมานัต\nมานัส\nมานิต\nมานี\nมานุษ\nมานุษยวิทยา\nมาโนชญ์\nมาบ\nมาภา\nม้าม\nม่าย\nมายา\nมาร\nมาราธิราช\nมารค\nมารดร\nมารดา\nมารยา\nมารยาท\nมารศรี\nมารษา\nมาริต\nมารุต\nมาลย์\nมาลัย\nมาลา\nมาลาตี\nมาลาเรีย\nมาลินี\nมาลี\nมาลุต\nมาศ\nมาส\nมาสก\nมาห์\nม่าห์\nมาหิส\nม่าเหมี่ยว\nมาฬก\nมิ\nมิค\nมิคสัญญี\nมิ่ง\nมิจฉา\nมิด\nมิตร\nมิติ\nมิเตอร์\nมิถยา\nมิถุน\nมิถุนายน\nมิทธะ\nมินตรา\nมินตา\nมินหม้อ\nมิ่ม\nมิ้ม\nมิไย\nมิรันตี\nมิลลิกรัม\nมิลลิบาร์\nมิลลิเมตร\nมิลลิลิตร\nมิลักขะ\nมิลักขู\nมิส\nมิสกรี\nมิสกวัน\nมิสซา\nมี\nมี่\nมีด\nมีเทน\nมีน\nมีนาคม\nมี่สั้ว\nมึง\nมึน\nมืด\nมืน\nมื่น\nมือ\nมื้อ\nมุ\nมุก\nมุกดา\nมุกดาหาร\nมุกุระ\nมุข\nมุขเด็จ\nมุขยประโยค\nมุโขโลกนะ\nมุคคะ\nมุง\nมุ่ง\nมุ้ง\nมุจฉา\nมุจนะ\nมุจลินท์\nมุญจนะ\nมุญชะ\nมุฐิ\nมุณฑกะ\nมุณฑะ\nมุด\nมุตกิด\nมุตฆาต\nมุตตะ\nมุตตา\nมุตติ\nมุตะ\nมุติ\nมุททา\nมุทธชะ\nมุทธา\nมุทธาภิเษก\nมุทรา\nมุทริกา\nมุทะลุ\nมุทา\nมุทิกา\nมุทิงค์\nมุทิตา\nมุทุ\nมุทุตา\nมุ่น\nมุนิ\nมุนินทร์\nมุนี\nมุบ\nมุบมิบ\nมุม\nมุ้ม\nมุ่ย\nมุรธา\nมุรธาภิเษก\nมุสละ\nมุสลิม\nมุสา\nมุสิก\nมุหงิด\nมุหน่าย\nมุหุต\nมุฮัมมัด\nมูก\nมูเซอ\nมูตร\nมู่ทู่\nมูน\nมูมมาม\nมูรติ\nมูรธา\nมูรธาภิเษก\nมูล\nมูละ\nมูลา\nมูลิกากร\nมู่ลี่\nมู่เล่\nมูสัง\nมูสิก\nมูสิกะ\nมูสิกทันต์\nเม\nเม็ก\nเมกะเฮิรตซ์\nเมขลา\nเมฆ\nเมฆา\nเมฆินทร์\nเมฆี\nเม็ง\nเม็ด\nเมตตา\nเมตไตรย\nเมตร\nเมตริก\nเมตริกตัน\nเมถุน\nเมท\nเมโท\nเมทนี\nเมทินี\nเมทนีดล\nเมทานอล\nเมทิลแอลกอฮอล์\nเมธ\nเมธา\nเมธาวี\nเมธี\nเมน\nเม่น\nเม้น\nเมนเดลีเวียม\nเมนทอล\nเม้ม\nเมรัย\nเมริเดียน\nเมรุ\nเมล์\nเมล็ด\nเมลือง\nเมษ\nเมษายน\nเมห์\nเมหนะ\nเมหะ\nเมะ\nเมา\nเม่า\nเม้า\nเมารี\nเมาลี\nเมาฬี\nเมาะ\nเมิง\nเมิน\nเมิล\nเมีย\nเมียง\nเมี่ยง\nเมี้ยน\nเมือ\nเมื้อ\nเมื่อ\nเมือก\nเมือง\nเมือบ\nเมื่อย\nแม่\nแม้\nแมก\nแมกนีเซียม\nแมง\nแมงกะพรุน\nแมงกานิน\nแมงกานีส\nแมงคา\nแมงคาเรือง\nแมงช้าง\nแมงดา\nแมงลัก\nแม่ตะงาว\nแมน\nแม่น\nแม้น\nแมลง\nแมลบ\nแมว\nแม้ว\nแมะ\nโม\nโม่\nโม้\nโมก\nโมกข์\nโมกษะ\nโมฆกรรม\nโมฆสัญญา\nโมฆะ\nโมฆียกรรม\nโมฆียะ\nโมง\nโม่ง\nโมงครุ่ม\nโมทนา\nโมโนแซ็กคาไรด์\nโมไนย\nโมเม\nโมเมนต์\nโมเย\nโมรา\nโมรี\nโมเรส\nโมลิบดีนัม\nโมลี\nโมเลกุล\nโมเสก\nโมเสส\nโม่ห์\nโมหะ\nโมหันธ์\nโมหาคติ\nโมโห\nไม่\nไม้\nไมกา\nไมครอน\nไมโครกรัม\nไมโครฟิล์ม\nไมโครโฟน\nไมโครมิเตอร์\nไมโครเมตร\nไมโครลิตร\nไมโครเวฟ\nไมตรี\nไมยราบ\nไมล์\nยก\nยกกระบัตร\nยกนะ\nยง\nยงโย่\nยชุรเวท\nยติ\nยติภังค์\nยถากรรม\nยถาภูตญาณ\nย่น\nยนต์\nยนตร์\nยม\nยมก\nยมโดย\nยมนา\nยมล\nยมะ\nยรรยง\nยล\nยวง\nยวด\nยวน\nยวบ\nย้วย\nยวรยาตร\nยศ\nยโส\nยอ\nย่อ\nยอก\nย็อกแย็ก\nยอง\nย่อง\nย้อง\nยอด\nยอน\nย้อน\nยอบ\nยอม\nย่อม\nย้อม\nย่อย\nย้อย\nย้อแย้\nยะ\nย่ะ\nยะยอบ\nยะยับ\nยัก\nยักข์\nยักขินี\nยักษ์\nยักษา\nยักษิณี\nยักษี\nยัง\nยั้ง\nยั่งยืน\nยัชโญปวีต\nยัญ\nยัญญะ\nยัด\nยัติภังค์\nยัน\nยั่น\nยันต์\nยันตร\nยันตร์\nยันตรกรรม\nยั่นตะนี\nยับ\nยั่ว\nยั้ว\nยั้วเยี้ย\nยัวรยาตร\nยัวะ\nยัษฏิ\nยา\nย่า\nยาก\nยาคุ\nยาคู\nยาง\nย่าง\nยางพารา\nยาจก\nยาจนา\nยาไฉน\nยาด\nยาดา\nยาตร\nยาตรา\nยาน\nย่าน\nย่านพาโหม\nยานมาศ\nยานุมาศ\nยานี\nยาม\nย่าม\nยามะ\nยามักการ\nยามา\nยาย\nย้าย\nยายี\nยาว\nย้าว\nยาวกาลิก\nยาวชีวิก\nยาสูบ\nย่าหยา\nยาหยี\nยำ\nย่ำ\nย้ำ\nยำเยีย\nยิก\nยิง\nยิ่ง\nยิฏฐะ\nยิน\nยิบ\nยิบหยี\nยิปซัม\nยิปซี\nยิ้ม\nยิมนาสติก\nยิหวา\nยี\nยี่\nยี้\nยี่ก่า\nยี่เก\nยี่เข่ง\nยี่โถ\nยีน\nยี่โป้\nยี่ภู่\nยีราฟ\nยี่สก\nยี่สง\nยี่สน\nยี่สาน\nยี่สุ่น\nยี่หระ\nยี่หร่า\nยี่ห้อ\nยี่หุบ\nยึกยัก\nยึกยือ\nยึด\nยืด\nยืน\nยื่น\nยืม\nยื้อ\nยุ\nยุกกระบัตร\nยุกดิ\nยุกติ\nยุกติธรรม\nยุกต์\nยุค\nยุคนธร\nยุคล\nยุคันต์\nยุคันธร\nยุคุนธร\nยุง\nยุ่ง\nยุ้ง\nยุด\nยุต\nยุติ\nยุทธ\nยุทธ์\nยุทธนา\nยุทโธปกรณ์\nยุบ\nยุ่บ\nยุ่บยั่บ\nยุบล\nยุพดี\nยุพเรศ\nยุพา\nยุพาน\nยุพาพาล\nยุพาพิน\nยุ่มย่าม\nยุ่ย\nยุ้ย\nยุรยาตร\nยูรยาตร\nยุวชน\nยุวดี\nยุวราช\nยุวา\nยุวาน\nยู\nยู่\nยูง\nยูโด\nยูถะ\nยูถิกา\nยูริก\nยูเรนัส\nยูเรเนียม\nยูโรเพียม\nเย\nเย้\nเยง\nเยซู\nเย็ด\nเย็น\nเย็นตาโฟ\nเย็นเตาโฟ\nเย็บ\nเย้ย\nเยอ\nเย่อ\nเยอรมัน\nเยอว\nเย่อหยิ่ง\nเยอะ\nเยอะแยะ\nเยา\nเย้า\nเยาว์\nเยาวชน\nเยาวมาลย์\nเยาวยอด\nเยาวราช\nเยาวเรศ\nเยาวลักษณ์\nเยาวพา\nเยาวพาณี\nเยาวพาน\nเยาะ\nเยิง\nเยิน\nเยิ่น\nเยิ่นเย้อ\nเยินยอ\nเยิบ\nเยิบยาบ\nเยิ้ม\nเยีย\nเยี่ยง\nเยี่ยงอย่าง\nเยียงผา\nเยียดยัด\nเยียน\nเยียบ\nเยี่ยม\nเยียรบับ\nเยียรยง\nเยียว\nเยี่ยว\nเยียวยา\nเยือ\nเยื่อ\nเยื้อ\nเยือก\nเยือง\nเยื่อง\nเยื้อง\nเยือน\nเยื้อน\nแย่\nแย้\nแยก\nแยง\nแย่ง\nแย้ง\nแยงแย่\nแยงแย้\nแยบ\nแย็บ\nแยม\nแย้ม\nแยแส\nแยะ\nโย\nโย้\nโยก\nโยกเยก\nโยคาพจร\nโยคาวจร\nโยคเกณฑ์\nโยคยะ\nโยคะ\nโยคิน\nโยคี\nโยง\nโย่ง\nโย่งเย่ง\nโยงโย่\nโยชน์\nโยชนา\nโยถิกะ\nโยทะกา\nโยธวาทิต\nโยธา\nโยธิน\nโยน\nโยนก\nโยนิโส\nโยนี\nโยม\nโยโส\nใย\nไย\nไย่\nไยดี\nไยไพ\nรก\nรง\nรงค์\nรงควัตถุ\nรงรอง\nรจนา\nรจเรข\nรจเลข\nรจิต\nรชตะ\nรชนิ\nรชนี\nรชะ\nรณรงค์\nรด\nรดี\nรตนะ\nรตะ\nรติ\nรถ\nรน\nร่น\nรบ\nรบาญ\nรพี\nรม\nร่ม\nรมณี\nรมณีย์\nรมณียสถาน\nรมย์\nรมเยศ\nรยางค์\nรวก\nรวง\nร่วง\nรวด\nรวน\nรวนเร\nร่วน\nรวบ\nรวม\nร่วม\nรวย\nรวิ\nรวิวาร\nรวี\nรศนา\nรส\nรสนา\nรสสุคนธ์\nรสายนเวท\nรสิก\nรหัท\nรหัส\nรโห\nรโหฐาน\nรอ\nร่อ\nรอก\nรอง\nร่อง\nร้อง\nรองเง็ง\nร่องแร่ง\nรอด\nรอน\nร่อน\nร้อน\nรอบ\nรอบคอบ\nรอม\nรอมชอม\nรอมร่อ\nรอย\nร่อย\nร้อย\nร่อแร่\nระ\nระกะ\nระกา\nระกำ\nระเกะระกะ\nระคน\nระคาง\nระคาย\nระแคะ\nระฆัง\nระงม\nระงับ\nระแง้\nระโงกหิน\nระชวย\nระดม\nระดะ\nระดับ\nระดา\nระด่าว\nระดู\nระเด่น\nระเดียง\nระแด\nระตู\nระทก\nระทด\nระทม\nระทวย\nระทา\nระทึก\nระแทะ\nระนาด\nระนาบ\nระนาม\nระนาว\nระเนน\nระเนระนาด\nระเนียด\nระแนง\nระแนะ\nระบบ\nระบม\nระบอบ\nระบัด\nระบับ\nระบาด\nระบาย\nระบำ\nระบิล\nระบือ\nระบุ\nระเบง\nระเบ็ง\nระเบิด\nระเบียง\nระเบียน\nระเบียบ\nระแบบ\nระมัดระวัง\nระมาด\nระเมียร\nระย่อ\nระย่อม\nระยะ\nระยั้ง\nระยับ\nระย้า\nระยาบ\nระยำ\nระยิบระยับ\nระโยง\nระโยงระยาง\nระรวย\nระรอง\nระร่อน\nระรัว\nระราน\nระร่าย\nระริก\nระรี่\nระรึง\nระรื่น\nระรื้น\nระเร้ง\nระเริง\nระเรียง\nระเรื่อย\nระแรง\nระลวง\nระลอก\nระลึก\nระวัง\nระวาง\nระวาย\nระวิง\nระแวง\nระแวดระวัง\nระไว\nระส่ำระสาย\nระหกระเหิน\nระหง\nระหวย\nระหว่าง\nระหองระแหง\nระหัด\nระหาย\nระเห็จ\nระเหย\nระเหระหน\nระเหหน\nระเหิด\nระเหินระหก\nระแหง\nระโหย\nระอา\nระอิดระอา\nระอุ\nรัก\nรักข์\nรักขิต\nรักตะ\nรักบี้\nรักเร่\nรักแร้\nรักษ์\nรักษา\nรัง\nรั้ง\nรังเกียจ\nรังแก\nรังค์\nรังควาน\nรังแค\nรังรอง\nรังวัด\nรังสิ\nรังสี\nรังสิมันตุ์\nรังสิมา\nรัจฉา\nรัช\nรัชชูปการ\nรัชมังคลาภิเษก\nรัชชุ\nรัชฎาภิเษก\nรัชดาภิเษก\nรัชนะ\nรัชนี\nรัญจวน\nรัฏฐาภิปาลโนบาย\nรัฐ\nรัฐประศาสโนบาย\nรัฐประศาสนศาสตร์\nรัด\nรัต\nรัตกัมพล\nรัตมณี\nรัตคน\nรัตจันทน์\nรัตตัญญู\nรัตติ\nรัตน์\nรัตนะ\nรัตนโกสินทร์\nรัตนโกสินทรศก\nรัตนชาติ\nรัตนตรัย\nรัตนบัลลังก์\nรัตนวราภรณ์\nรัตนสิงหาสน์\nรัตนา\nรัตนากร\nรัตนาภรณ์\nรัตนาวลี\nรัตมา\nรัถ\nรัถยา\nรัทเทอร์ฟอร์เดียม\nรัน\nรั้น\nรันทด\nรันทวย\nรับ\nรัมณียสถาน\nรัมภา\nรัมมี่\nรัมย์\nรัย\nรัว\nรั่ว\nรั้ว\nรัศมิมัต\nรัศมิมาน\nรัศมี\nรัษฎากร\nรัสเซีย\nรัสสะ\nรัสสระ\nรา\nร่า\nร้า\nราก\nรากษส\nรากสาด\nราคะ\nราคจริต\nราคา\nราคิน\nราคี\nราง\nร่าง\nร้าง\nรางจืด\nรางชาง\nรางวัล\nราช\nราชกิจจานุเบกษา\nราชนิกุล\nราชวโรงการ\nราชญี\nราชดัด\nราชพฤกษ์\nราชมาณพ\nราชมาษ\nราชมาส\nราชย์\nราชสีห์\nราชะ\nราชัน\nราชันย์\nราชัย\nราชา\nราชาธิปไตย\nราชาธิราช\nราชาภิเษก\nราชายตนะ\nราชาวดี\nราชี\nราชินิกุล\nราชินีกุล\nราชินี\nราชินูปถัมภ์\nราชูปถัมภ์\nราชูปโภค\nราเชน\nราเชนทร์\nราเชนทรยาน\nราโชวาท\nราไชศวรรย์\nราญ\nราญรอน\nราด\nราต\nราตร\nราตรี\nราน\nร่าน\nร้าน\nราบ\nราพณ์\nราพณาสูร\nราม\nรามเกียรติ์\nรามสูร\nรามัญ\nรามา\nราย\nร่าย\nร้าย\nราว\nร้าว\nราวี\nราศี\nราษฎร\nราษฎร์\nราษตรี\nราษราตรี\nราหุ\nราหู\nรำ\nร่ำ\nรำคาญ\nรำงับ\nรำจวน\nรำบาญ\nรำพัน\nรำพาย\nรำพึง\nรำเพย\nรำไพ\nรำมะนา\nรำมะนาด\nรำมะร่อ\nร่ำรวย\nร่ำร่ำ\nรำไร\nรำลึก\nรำหัด\nรำหัส\nริ\nริก\nริดสีดวง\nริน\nริ้น\nริบ\nริบบิ้น\nริบรี่\nริบหรี่\nริปุ\nริปู\nริม\nริ้ว\nริษยา\nรี\nรี่\nรี้พล\nรีด\nรีดักชัน\nรีต\nรีเนียม\nรีบ\nรีม\nรีรอ\nรี้ริก\nรึง\nรึ้ง\nรื่น\nรื้น\nรื้อ\nรุ\nรุก\nรุกข์\nรุกขชาติ\nรุกขเทวดา\nรุกขมูล\nรุกขา\nรุกรุย\nรุ่ง\nรุ้ง\nรุงรัง\nรุ่งริ่ง\nรุจ\nรุจา\nรุจนะ\nรุจิ\nรุจี\nรุจิระ\nรุจิรา\nรุด\nรุต\nรุทธ์\nรุทระ\nรุธิร\nรุธิระ\nรุเธียร\nรุน\nรุ่น\nรุบรู่\nรุม\nรุ่ม\nรุ่มร่าม\nรุย\nรุ่ย\nรุรุ\nรุหะ\nรู\nรู่\nรู้\nรูจี\nรูด\nรูทีเนียม\nรูบิเดียม\nรูป\nรูปิยะ\nรูปี\nรูเล็ตต์\nเร่\nเรข\nเรขา\nเรขาคณิต\nเร็ง\nเร่ง\nเร้ง\nเรณุ\nเรณู\nเรดอน\nเรดาร์\nเรเดียม\nเร้น\nเรรวน\nเรไร\nเร็ว\nเร่ว\nเรวดี\nเรอ\nเร่อ\nเรา\nเร่า\nเร้า\nเราะ\nเริง\nเริด\nเริม\nเริ่ม\nเริ้ม\nเริศร้าง\nเรี่ย\nเรี้ย\nเรียก\nเรียง\nเรียด\nเรียน\nเรียบ\nเรียม\nเรี่ยม\nเรียว\nเรี่ยว\nเรี้ยวรก\nเรือ\nเรื่อ\nเรื้อ\nเรือก\nเรือง\nเรื่อง\nเรื้อง\nเรืองรอง\nเรือด\nเรือน\nเรื้อน\nเรื่อย\nแร\nแร่\nแรก\nแร็กเกต\nแรง\nแร่ง\nแร้ง\nแรด\nแร้นแค้น\nแรม\nแร้ว\nแระ\nโร\nโร่\nโรค\nโรคา\nโรคาพาธ\nโรง\nโรจ\nโรจน์\nโรเดียม\nโรตี\nโรท\nโรธ\nโรม\nโรมัน\nโรเมอร์\nโรย\nโรเร\nโรหิณี\nโรหิต\nไร\nไร่\nไร้\nไรย์\nฤกษ์\nฤกษณะ\nฤคเวท\nฤชา\nฤชุ\nฤณ\nฤดี\nฤดียา\nฤดู\nฤต\nฤติยา\nฤตุ\nฤทธา\nฤทธิ์\nฤทัย\nฤษภ\nฤษยา\nฤษี\nฤๅ\nฤๅดี\nฤๅทัย\nฤๅษี\nฤๅสาย\nลก\nล่ก\nลฆุ\nลง\nล่ง\nลงกา\nล้งเล้ง\nลด\nลดา\nลดาวัลย์\nลน\nล้น\nลบ\nลบอง\nลพ\nลพุช\nลม\nล่ม\nล้ม\nลมาด\nลรรลุง\nลลนา\nลลิต\nลวก\nลวง\nล่วง\nล้วง\nลวณะ\nลวด\nล้วน\nลวนลาม\nลวนะ\nล่วม\nลวะ\nลวิตร\nลหุ\nลหุกาบัติ\nล่อ\nล้อ\nลอก\nล็อก\nล็อกเกต\nลอกแลก\nลอการิทึม\nลอง\nล่อง\nลองกอง\nลองจิจูด\nลองไน\nลอด\nลอตเตอรี่\nลอน\nล่อน\nลอบ\nลอม\nล้อม\nลอมชอม\nลอมพอก\nลอย\nล่อย\nล่อแล่\nลอว์เรนเซียม\nลออ\nละ\nล่ะ\nละคร\nละติจูด\nละบม\nละบอง\nละบือ\nละเบ็ง\nละโบม\nละม่อม\nละมั่ง\nละมาน\nละม้าย\nละมุ\nละมุด\nละมุน\nละเมอ\nละเมาะ\nละเมิด\nละเมียด\nละแมะ\nละโมก\nละโมบ\nละไม\nละลวย\nละลอก\nละล้า\nละล้าละลัง\nละลาน\nละลาบละล้วง\nละลาย\nละล้าว\nละล่ำละลัก\nละลิบ\nละลุม\nละเลง\nละเล้า\nละเลาะ\nละเลิง\nละเลียด\nละเลียบ\nละไล้\nละว้า\nละวาด\nละเวง\nละแวก\nละโว้\nละหมาด\nละห้อย\nละหาน\nละหาร\nละหุ่ง\nละเหย\nละเหี่ย\nละอง\nละออง\nละอาย\nละเอียด\nละแอน\nลัก\nลักขณะ\nลักขณา\nลักขะ\nลักขี\nลักจั่น\nลักปิดลักเปิด\nลักษณ์\nลักษณนาม\nลักษณะ\nลักษณาการ\nลักษมณ์\nลักษมาณา\nลักษมี\nลักษะ\nลัคคะ\nลัคน์\nลัคนา\nลัง\nลั่ง\nลังกา\nลังคี\nลังถึง\nลังลอง\nลังเล\nลังสาด\nลัชชา\nลัชชี\nลัญจ์\nลัญจกร\nลัญฉกร\nลัญฉน์\nลัฐิ\nลัฐิกา\nลัด\nลัดา\nลัทธ์\nลัทธิ\nลัน\nลั่น\nลันเต\nลันเตา\nลันไต\nลั่นทม\nลันโทม\nลับ\nลัพธ์\nลัพธิ\nลัภ\nลัภนะ\nลัภย์\nลัมพ์\nลัย\nลา\nล่า\nล้า\nลาก\nลาง\nล่าง\nล้าง\nลางลิง\nลางสาด\nลาช\nลาชะ\nลาชา\nลาญ\nลาด\nลาดเลา\nล้าต้า\nล่าเตียง\nลาน\nล่าน\nล้าน\nลาบ\nลาพอน\nลาภ\nลาม\nล่าม\nลามก\nลาย\nล้าย\nลายสือ\nลาลา\nลาว\nลาวัณย์\nลาวา\nลำ\nล่ำ\nล้ำ\nลำเข็ญ\nลำแข\nลำเค็ญ\nลำเจียก\nลำดวน\nลำดับ\nลำเนา\nลำบอง\nลำบาก\nลำปำ\nลำพวน\nลำพอง\nลำพัง\nลำพู\nลำเพ็ญ\nลำเพา\nลำแพน\nลำโพง\nลำไพ่\nลำภุขัน\nลำมะลอก\nลำยอง\nลำไย\nลำลอง\nล่ำลา\nลำลาบ\nลำลึก\nลำเลาะ\nลำเลิก\nลำเลียง\nลำเวียง\nลำเอียก\nลำเอียง\nลิ\nลิกขา\nลิกไนต์\nลิกู\nลิเก\nลิขนะ\nลิขสิทธิ์\nลิขิต\nลิง\nลิงค์\nลิด\nลิต\nลิตมัส\nลิตร\nลิเทียม\nลิ่น\nลิ้น\nลินจง\nลิ้นจี่\nลินลา\nลินสีด\nลิ่นฮื้อ\nลินิน\nลิบ\nลิปดา\nลิปสติก\nลิปิ\nลิฟต์\nลิเภา\nลิ่ม\nลิ้ม\nลิมป์\nลิมปนะ\nลิลิต\nลิว\nลิ่ว\nลิสง\nลี\nลี่\nลี้\nลีซอ\nลีบ\nลีลา\nลีลาศ\nลีฬหา\nลึก\nลึงค์\nลืด\nลื่น\nลื้น\nลืบ\nลืม\nลือ\nลื่อ\nลื้อ\nลุ\nลุก\nลุง\nลุ้ง\nลุ่น\nลุ้น\nลุพธ์\nลุ่ม\nลุมพี\nลุมพู\nลุย\nลุ่ย\nลุ้ย\nลู่\nลูก\nลูกระมาศ\nลูกเอ็น\nลูขะ\nลูทีเชียม\nลูบ\nเลก\nเล็ก\nเลข\nเลขา\nเลขาธิการ\nเลขานุการ\nเล็ง\nเล้ง\nเล่งฮื้อ\nเลเซอร์\nเลฑฑุ\nเลณฑุ\nเลณะ\nเล็ด\nเลน\nเล็น\nเล่น\nเลนส์\nเล็บ\nเลบง\nเลปกร\nเลปน์\nเลเป\nเลเพ\nเล็ม\nเล่ม\nเลย\nเลว\nเลวง\nเลวูโลส\nเลศ\nเลษฏุ\nเล่ห์\nเล่ห์กระเท่ห์\nเลหลัง\nเลหะ\nเลอ\nเล่อ\nเลอะ\nเลอะเทอะ\nเละ\nเละเทะ\nเลา\nเล่า\nเล้า\nเลากัย\nเล้าโลม\nเลาะ\nเลิก\nเลิ่กลั่ก\nเลิง\nเลิ้ง\nเลินเล่อ\nเลิศ\nเลีย\nเลียง\nเลี่ยง\nเลี้ยง\nเลียงผา\nเลียงฝ้าย\nเลียงมัน\nเลียน\nเลี่ยน\nเลียนไฟ\nเลียบ\nเลี่ยม\nเลียว\nเลี้ยว\nเลือก\nเลือง\nเลื่อง\nเลือด\nเลือน\nเลื่อน\nเลื่อม\nเลื่อย\nเลื้อย\nเลื่อยล้า\nแล\nแล่\nแล้\nแลก\nแล็กเกอร์\nแล็กโทส\nแลง\nแล่ง\nแล้ง\nแลน\nแล่น\nแลนทานัม\nแลบ\nแล้ว\nและ\nโล่\nโล้\nโลก\nโลกเชษฐ์\nโลกธรรม\nโลกธาตุ\nโลกนาถ\nโลกบาล\nโลกย์\nโลกัย\nโลกวัชชะ\nโลกวิทู\nโลกัตถจริยา\nโลกันตร์\nโลกา\nโลกาธิบดี\nโลกาธิปไตย\nโลกานุวัตร\nโลกาภิวัตน์\nโลกามิส\nโลกายัต\nโลกาวินาศ\nโลกิยะ\nโลกีย์\nโลกียวัตร\nโลกียวิสัย\nโลกียสุข\nโลกุตระ\nโลกุตรธรรม\nโลกุตรภูมิ\nโลง\nโล่ง\nโล้ง\nโล่งโจ้ง\nโล่งโต้ง\nโล้งโต้ง\nโลจนะ\nโลณะ\nโลด\nโล่ติ๊น\nโลโต\nโลท\nโลน\nโล้น\nโลภ\nโลม\nโลมเล้า\nโลมะ\nโลมา\nโลลุป\nโลเล\nโลโล\nโลโล้\nโลหะ\nโลหกุมภี\nโลหัช\nโลหิต\nไล่\nไล้\nไลย\nไลลา\nไล่เลี่ย\nฦๅ\nฦๅชา\nฦๅสาย\nวก\nวง\nวงก์\nวงกต\nวงศ์\nวงศกร\nวงศา\nวงษ์\nวจนะ\nวจี\nวชิระ\nวชิรปาณี\nวชิรหัตถ์\nวชิราวุธ\nวฏะ\nวฏาการ\nวณิช\nวณิชชา\nวณิชย์\nวณิชยา\nวณิพก\nวดี\nวทนะ\nวทัญญุตา\nวทัญญู\nวธุกา\nวธู\nวน\nวนศาสตร์\nวนสณฑ์\nวนสัณฑ์\nวนอุทยาน\nวนัส\nวนัสบดี\nวนา\nวนาดร\nวนาดอน\nวนานต์\nวนาลัย\nวนาลี\nวนาวาส\nวนาศรม\nวนาสณฑ์\nวนาสัณฑ์\nวนิดา\nวนิพก\nวเนจร\nวโนทยาน\nวยัคฆ์\nวยากรณ์\nวรดนู\nวรทาน\nวรมหาวิหาร\nวรงค์\nวรณะ\nวรรค\nวรรคย์\nวรรช\nวรรชย์\nวรรณะ\nวรรณกรรม\nวรรณคดี\nวรรณยุกต์\nวรรณยุต\nวรรณศิลป์\nวรรณนา\nวรรณพฤติ\nวรรณึก\nวรรธกะ\nวรรธนะ\nวรรษ\nวรรษา\nวรวิหาร\nวรัญญู\nวรางคณา\nวรางคนา\nวราห์\nวราหะ\nวรุณ\nวโรดม\nวฤก\nวลัช\nวลัญช์\nวลัญชน์\nวลัย\nวลาหก\nวลี\nวศค\nวศะ\nวศิน\nวสนะ\nวสภะ\nวสละ\nวสวัดดี\nวสวัตตี\nวสะ\nวสันต์\nวสันตดิลก\nวสันตฤดู\nวสันตวิษุวัต\nวสา\nวสี\nวสุ\nวสุธา\nวสุนธรา\nวสุมดี\nวหะ\nวอ\nวอก\nวอกแวก\nว่องไว\nวอด\nวอน\nว่อน\nว็อบ\nวอมแวม\nวอลเลย์บอล\nวอแว\nวะ\nวัก\nวักกะ\nวัคคีย์\nวัคคุ\nวัคซีน\nวัง\nวังก์\nวังชา\nวังเวง\nวังศะ\nวังสะ\nวัจจะ\nวัจกุฎี\nวัจฉละ\nวัจน์\nวัช\nวัชชะ\nวัชพืช\nวัชฌ์\nวัชระ\nวัชรปาณี\nวัชรยาน\nวัชรอาสน์\nวัชราสน์\nวัชรินทร์\nวัชรี\nวัชเรนทร์\nวัฏ\nวัฏฏะ\nวัฏจักร\nวัฏทุกข์\nวัฏสงสาร\nวัฏกะ\nวัฏฏิ\nวัฒกะ\nวัฒกี\nวัฒนธรรม\nวัฒนะ\nวัฒนา\nวัณ\nวัณโรค\nวัณฏ์\nวัณณะ\nวัณนา\nวัด\nวัต\nวัตต์\nวัตตา\nวัตถ์\nวัตถาภรณ์\nวัตถาลังการ\nวัตถุ\nวัตนะ\nวัตร\nวัตสดร\nวัตสะ\nวัติ\nวัทน์\nวัน\nวันต์\nวันทนา\nวันทนาการ\nวันทนีย์\nวันทยหัตถ์\nวันทยาวุธ\nวันทา\nวันทิ\nวับ\nวับวาบ\nวับวาม\nวับแวบ\nวับแวม\nวัปปะ\nวัมมิกะ\nวัย\nวัลก์\nวัลคุ\nวัลย์\nวัลลภ\nวัลลี\nวัว\nวัสสะ\nวัสโสทก\nวัสดุ\nวัสตร์\nวัสน์\nวัสนะ\nวัสสานะ\nวัสสานฤดู\nวา\nว่า\nว้า\nว้าเหว่\nวาก\nว้าก\nวากยสัมพันธ์\nวากยะ\nวาง\nว่าง\nว้าง\nวาจก\nวาจา\nวาจาไปยะ\nวาจาล\nวาชเปยะ\nวาณิช\nวาณิชกะ\nวาณิชย์\nวาณี\nวาด\nวาต\nวาตะ\nวาตภัย\nวาท\nวาทศาสตร์\nวาทศิลป์\nวาทกะ\nวาทนะ\nวาทย์\nวาทยกร\nวาทิต\nวาทิน\nวาที\nวาน\nวานซืน\nว่าน\nวานร\nวานรินทร์\nวาเนเดียม\nวาบ\nวาปี\nวาม\nวามน\nวามนาวตาร\nวามะ\nวาย\nว่าย\nว้าย\nวายะ\nวาโย\nวายามะ\nวายุ\nวายุกูล\nวาร\nวาระ\nวารสาร\nวารสารศาสตร์\nวาริ\nวารี\nวาริช\nวารีช\nวาริท\nวาริธร\nวารุณ\nวารุณี\nวาล\nวาลวีชนี\nวาล์ว\nวาลิกา\nวาลุกา\nวาว\nว่าว\nว้าว่อน\nว้าวุ่น\nวาสนะ\nวาสนา\nวาสพ\nวาสะ\nวาสิน\nวาสี\nวาสุกรี\nวาสุกี\nวาสุเทพ\nวาหนะ\nวาหะ\nวาหินี\nวาฬ\nวิกขัมภ์\nวิกขัมภนะ\nวิกเขป\nวิกรม\nวิกรัย\nวิกรานต์\nวิกฤต\nวิกฤติ\nวิกล\nวิกสิต\nวิกัต\nวิกัติ\nวิกัติการก\nวิกัป\nวิกัย\nวิการ\nวิกาล\nวิกาลโภชน์\nวิคหะ\nวิเคราะห์\nวิฆเนศ\nวิฆเนศวร\nวิฆาต\nวิง\nวิ่ง\nวิ่งเปี้ยว\nวิงวอน\nวิจฉิกะ\nวิจล\nวิจักขณ์\nวิจักษ์\nวิจักษณ์\nวิจัย\nวิจาร\nวิจารณ์\nวิจารณญาณ\nวิจิ\nวิจิกิจฉา\nวิจิต\nวิจิตร\nวิจิน\nวิจุณ\nวิจุรณ\nวิชชา\nวิชชุ\nวิชชุดา\nวิชชุตา\nวิชชุลดา\nวิชญะ\nวิชน\nวิชนี\nวิชย\nวิชัย\nวิชา\nวิชานนะ\nวิชิต\nวิเชียร\nวิญญัตติ\nวิญญาณ\nวิญญาณกทรัพย์\nวิญญู\nวิฑูรย์\nวิด\nวิตก\nวิตถาร\nวิตามิน\nวิถี\nวิทธะ\nวิทยฐานะ\nวิทยา\nวิทยาคม\nวิทยาคาร\nวิทยาลัย\nวิทยุ\nวิทยุต\nวิทวัส\nวิทัตถิ\nวิทัศน์\nวิทารณ์\nวิทิต\nวิทู\nวิทูร\nวิเทศ\nวิเทโศบาย\nวิธ\nวิธวา\nวิธาน\nวิธี\nวิธุระ\nวิธู\nวิธูปนะ\nวิ่น\nวินตกะ\nวินัย\nวินาที\nวินายก\nวินาศ\nวินิจ\nวินิจฉัย\nวินิต\nวินิบาต\nวินิปาติก\nวิเนต\nวิบัติ\nวิบาก\nวิบุล\nวิบุลย์\nวิบูล\nวิบูลย์\nวิปการ\nวิปฏิสาร\nวิปโยค\nวิประโยค\nวิปริต\nวิปลาส\nวิปวาส\nวิปักษ์\nวิปัสสก\nวิปัสสนา\nวิปัสสนายานิก\nวิพากษ์\nวิพิธทัศนา\nวิพุธ\nวิภว\nวิภวตัณหา\nวิภังค์\nวิภัช\nวิภัตติ\nวิภา\nวิภาค\nวิภาช\nวิภาดา\nวิภาวี\nวิภาษ\nวิภาส\nวิภู\nวิภูษณะ\nวิภูษา\nวิภูษิต\nวิมน\nวิมล\nวิมลัก\nวิมังสา\nวิมัติ\nวิมาน\nวิมุข\nวิมุต\nวิมุตติ\nวิเมลือง\nวิโมกข์\nวิโยค\nวิระ\nวิรงรอง\nวิรังรอง\nวิรัช\nวิรัต\nวิรัติ\nวิราคะ\nวิราม\nวิริยภาพ\nวิริยะ\nวิรุธ\nวิรุฬห์\nวิรุฬหก\nวิรูป\nวิรูปักษ์\nวิเรนทร์\nวิโรจ\nวิโรจน์\nวิโรฒ\nวิโรธ\nวิลันดา\nวิลัย\nวิลาด\nวิลาศ\nวิลาป\nวิลาวัณย์\nวิลาส\nวิลาสินี\nวิลิปดา\nวิลิศมาหรา\nวิเลป\nวิเลปนะ\nวิโลกนะ\nวิโลม\nวิไล\nวิไลวรรณ\nวิวรณ์\nวิวรรธน์\nวิวัฏ\nวิวัฒน์\nวิวัฒนาการ\nวิวัน\nวิวาท\nวิวาห์\nวิวาหมงคล\nวิวาหะ\nวิวิต\nวิวิธ\nวิเวก\nวิศรุต\nวิศว\nวิศวกร\nวิศวกรรม\nวิศวกรรมศาสตร์\nวิศัลย์\nวิศาขบูชา\nวิศาขา\nวิศาล\nวิศิษฏ์\nวิศุทธ์\nวิศุทธิ์\nวิเศษ\nวิเศษณ์\nวิษณุ\nวิษณุกรรม\nวิษธร\nวิษัย\nวิษาณ\nวิษุวัต\nวิสกี้\nวิสรรชนีย์\nวิสฤต\nวิสสุกรรม\nวิสัชนา\nวิสัญญี\nวิสัย\nวิสัยทัศน์\nวิสาขบูชา\nวิสาขะ\nวิสาขา\nวิสามัญ\nวิสามานยนาม\nวิสาร\nวิสารทะ\nวิสาล\nวิสาสะ\nวิสาหกิจ\nวิสิฐ\nวิสุงคามสีมา\nวิสุทธ์\nวิสุทธิ์\nวิสูตร\nวิเสท\nวิหค\nวิหลั่น\nวิหาร\nวิหิงสา\nวิเหสา\nวิฬาร\nวิฬาร์\nวี\nวีจิ\nวีชนี\nวีณา\nวี้ด\nวีรกรรม\nวีรชน\nวีรบุรุษ\nวีรสตรี\nวี่วัน\nวี่แวว\nวีสะ\nวุ้ง\nวุฐิ\nวุฒ\nวุฒิ\nวุด\nวุ่น\nวุ้น\nวุบ\nวุ้ย\nวุลแฟรม\nวู้\nวูดวาด\nวูบ\nวู่วาม\nเว้\nเวค\nเวคิน\nเวคี\nเวจ\nเวช\nเวชยันต์\nเวฐน์\nเวณิ\nเวณิก\nเวณุ\nเวตน์\nเวตร\nเวตาล\nเวท\nเวทคู\nเวทนา\nเวทย์\nเวทัลละ\nเวทางค์\nเวทางคศาสตร์\nเวทานต์\nเวทานตะ\nเวทิ\nเวที\nเวธะ\nเวน\nเว้น\nเวนไตย\nเวไนย\nเวมัต\nเว้ย\nเวยยากรณะ\nเวร\nเวรมณี\nเวรี\nเวโรจน์\nเวลา\nเวเลนซี\nเวศม์\nเวศย์\nเวศยา\nเวสน์\nเวสภู\nเวสม์\nเวสวัณ\nเวสสะ\nเวสสันดร\nเวสสุกรรม\nเวสสุวัณ\nเวสารัช\nเวสิยา\nเวหน\nเวหะ\nเวหา\nเวหาส\nเวฬุ\nเวฬุริยะ\nเว่อ\nเว้า\nเวิก\nเวิ้ง\nเวี่ย\nเวียง\nเวียด\nเวียดนาม\nเวียน\nเวียร\nเวี่ยว\nแว้\nแวง\nแว้ง\nแวด\nแว้ด\nแวน\nแว่น\nแวนดา\nแวบ\nแว็บ\nแวม\nแว็ม\nแวว\nแว่ว\nแวะ\nโว\nโว่\nโวการ\nโว่ง\nโวทาน\nโวย\nโว้ย\nโว้เว้\nโวหาร\nไว\nไว้\nไวกูณฐ์\nไวฑูรย์\nไวทย์\nไวน์\nไวพจน์\nไวยากรณ์\nไวยาวัจกร\nไวยาวัจมัย\nไวรัส\nไววรรณ\nไวษณพ\nไวโอลิน\nศก\nศกุน\nศกุนต์\nศกุนิ\nศกุนี\nศจี\nศตะ\nศตภิษัช\nศตวรรษ\nศตพรรษ\nศตกะ\nศนิ\nศพ\nศมนะ\nศมะ\nศยาม\nศยามล\nศร\nศรายุธ\nศราวรณ์\nศรรกรา\nศรวณะ\nศรวณีย์\nศรวิษฐา\nศรัณย์\nศรัณยู\nศรัท\nศรัทธา\nศรัย\nศราทธ์\nศราทธพรต\nศราพก\nศราวก\nศราวณะ\nศรี\nศรีตรัง\nศรุติ\nศฤคาล\nศฤงค์\nศฤงคาร\nศฤงคาริน\nศฤงคารี\nศลิษฏ์\nศลิษา\nศวะ\nศวัส\nศวา\nศวาน\nศศะ\nศศธร\nศศพินทุ์\nศศลักษณ์\nศศิ\nศศิน\nศศี\nศศิขัณฑ์\nศศิธร\nศศิมณฑล\nศศิวิมล\nศอ\nศอก\nศักดา\nศักดิ\nศักดิ์\nศักดินา\nศักติ\nศักย\nศักยภาพ\nศักย์\nศักยะ\nศักร\nศักรินทร์\nศักเรนทร์\nศักราช\nศังกร\nศัตรู\nศันสนะ\nศันสนีย์\nศัพท์\nศัยยา\nศัล\nศัลย์\nศัลยกรรม\nศัลยแพทย์\nศัลยศาสตร์\nศัสดร\nศัสตร\nศัสตรศาสตร์\nศัสตรา\nศัสตราวุธ\nศากตะ\nศากย\nศากยะ\nศากยพุทธ\nศากยมุนี\nศาฎก\nศาณ\nศานต์\nศานติ\nศาป\nศารท\nศารทูล\nศาริกา\nศาล\nศาลา\nศาศวัต\nศาสดา\nศาสตร์\nศาสตรา\nศาสตราจารย์\nศาสนา\nศาสนกิจ\nศาสนจักร\nศาสนธรรม\nศาสนบุคคล\nศาสนพิธี\nศาสนวัตถุ\nศาสนศาสตร์\nศาสนสถาน\nศาสนสมบัติ\nศาสนิกชน\nศาสนีย์\nศาสนูปถัมภก\nศาสน์\nศิกษก\nศิการ\nศิขร\nศิขริน\nศิขรี\nศิขัณฑ์\nศิคาล\nศิงขร\nศิงขริน\nศิตะ\nศิถี\nศิพิระ\nศิระ\nศิรประภา\nศิราภรณ์\nศิโรรัตน์\nศิโรเวฐน์\nศิรา\nศิรามพุช\nศิโรราบ\nศิลป\nศิลป์\nศิลปะ\nศิลปกร\nศิลปกรรม\nศิลปกิจ\nศิลปวัตถุ\nศิลปวิทยา\nศิลปศาสตร์\nศิลปศึกษา\nศิลปหัตถกรรม\nศิลปิน\nศิลปี\nศิลา\nศิวะ\nศิวโมกข์\nศิวลึงค์\nศิวเวท\nศิวาลัย\nศิศีระ\nศิษฎิ\nศิษฏ์\nศิษย์\nศิษยานุศิษย์\nศีขร\nศีต\nศีตกาล\nศีรษะ\nศีล\nศึก\nศึกษา\nศึกษาธิการ\nศึกษานิเทศก์\nศุกร์\nศุกรวรรณ\nศุกรวาร\nศุกระ\nศุกล\nศุกลปักษ์\nศุจิ\nศุทธะ\nศุทธิ\nศุนะ\nศุนิ\nศุภกร\nศุภเคราะห์\nศุภนิมิต\nศุภมัสดุ\nศุภมาตรา\nศุภมาส\nศุภอักษร\nศุภางค์\nศูกร\nศุลกากร\nศุลการักษ์\nศุลี\nศุษิร\nศูทร\nศูนย์\nศูนยวาท\nศูละ\nศูลิน\nเศรณี\nเศรษฐ\nเศรษฐ์\nเศรษฐกิจ\nเศรษฐศาสตร์\nเศรษฐี\nเศร้า\nเศลษ\nเศวต\nเศวตร\nเศวตัมพร\nเศษ\nเศาจ\nเศาร์\nเศารยะ\nเศิก\nเศียร\nโศก\nโศกา\nโศกาดูร\nโศกาลัย\nโศกี\nโศจิ\nโศธนะ\nโศภน\nโศภะ\nโศภา\nโศภิต\nโศภิน\nโศภิษฐ์\nโศภี\nโศรดา\nโศรตร\nโศลก\nไศล\nไศวะ\nษมา\nษัฏ\nษัฑ\nษัณ\nษัษ\nษัษฐะ\nษัษฐี\nโษฑศัน\nสก\nสกวาที\nสกฏะ\nสกทาคามิผล\nสกิทาคามิผล\nสกทาคามิมรรค\nสกิทาคามิมรรค\nสกทาคามี\nสกิทาคามี\nสกนธ์\nสกปรก\nสกรณีย์\nสกรรจ์\nสกรรมกริยา\nสกล\nสกลมหาสังฆปริณายก\nสกัด\nสกา\nสกาว\nสกี\nสกุณ\nสกุณา\nสกุณี\nสกุน\nสกุนต์\nสกุล\nสเกต\nสแกนเดียม\nสขะ\nสง\nส่ง\nสงกร\nสงกรานต์\nสงกา\nสงค์\nสงคร\nสงคราม\nสงเคราะห์\nสงฆ์\nสงบ\nสงวน\nส่งสการ\nสงสัย\nสงสาร\nสงสารวัฏ\nสงัด\nสง่า\nสฐะ\nสณฑ์\nสด\nสดมภ์\nสดับ\nสดับปกรณ์\nสดำ\nสดุดี\nสตะ\nสตน\nสตภิสชะ\nสตรอนเชียม\nสตริกนิน\nสตรี\nสตัฟฟ์\nสตัมภ์\nสตางค์\nสติ\nสติปัฏฐาน\nสตี\nสตู\nสตูป\nสเต๊ก\nสถบดี\nสถล\nสถวีระ\nสถาน\nสถานะ\nสถานี\nสถาบัน\nสถาปนา\nสถาปนิก\nสถาปัตยกรรม\nสถาปัตยกรรมศาสตร์\nสถาปัตยเรขา\nสถาปัตยเวท\nสถาพร\nสถาวร\nสถิต\nสถิตยศาสตร์\nสถิติ\nสถิร\nสถีรวาท\nสถุล\nสถูป\nสทิง\nสทึง\nสทุม\nสธนะ\nสาธุสะ\nสน\nส้น\nสนทนา\nสนทรรศ\nสนทรรศน์\nสนเทศ\nสนเท่ห์\nสนธยา\nสนธิ\nสนน\nสนม\nสนวน\nสนอง\nสนอบ\nสนอม\nสนะ\nสนัด\nสนั่น\nสนับ\nสนับทึบ\nสนับสนุน\nสนาน\nสนาม\nสนายุ\nสนิกะ\nสนิท\nสนิธ\nสนิม\nสนุก\nสนุกเกอร์\nสนุข\nสนุต\nสนุ่น\nสบ\nสบง\nสบถ\nสบัน\nสบาย\nสบู่\nสไบ\nสปริง\nสปอร์\nสปาเกตตี\nสเปกตรัม\nสเปกโทรสโกป\nสไปริลลัม\nสพาบ\nสภา\nสภาพ\nสภาวการณ์\nสภาวะ\nสม\nสมการ\nสมจารี\nสมดุล\nสมมูล\nส้ม\nสมญา\nสมณะ\nสมณบริขาร\nสมณศักดิ์\nสมณสารูป\nสมเด็จ\nสมถะ\nสมถยานิก\nสมถวิปัสสนา\nสมนาคุณ\nสมบัติ\nสมบุกสมบัน\nสมบูรณ์\nสมบูรณาญาสิทธิราชย์\nสมประดี\nสมปฤดี\nสมปฤๅดี\nส้มป่อย\nสมปัก\nสมผุส\nสมพง\nสมพงศ์\nสมพล\nสมพัตสร\nสมพาส\nสมเพช\nสมโพธน์\nสมโพธิ\nสมภพ\nสมภาร\nสมโภค\nสมโภช\nสมมต\nสมมติ\nสมมุติ\nสมมาตร\nส้มมือ\nสมโมท\nสมโยค\nสมร\nสมรด\nสมรรถ\nสมรรถนะ\nสมรรถภาพ\nสมรส\nสมฤดี\nสมฤติ\nสมวายะ\nสมเสร็จ\nสมอ\nสมอง\nสมะ\nสมัคร\nสมังคี\nสมัช\nสมัชชา\nสมัญญา\nสมัต\nสมัน\nสมันต์\nสมัย\nสมา\nสมาคม\nสมาจาร\nสมาชิก\nสมาทาน\nสมาธิ\nสมาน\nสมานฉันท์\nสมาบัติ\nสมาพันธรัฐ\nสมาส\nสม่ำเสมอ\nสมิง\nสมิต\nสมิติ\nสมิทธ์\nสมิทธิ\nสมี\nสมุก\nสมุจจัย\nสมุจเฉท\nสมุฏฐาน\nสมุด\nสมุทร\nสมุทรโคดม\nสมุทัย\nสมุน\nสมุนไพร\nสมุลแว้ง\nสมุห\nสมุห์\nสมุหกลาโหม\nสมุหเทศาภิบาล\nสมุหนาม\nสมุหนายก\nสโมธาน\nสโมสร\nสยด\nสยนะ\nสยบ\nสยมพร\nสยมภู\nสยอง\nสยอน\nสยัมวรา\nสยาม\nสยามานุสติ\nสยามินทร์\nสยาย\nสยิว\nสยิ้ว\nสยุมพร\nสยุมภู\nสร\nสรง\nสร่ง\nสรณะ\nสรณคมน์\nสรณาคมน์\nสรณตรัย\nสรตะ\nสรทะ\nสรนุก\nสรเนาะ\nสรไน\nสรเพชญ\nสรภะ\nสรภัญญะ\nสรภู\nสรม\nสรร\nสรรค์\nสรรพ\nสรรพคุณ\nสรรพนาม\nสรรพสามิต\nสรรพัชญ\nสรรพากร\nสรรพางค์\nสรรเพชญ\nสรรเพชุดา\nสรรเสริญ\nสรลอน\nสรเลข\nสรวง\nสรวม\nสรวล\nสรเสริญ\nสร้อย\nสระ\nสระกอ\nสระท้อน\nสระพรั่ง\nสระอาด\nสรั่ง\nสรัสวดี\nสร่าง\nสร้าง\nสราญ\nสรี้\nสรีระ\nสรีรกิจ\nสรีรธาตุ\nสรีรวิทยา\nสรีรศาสตร์\nสรีรังคาร\nสรีรางคาร\nสรุป\nสโรช\nสโรชะ\nสฤก\nสฤต\nสฤษฎิ\nสฤษฎี\nสฤษฏ์\nสฤษดิ์\nสลด\nสลบ\nสลวน\nสลวย\nสลอด\nสลอน\nสลอย\nสละ\nสลัก\nสลัด\nสลัดได\nสลับ\nสลัว\nสลา\nสลาก\nสลาง\nสล้าง\nสลาด\nสลาตัน\nสลาบ\nสลาย\nสลิด\nสลิล\nสลึก\nสลึง\nสลุต\nสลุบ\nสลุมพร\nสแลง\nสวการย์\nสวภาพ\nสวราชย์\nสวก\nส้วง\nสวด\nสวน\nสวนะ\nสวนาการ\nส่วน\nสวนิต\nสวบ\nสวม\nส้วม\nสวย\nส่วย\nส้วย\nสวยม\nสวรรค\nสวรรค์\nสวรรคต\nสวรรคาลัย\nสวรรยา\nสวระ\nสวะ\nสวัสดิ\nสวัสดิ์\nสวัสดิการ\nสวัสดิภาพ\nสวัสดิมงคล\nสวัสดี\nสวัสติ\nสวาตี\nสวัสติกะ\nสวา\nสวาปาม\nสวาคตะ\nสวาง\nสว่าง\nสวาด\nสวาดิ\nสวาท\nสว่าน\nสว้าน\nสวาบ\nสวามิ\nสวามี\nสวามินี\nสวาย\nสวาสดิ์\nสวาหะ\nสวิง\nสวิญญาณกทรัพย์\nสวิตช์\nสสาร\nสสุระ\nสสุรี\nสหกรณ์\nสหการ\nสหจร\nสหชาต\nสหชาติ\nสหธรรม\nสหธรรมิก\nสหประชาชาติ\nสหพันธ์\nสหพันธรัฐ\nสหภาพ\nสหศึกษา\nสหัช\nสหัมบดี\nสหัส\nสหัสสะ\nสหัสธารา\nสหัสนัยน์\nสหัสเนตร\nสหัสรังสี\nสหัสา\nสหาย\nสอ\nส่อ\nสอง\nส่อง\nส้อง\nสอด\nสอน\nส่อน\nสอบ\nสอพลอ\nส้อม\nสอย\nสะ\nสะกด\nสะกอ\nสะกาง\nสะการะ\nสะกิด\nสะกิดสะเกา\nสะเก็ด\nสะแก\nสะคร้อ\nสะคราญ\nสะค้าน\nสะเงาะสะแงะ\nสะดม\nสะดวก\nสะดิ้ง\nสะดึง\nสะดือ\nสะดุ้ง\nสะดุด\nสะเด็ด\nสะเดา\nสะเดาะ\nสะตอ\nสะตาหมัน\nสะตึ\nสะตือ\nสะตุ\nสะเต๊ะ\nสะโตก\nสะทก\nสะท้อน\nสะท้าน\nสะทึก\nสะเทิน\nสะเทิ้น\nสะเทือน\nสะเทื้อน\nสะบะ\nสะบัก\nสะบักสะบอม\nสะบัด\nสะบัดสะบิ้ง\nสะบั้น\nสะบันงา\nสะบ้า\nสะบู\nสะแบง\nสะเปะสะปะ\nสะพรั่ง\nสะพรึงกลัว\nสะพรึบ\nสะพรึ่บ\nสะพัก\nสะพัง\nสะพัด\nสะพั้น\nสะพาน\nสะพาย\nสะเพร่า\nสะโพก\nสะเภา\nสะใภ้\nสะโมง\nสะระตะ\nสะระแหน่\nสะลาง\nสะลาบ\nสะลึมสะลือ\nสะวี้ดสะว้าด\nสะสม\nสะสวย\nสะสาง\nสะเหล่อ\nสะอาง\nสะอาด\nสะอ้าน\nสะอิ้ง\nสะอิดสะเอียน\nสะอึก\nสะอื้น\nสะเอ้ง\nสะเอว\nสะเออะ\nสะโอดสะอง\nสะไอ\nสัก\nสักกะ\nสักยะ\nสักกัจจะ\nสักกายทิฐิ\nสักการ\nสักการะ\nสักขี\nสักวา\nสักหลาด\nสัค\nสัคคะ\nสั่ง\nสังกร\nสังกรณี\nสังกรประโยค\nสังกะตัง\nสังกะวัง\nสังกะวาด\nสังกะสี\nสังกัด\nสังกัปปะ\nสังกา\nสังการ\nสังกาศ\nสังกิเลส\nสังเกต\nสังข์\nสังขกร\nสังขตธรรม\nสังขตะ\nสังขยา\nสังขลิก\nสังขลิกา\nสังขาร\nสังขารา\nสังเขป\nสังค์\nสังคญาติ\nสังคม\nสังคหะ\nสังคัง\nสังคายนา\nสังคายนาย\nสังคีต\nสังคีติ\nสังเค็ด\nสังเคราะห์\nสังฆกรรม\nสังฆการี\nสังฆเถระ\nสังฆทาน\nสังฆนายก\nสังฆปาโมกข์\nสังฆภัต\nสังฆเภท\nสังฆมณฑล\nสังฆมนตรี\nสังฆราช\nสังฆสภา\nสังฆาณัติ\nสังฆาฏิ\nสังฆาทิเสส\nสังฆาธิการ\nสังฆานุสติ\nสังฆาวาส\nสังยุตนิกาย\nสังโยค\nสังโยชน์\nสังวร\nสังวัจฉระ\nสังวัธยาย\nสังวาล\nสังวาส\nสังเวคะ\nสังเวช\nสังเวชนียสถาน\nสังเวย\nสังเวียน\nสังสกฤต\nสังสการ\nสังสนทนา\nสั่งสนทนา\nสังสรรค์\nสังสารวัฏ\nสังสิทธิ\nสังสุทธ์\nสังสุทธิ\nสังหร\nสังหรณ์\nสังหาร\nสังหาริมทรัพย์\nสังหาริมะ\nสังหิต\nสัจ\nสัจกิริยา\nสัจจะ\nสัจญาณ\nสัจธรรม\nสัจนิยม\nสัจพจน์\nสัชฌะ\nสัชฌุ\nสัญจร\nสัญเจตนา\nสัญชาตญาณ\nสัญชาติ\nสัญฌา\nสัญญา\nสัญญาณ\nสัญญี\nสัญโญชน์\nสัญนิยม\nสัญประกาศ\nสัญลักษณ์\nสัฐิ\nสัณฐาน\nสัณฐิติ\nสัณฑ์\nสัณห์\nสัด\nสัดจอง\nสัต\nสัตตะ\nสัตตาหกรณียะ\nสัตตาหกาลิก\nสัตมวาร\nสัตสดก\nสัตตบงกช\nสัตตบรรณ\nสัตตบุษย์\nสัตตู\nสัตถันดร\nสัตถา\nสัตถิ\nสัตถุ\nสัตถุศาสนา\nสัตบรรณ\nสัตย์\nสัตยพรต\nสัตยวาที\nสัตยาเคราะห์\nสัตยาธิษฐาน\nสัตยาบัน\nสัตว์\nสัตวชาติ\nสัตวบาล\nสัตวแพทย์\nสัตววิทยา\nสัตวา\nสัทธรรม\nสัทธา\nสัทธาจริต\nสัทธาธิกะ\nสัทธินทรีย์\nสัทธิงวิหาริก\nสัทธิวิหาริก\nสัทวิทยา\nสัทศาสตร์\nสัทอักษร\nสัน\nสั่น\nสั้น\nสันดาน\nสันดาป\nสันโดษ\nสันต์\nสันตติ\nสันตะปาปา\nสันตะวา\nสันติ\nสันตุฏฐี\nสันถวไมตรี\nสันถวะ\nสันถัต\nสันถาร\nสันทนะ\nสันทะ\nสันทัด\nสันทัสนะ\nสันทาน\nสันทิฐิก\nสันทิส\nสันเทหะ\nสันธาน\nสันนิธิ\nสันนิบาต\nสันนิวาส\nสันนิษฐาน\nสันสกฤต\nสับ\nสับปลับ\nสับปลี้\nสับปะรด\nสัปคับ\nสัปดาห์\nสัปดาหะ\nสัปดน\nสัปตศก\nสัปทน\nสัปปะ\nสัปปิ\nสัปปุริส\nสัปปุรุษ\nสัประยุทธ์\nสัปหงก\nสัปเหร่อ\nสัพ\nสัพพะ\nสัพพัญญู\nสัพเพเหระ\nสัพยอก\nสัมบูรณ์\nสัมปชัญญะ\nสัมปทา\nสัมปทาน\nสัมปยุต\nสัมปโยค\nสัมประสิทธิ์\nสัมประหาร\nสัมปรายภพ\nสัมปรายิกภพ\nสัมปัตติ\nสัมผัปลาป\nสัมผัปลาปะ\nสัมผัส\nสัมพล\nสัมพหุลา\nสัมพัจฉรฉินท์\nสัมพัตสร\nสัมพัทธ์\nสัมพันธ์\nสัมพันธน์\nสัมพันธภาพ\nสัมพันธมิตร\nสัมพันธไมตรี\nสัมพาหะ\nสัมพุทธ\nสัมพุทธะ\nสัมโพธิ\nสัมภวะ\nสัมภเวสี\nสัมภัต\nสัมภัตตะ\nสัมภาระ\nสัมภาษณ์\nสัมโภคกาย\nสัมมนา\nสัมมัปธาน\nสัมมา\nสัมโมทนียกถา\nสัมฤทธิ\nสัมฤทธิ์\nสัมฤทธิศก\nสัยน์\nสัลเลข\nสัสดี\nสัสตทิฐิ\nสัสสะ\nสัสสุ\nสัสสู\nสา\nส่า\nสาก\nสากรรจ์\nสากล\nสากัจฉา\nสากัลย์\nสากิยะ\nสาเก\nสาขา\nสาคร\nสาคเรศ\nสาคู\nสาง\nส้าง\nสาชล\nสาฎก\nสาฏิก\nสาณี\nสาด\nสาไถย\nสาทร\nสาทิส\nสาทุ\nสาโท\nสาธก\nสาธยะ\nสาธยาย\nสาธารณะ\nสาธารณชน\nสาธารณประโยชน์\nสาธารณภัย\nสาธารณรัฐ\nสาธารณสถาน\nสาธารณสมบัติ\nสาธารณสุข\nสาธารณูปการ\nสาธารณูปโภค\nสาธารณ์\nสาธิต\nสาธุ\nสาน\nส่าน\nสานุ\nสานู\nสานุศิษย์\nสาบ\nสาบสูญ\nสาบาน\nสาป\nสาปไตย\nสาม\nสามชุก\nสามเณร\nสามเณรี\nสามนต์\nสามนตราช\nสามยทรัพย์\nสามล\nสามหาว\nสามะ\nสามัคคี\nสามัญ\nสามัตถิยะ\nสามานย์\nสามานยนาม\nสามารถ\nสามิต\nสามินี\nสามิภักดิ์\nสามี\nสามีจิกรรม\nสาย\nส่าย\nส้าย\nสายชู\nสายัณห์\nสายาห์\nสาร\nสารคดี\nสารธรรม\nสารนิเทศ\nสารบบ\nสารบรรณ\nสารบัญ\nสารบาญ\nสารบาญชี\nสารประโยชน์\nสารสนเทศ\nสารทุกข์\nสารถี\nสารท\nสารพัด\nสารพัน\nสารพางค์\nสารภาพ\nสารภี\nสารวัตร\nสาระ\nสาระแน\nสาระพา\nสาระยำ\nสาระวารี\nสาระสะมา\nสารัตถประโยชน์\nสารัตถศึกษา\nสารัตถะ\nสารัทธ์\nสารัมภ์\nสาราณียกร\nสาราณียธรรม\nสาราณียะ\nสารานุกรม\nสารีริกธาตุ\nสารูป\nสาโรช\nสาละ\nสาละวน\nสาลิ\nสาลิกา\nสาลินี\nสาลี\nสาลี่\nสาลู\nสาโลหิต\nสาว\nสาวก\nสาวิกา\nสาวิตร\nสาวิตรี\nสาสน\nสาสน์\nสาส์น\nสาสนา\nสาสม\nสาหร่าย\nสาหรี\nส่าหรี\nสาหัส\nสาเหตุ\nสาแหรก\nสำ\nสำส่อน\nส่ำ\nสำคัญ\nสำซ่าง\nสำแดง\nสำทับ\nสำนวน\nสำนอง\nสำนัก\nสำนาน\nสำนึก\nสำนึง\nสำเนา\nสำเนียง\nสำบัด\nสำปะลอ\nสำปะหลัง\nสำปั้น\nสำปันนี\nสำเภา\nสำมะงา\nสำมะโน\nสำมะลอ\nสำมะเลเทเมา\nสำมะหา\nสำรด\nสำรวจ\nสำรวม\nสำรวย\nสำรวล\nสำรอก\nสำรอง\nสำรับ\nสำราก\nสำราญ\nสำริด\nสำเร็จ\nสำเรา\nสำเริง\nสำโรง\nสำลัก\nสำลาน\nสำลี\nสำแลง\nสำหรวด\nสำหรับ\nสำหา\nสำเหนียก\nสำเหร่\nสำออย\nสำอาง\nสิ\nสิกข์\nสิข\nสิกขมานา\nสิกขา\nสิขร\nสิขรี\nสิขเรศ\nสิขา\nสิขานล\nสิขี\nสิคาล\nสิง\nสิ่ง\nสิงขร\nสิงค์\nสิงคลิ้ง\nสิงคลี\nสิงคาร\nสิงคาล\nสิงคี\nสิงโต\nสิงห์\nสิงหนาท\nสิงหบัญชร\nสิงหรา\nสิงหราช\nสิงหาคม\nสิงหาสน์\nสิงหล\nสิญจน์\nสิตะ\nสิตางศุ์\nสิถิล\nสิทธ์\nสิทธัตถะ\nสิทธา\nสิทธาจารย์\nสิทธารถ\nสิทธิ\nสิทธิ์\nสิทธิการิยะ\nสิธยะ\nสิน\nสิ้น\nสินเทา\nสินธพ\nสินธุ\nสินธุ์\nสินธุระ\nสินธู\nสินเธาว์\nสินาด\nสินิทธ์\nสินี\nสิเนรุ\nสิเนหก\nสิเนหะ\nสิเนหา\nสิเน่หา\nสิบ\nสิปปะ\nสิมพลี\nสิระ\nสิโรดม\nสิโรตม์\nสิริ\nสิรี\nสิลา\nสิว\nสิ่ว\nสิวะ\nสิวาลัย\nสิวิกา\nสี\nสี่\nสี้\nสีกา\nสีกุน\nสีข้าง\nสีด\nสีดอ\nสีดา\nสีตลรัศมี\nสีตโลทก\nสีโตทก\nสีทันดร\nสีมันต์\nสีมา\nสีละมัน\nสีวิกา\nสีสอ\nสีสะ\nสีสา\nสีสุก\nสีเสียด\nสีห์\nสีหนาท\nสีหบัญชร\nสีหราช\nสีหไสยา\nสีหไสยาสน์\nสีหะ\nสึก\nสึง\nสืบ\nสื่อ\nสุ\nสุก\nสุกข์\nสุกร\nสุกรม\nสุกำศพ\nสุกียากี้\nสุข\nสุขา\nสุขาภิบาล\nสุขารมณ์\nสุขาวดี\nสุขิน\nสุขี\nสุขุม\nสุขุมาล\nสุโข\nสุคต\nสุคติ\nสุคนธ\nสุคนธ์\nสุคนธชาติ\nสุคนธรส\nสุคันธ์\nสุคันธรส\nสุงกะ\nสุงกากร\nสุงสิง\nสุงสุมาร\nสุจริต\nสุจหนี่\nสุจิ\nสุจิต\nสุจิตร\nสุชน\nสุชัมบดี\nสุชา\nสุชาดา\nสุญ\nสุญญากาศ\nสุญตา\nสุญนิยม\nสุณ\nสุณิสา\nสุด\nสุดา\nสุต\nสุตตนิบาต\nสุตตะ\nสุตตันตปิฎก\nสุตตันตะ\nสุติ\nสุทธ\nสุทธ์\nสุทธาวาส\nสุทธิ\nสุทรรศน์\nสุทัศน์\nสุธา\nสุธาโภชน์\nสุธารส\nสุธาสินี\nสุธาสี\nสุธี\nสุนทร\nสุนทรี\nสุนทรียภาพ\nสุนทรียศาสตร์\nสุนทรียะ\nสุนัข\nสุนันท์\nสุโนก\nสุบดี\nสุบรรณ\nสุบิน\nสุปรีดิ์\nสุปรีย์\nสุปาณี\nสุพพัต\nสุพรรณ\nสุพรรณบัฏ\nสุพรรณภาชน์\nสุพรรณราช\nสุพรรณศรี\nสุพรรณถัน\nสุพรรณิการ์\nสุภร\nสุภัค\nสุภา\nสุภาพ\nสุภาษิต\nสุม\nสุ่ม\nสุมทุม\nสุมน\nสุมนะ\nสุมนัส\nสุมนา\nสุ้มเสียง\nสุมะ\nสุมาลี\nสุเมธ\nสุเมรุ\nสุรคต\nสุรเชษฐ์\nสุรบดี\nสุรภาพ\nสุรโลก\nสุรสีหนาท\nสุรเสียง\nสุรงค์\nสุรังค์\nสุรภี\nสุรัติ\nสุรัสวดี\nสุรา\nสุรางค์จำเรียง\nสุรางคนา\nสุรางคนางค์\nสุรารักษ์\nสุราลัย\nสุรินทร์\nสุรินทราหู\nสุริยะ\nสุริยกันต์\nสุริยกานต์\nสุริยการ\nสุริยกาล\nสุริยคติ\nสุริยคราส\nสุริยมณฑล\nสุริยวงศ์\nสุริยง\nสุริยา\nสุริเยนทร์\nสุริเยศ\nสุริโย\nสุริยน\nสุริยัน\nสุริยุปราคา\nสุรีย์\nสุรุ่ยสุร่าย\nสุลต่าน\nสุวคนธ์\nสุวภาพ\nสุวรรณ\nสุวรรณภูมิ\nสุวะ\nสุวาน\nสุวินัย\nสุวิมล\nสุษิระ\nสุสาน\nสุหนัต\nสุหร่ง\nสุหร่าย\nสุหฤท\nสุหัท\nสุเหร่า\nสู\nสู่\nสู้\nสูง\nสูจิ\nสูจิบัตร\nสูญ\nสูด\nสูต\nสูตร\nสูติ\nสูติกรรม\nสูตินรีเวช\nสูติบัตร\nสูติแพทย์\nสูติศาสตร์\nสูท\nสูทกรรม\nสูทศาสตร์\nสูบ\nสูปะ\nสูร\nสูรย์\nสูรยกานต์\nสูริ\nสูสี\nเส\nเสก\nเสกขบุคคล\nเสกขะ\nเสขบุคคล\nเสขะ\nเส็ง\nเส้ง\nเส็งเคร็ง\nเสงี่ยม\nเสฏฐี\nเสณี\nเสด\nเสด็จ\nเสตุ\nเสถียร\nเสทะ\nเสโท\nเสน\nเส้น\nเสนง\nเสน่ง\nเสน่ห์\nเสนหา\nเสน่หา\nเสนอ\nเสนะ\nเสนา\nเสนาธิการ\nเสนาบดี\nเสน่า\nเสนากุฎ\nเสนางค์\nเสนางคนิกร\nเสนานี\nเสนาสนะ\nเสนาะ\nเสนี\nเสนีย์\nเสนียะ\nเสนียด\nเสบย\nเสบียง\nเสพ\nเสพย์\nเสเพล\nเสภา\nเสม็ด\nเสมหะ\nเสมอ\nเสมา\nเสมียน\nเสมือน\nเสย\nเสร็จ\nเสริด\nเสริม\nเสรี\nเสลด\nเสลบรรพต\nเสลา\nเสลี่ยง\nเสลือกสลน\nเสโล\nเสวก\nเสวกามาตย์\nเสวนะ\nเสวนา\nเสวย\nเสวียน\nเสสรวง\nเสสรวล\nเสา\nเส้า\nเสาร์\nเสารภย์\nเสารี\nเสาวคนธ์\nเสาวธาร\nเสาวภา\nเสาวภาคย์\nเสาวภาพ\nเสาวรภย์\nเสาวรส\nเสาวลักษณ์\nเสาวณิต\nเสาวนะ\nเสาวนา\nเสาวนีย์\nเสาหฤท\nเสาะ\nเสาะแสะ\nเสิร์จ\nเสิร์ฟ\nเสีย\nเสียง\nเสี่ยง\nเสียด\nเสี้ยน\nเสียบ\nเสียม\nเสี่ยม\nเสี้ยม\nเสียว\nเสี่ยว\nเสี้ยว\nเสือ\nเสื่อ\nเสื้อ\nเสือก\nเสื่อม\nแส\nแส่\nแส้\nแสก\nแสง\nแสด\nแสดง\nแสตมป์\nแสน\nแสนย์\nแสนยากร\nแสนยานุภาพ\nแสบ\nแสม\nแสยก\nแสยง\nแสยะ\nแสรก\nแสร้ง\nแสลง\nแสล้ม\nแสวง\nแสะ\nโสก\nโสกโดก\nโสกันต์\nโสโครก\nโสณฑ์\nโสณิ\nโสณี\nโสด\nโสดก\nโสดม\nโสดา\nโสดาบัน\nโสดาปัตติผล\nโสดาปัตติมรรค\nโสต\nโสตทัศนวัสดุ\nโสตทัศนอุปกรณ์\nโสตทัศนูปกรณ์\nโสตินทรีย์\nโสตถิ\nโสทก\nโสทร\nโสธก\nโสธนะ\nโสน\nโสภณ\nโสภา\nโสภี\nโสภิณี\nโสเภณี\nโสม\nโสมนัส\nโสมม\nโสมย์\nโสร่ง\nโสรจ\nโสรวาร\nโสโร\nโสวรรณ\nโสหุ้ย\nโสฬส\nใส\nใส่\nไส\nไส้\nไสย\nไสยา\nไสยาสน์\nไสร้\nไสว\nหก\nหกคะเมน\nหง\nหงก\nหงส์\nหงสบาท\nหงสรถ\nหงอ\nหงอก\nหง่อง\nหงองแหงง\nหงอด\nหงอน\nหง่อม\nหงอย\nหง่อย\nหงัก\nหงับ\nหง่าง\nหงาย\nหง่าว\nหงำ\nหงิก\nหงิง\nหงิม\nหงึก\nหงุงหงิง\nหงุดหงิด\nหงุบ\nหงุ่ย\nหญ้า\nหญ้าฝรั่น\nหญ้ายายเภา\nหญิง\nหญิบ\nหด\nหตะ\nหทัย\nหน\nหนวก\nหน่วง\nหนวด\nหน่วย\nหน่วยกิต\nหนอ\nหน่อ\nหนอก\nหนอง\nหนอน\nหนอนตายหยาก\nหน่อย\nหน็อยแน่\nหนัก\nหนัง\nหนังสติ๊ก\nหนังสือ\nหนั่น\nหนับ\nหนา\nหน้า\nหน่าง\nหนาด\nหนาน\nหนาม\nหน่าย\nหนาว\nหนำ\nหนำเลี้ยบ\nหนี\nหนี้\nหนีบ\nหนึก\nหนึ่ง\nหนึบ\nหนืด\nหนุ\nหนุน\nหนุบ\nหนุ่ม\nหนุ่ย\nหนู\nห่ม\nหมก\nหมด\nหม่น\nหมวก\nหมวด\nหมวน\nหมอ\nหม่อ\nหม้อ\nหมอก\nหมอง\nหม่อง\nหมอน\nหม่อน\nหมอบ\nหม่อม\nหมอย\nหม้อห้อม\nหมัก\nหมักหมม\nหมัด\nหมัน\nหมั่น\nหมั้น\nหมับ\nหมา\nหม่า\nหมาก\nหมากฮอส\nหมาง\nหมาด\nหมามุ่ย\nหมามุ้ย\nหมาย\nหม้าย\nหมาร่า\nหม่ำ\nหม้ำ\nหมิ่น\nหมี\nหมี่\nหมึก\nหมืน\nหมื่น\nหมุด\nหมุน\nหมุบ\nหมุบหมับ\nหมุบหมิบ\nหมุ่ย\nหมุยขาว\nหมู\nหมู่\nหมูหริ่ง\nหยก\nหย่ง\nหยด\nหยวก\nหยวบ\nหยอก\nหยอกเอิน\nหย็อกหย็อย\nหยอง\nหย็อง\nหย่อง\nหย็องกรอด\nหย็องแหย็ง\nหยอด\nหยอน\nหย่อน\nหย่อม\nหย็อมแหย็ม\nหย็อย\nหย่อย\nหยัก\nหยักไย่\nหยักเหยา\nหยัง\nหยั่ง\nหยังหยัง\nหยัด\nหยัน\nหยับ\nหยั่วเมือง\nหย่า\nหยากเยื่อ\nหยากไย่\nหยาด\nหยาบ\nหยาม\nหยาว\nหย้าว\nหยำเป\nหยำเหยอะ\nหยำแหยะ\nหยิก\nหยิ่ง\nหยิบ\nหยิม\nหยี\nหยี่\nหยุกหยิก\nหยุด\nหยุ่น\nหยุบ\nหยุมหยิม\nหยูกยา\nหโยดม\nหรคุณ\nหรณะ\nหรดาล\nหรดี\nหรรษ์\nหรรษา\nหรอ\nหรอก\nหร็อมแหร็ม\nหรอย\nหระ\nหรับ\nหรา\nหริ\nหริ่ง\nหริณะ\nหริต\nหริตกี\nหรีตกี\nหรี่\nหรีด\nหรือ\nหรุบ\nหรุบรู่\nหรุบหรู่\nหรุ่ม\nหรู\nหรูหรา\nหฤทัย\nหฤทย์\nหฤษฎ์\nหฤษฎี\nหฤหรรษ์\nหฤโหด\nหลง\nหลงใหล\nหลงจู๊\nหลด\nหลน\nหล่น\nหลบ\nหล่ม\nหลวง\nหลวม\nหลอ\nหล่อ\nหลอก\nหลอด\nหลอน\nหล็อน\nหล่อน\nหลอม\nหละ\nหละหลวม\nหลัก\nหลัง\nหลั่ง\nหลัด\nหลั่น\nหลับ\nหลัว\nหลา\nหล้า\nหลาก\nหลาน\nหลาบ\nหลาม\nหลาย\nหลาว\nหลิ่ง\nหลิท\nหลิน\nหลิม\nหลิว\nหลิ่ว\nหลี\nหลีก\nหลีโก\nหลีบ\nหลีฮื้อ\nหลืบ\nหลุกหลิก\nหลุด\nหลุน\nหลุบ\nหลุม\nหลุมพอ\nหลุมพี\nหลู่\nหวง\nห่วง\nห้วง\nหวด\nหวน\nห้วน\nหวย\nห้วย\nหวอ\nหวอด\nหวะ\nหวัง\nหวัด\nหวั่น\nหวันยิหวา\nหวัว\nหวัวร่อ\nหวัวเราะ\nหวา\nหว่า\nหว้า\nหวาก\nหว่าง\nหวาด\nหวาน\nหว่าน\nหวาม\nหวาย\nหวำ\nหวิด\nหวิว\nหวี\nหวี่\nหวีด\nหวือ\nหวุดหวิด\nหวูด\nหอ\nห่อ\nห้อ\nหอก\nหอง\nห้อง\nหอน\nห่อน\nหอบ\nหอม\nห้อม\nหอย\nห้อย\nหะ\nหะยี\nหะหาย\nหัก\nหัจญ์\nหัจญี\nหัช\nหัฏฐะ\nหัด\nหัต\nหัตถ์\nหัตถกรรม\nหัตถการ\nหัตถกิจ\nหัตถบาส\nหัตถพันธ์\nหัตถาภรณ์\nหัตถศาสตร์\nหัตถศิลป์\nหัตถศึกษา\nหัตถาจารย์\nหัตถินี\nหัตถี\nหัน\nหั่น\nหั้น\nหันตรา\nหับ\nหัย\nหัว\nหัวร่อ\nหัวเราะ\nหัส\nหัสดิน\nหัสดี\nหัสต์\nหัสตะ\nหา\nห่า\nห้า\nหาก\nหาง\nห่าง\nห้าง\nหาญ\nหาด\nห่าน\nหาบ\nหาม\nห่าม\nห้าม\nหาย\nหายใจ\nหายนะ\nหาร\nหารือ\nหาว\nห้าว\nหาสะ\nหำ\nห้ำ\nหิ้ง\nหิงคุ\nหิงสา\nหิงห้อย\nหิ่งห้อย\nหิ่งหาย\nหิด\nหิต\nหิตานุหิตประโยชน์\nหิน\nหิมพาน\nหิมพานต์\nหิมวัต\nหิมวันต์\nหิมวา\nหิมะ\nหิมาลัย\nหิรัญ\nหิรัญญิการ์\nหิรัญบัฏ\nหิรัณย์\nหิรัณยรัศมี\nหิริ\nหิว\nหิ้ว\nหี\nหีด\nหีนยาน\nหีบ\nหึ\nหึง\nหึ่ง\nหึงสา\nหืด\nหืน\nหื่น\nหือ\nหื้อ\nหุง\nหุน\nหุ่น\nหุ้น\nหุนหัน\nหุบ\nหุ้ม\nหุยฮา\nหู\nหู่\nหูก\nหูด\nเห\nเห่\nเหง\nเหง่ง\nเหงา\nเหง้า\nเหงื่อ\nเหงือก\nเห็จ\nเห็ด\nเหติ\nเหตุ\nเห็น\nเหน่ง\nเหนงนายพราน\nเหน็ดเหนื่อย\nเหน็บ\nเหน่อ\nเห็นอ้ม\nเหนอะ\nเหนอะหนะ\nเหน้า\nเหนาะ\nเหนียง\nเหนี่ยง\nเหนี่ยน\nเหนียม\nเหนียว\nเหนี่ยว\nเหนือ\nเหนื่อย\nเห็บ\nเหม\nเหม่\nเหม็ง\nเหม่ง\nเหม็น\nเหมวดี\nเหม่อ\nเหมันต์\nเหมันตฤดู\nเหมา\nเหมายัน\nเหมาะ\nเหมียว\nเหมี่ยว\nเหมือง\nเหมือด\nเหมือน\nเหมื่อย\nเหย\nเหยง\nเหย่อย\nเหยา\nเหย่า\nเหย้า\nเหยาะ\nเหยาะแหยะ\nเหยิง\nเหยิบ\nเหยียด\nเหยียบ\nเหยี่ยว\nเหยื่อ\nเหยือก\nเหรอ\nเหรอะ\nเหรัญญิก\nเหรา\nเหราะ\nเหรียญ\nเหล่\nเหล็ก\nเหลน\nเหลว\nเหลอ\nเหลา\nเหล่า\nเหล้า\nเหลาะแหละ\nเหลิง\nเหลิงเจิ้ง\nเหลียน\nเหลี่ยม\nเหลียว\nเหลือ\nเหลือก\nเหลือง\nเหลือบ\nเหลือม\nเหลื่อม\nเหว\nเหว่\nเหวง\nเหวย\nเหวอะ\nเหวอะหวะ\nเหวี่ยง\nเห่อ\nเหอะ\nเหะ\nเหะหะ\nเหา\nเห่า\nเหาะ\nเหิน\nเหิม\nเหี้ย\nเหียง\nเหียน\nเหี้ยน\nเหี้ยม\nเหี่ยว\nเหื่อ\nเหือด\nแห\nแห่\nแห้\nแหก\nแหง\nแหง่\nแห่ง\nแห้ง\nแหงแก๋\nแหง่ง\nแหงน\nแหน\nแห้น\nแหนง\nแหนบ\nแหนม\nแหบ\nแหม\nแหม่\nแหม่ม\nแหมะ\nแหย\nแหย่\nแหยง\nแหย่ง\nแหยม\nแหย็ม\nแหยะ\nแหล่\nแหลก\nแหล่ง\nแหลน\nแหลม\nแหละ\nแหว\nแห้ว\nแหวก\nแหว่ง\nแหวด\nแหวน\nแหวะ\nแหะ\nโห่\nโหง\nโหด\nโหน\nโหนก\nโหน่ง\nโหม\nโหม่ง\nโหมด\nโหย\nโหยกเหยก\nโหยง\nโหย่ง\nโหร\nโหรง\nโหรงเหรง\nโหรดาจารย์\nโหระพา\nโหรา\nโหราจารย์\nโหราศาสตร์\nโหล\nโหล่\nโหลงโจ้ง\nโหว\nโหว่\nโหว้\nโหวกเหวก\nโหวง\nโหวด\nโหวต\nให้\nใหญ่\nใหม่\nไห\nไห่\nไห้\nไหน\nไหม\nไหม้\nไหรณย์\nไหล\nไหล่\nไหว\nไหว้\nไหหลำ\nอก\nอกตเวทิตา\nอกตเวที\nอกตัญญุตา\nอกตัญญู\nอกนิษฐ์\nอกรณีย์\nอกรรมกริยา\nอกัปปิยวัตถุ\nอกัปปิยะ\nอกุศล\nอคติ\nอคาธ\nอโฆษะ\nองก์\nองค์\nองคชาต\nองคมนตรี\nองครักษ์\nองคาพยพ\nองคุลี\nองศ์\nองศา\nองอาจ\nองุ่น\nอจลา\nอจินตา\nอจินไตย\nอจิระ\nอเจลก\nอเจละ\nอชะ\nอชิน\nอชินี\nอชิระ\nอฏวี\nอณิ\nอณู\nอโณทัย\nอด\nอดิถี\nอดิเทพ\nอดิเรก\nอดิศร\nอดิศวร\nอดิศัย\nอดีต\nอดุล\nอดุลย์\nอติ\nอติชาต\nอติมานะ\nอติราช\nอติเรก\nอติสาร\nอถรรพเวท\nอาถรรพเวท\nอทระ\nอทินนาทาน\nอธรรม\nอธิ\nอธิกมาส\nอธิกรณ์\nอธิกวาร\nอธิกสุรทิน\nอธิการ\nอธิคม\nอธิฏฐาน\nอธิบดี\nอธิบาย\nอธิป\nอธิปไตย\nอธิมาตร\nอธิมุตติ\nอธิโมกข์\nอธิราช\nอธิวาส\nอธิวาสนะ\nอธิศีล\nอธิษฐาน\nอธึก\nอ้น\nอนงค์\nอนงคณะ\nอนงคเลขา\nอนธการ\nอนนต์\nอนยะ\nอนรรฆ\nอนรรถ\nอนล\nอนวัช\nอนัญ\nอนัตตา\nอนันต์\nอนันตริยกรรม\nอนัม\nอนาคต\nอนาคามิผล\nอนาคามิมรรค\nอนาคามี\nอนาจาร\nอนาถ\nอนาถา\nอนาทร\nอนาธิปไตย\nอนามัย\nอนามิกา\nอนารยชน\nอนารยธรรม\nอนารยะ\nอนาลัย\nอนำ\nอนิจ\nอนิจจัง\nอนิจจา\nอนิฏฐารมณ์\nอนิยต\nอนิยม\nอนิล\nอนิวรรต\nอนิวรรตน์\nอนีกะ\nอนีจะ\nอนึก\nอนึ่ง\nอนุ\nอนุกร\nอนุกรม\nอนุกรรมการ\nอนุกระเบียด\nอนุกาชาด\nอนุการ\nอนุกูล\nอนุคามิก\nอนุเคราะห์\nอนุจร\nอนุช\nอนุชน\nอนุชา\nอนุชาต\nอนุชิต\nอนุญาต\nอนุญาโตตุลาการ\nอนุตร\nอนุเถระ\nอนุทิน\nอนุบท\nอนุบาล\nอนุประโยค\nอนุปริญญา\nอนุปสัมบัน\nอนุปัสนา\nอนุพงศ์\nอนุพัทธ์\nอนุพันธ์\nอนุโพธ\nอนุภรรยา\nอนุภริยา\nอนุภาค\nอนุภาษ\nอนุมัติ\nอนุมาตรา\nอนุมาน\nอนุมูล\nอนุโมทนา\nอนุโยค\nอนุรักษ์\nอนุรักษนิยม\nอนุราช\nอนุราธ\nอนุราธะ\nอนุราธา\nอนุรูป\nอนุโลม\nอนุวงศ์\nอนุวรรตน์\nอนุวัต\nอนุวัตน์\nอนุวัตร\nอนุวัติ\nอนุวาต\nอนุศาสก\nอนุศาสน์\nอนุศาสนาจารย์\nอนุศิษฏ์\nอนุสติ\nอนุสนธิ\nอนุสร\nอนุสรณ์\nอนุสัญญา\nอนุสัย\nอนุสาวรีย์\nอนุสาสนี\nอเนก\nอเนกคุณ\nอเนกรรถประโยค\nอเนจอนาถ\nอโนชา\nอโนดาต\nอบ\nอบเชย\nอบาย\nอปจายนธรรม\nอปจายนมัย\nอปมงคล\nอปยศ\nอประไมย\nอปรัณณชาติ\nอปรา\nอปราชัย\nอปราชิต\nอปริมาณ\nอปลักษณ์\nอปโลกน์\nอปวาท\nอเปหิ\nอพพะ\nอพยพ\nอภัพ\nอภัย\nอภิ\nอภิฆาต\nอภิชฌา\nอภิชน\nอภิชนาธิปไตย\nอภิชัย\nอภิชาต\nอภิชิต\nอภิญญา\nอภิญญาณ\nอภิธรรม\nอภิธาน\nอภิไธย\nอภินันท์\nอภินันทนาการ\nอภินัย\nอภินิหาร\nอภิเนษกรมณ์\nอภิบาล\nอภิปรัชญา\nอภิปราย\nอภิมหาอำนาจ\nอภิมานะ\nอภิมุข\nอภิรดี\nอภิรติ\nอภิรมย์\nอภิรักษ์\nอภิราม\nอภิรุต\nอภิรุม\nอภิรูป\nอภิลักขิต\nอภิลักขิตสมัย\nอภิเลปน์\nอภิวันท์\nอภิวาท\nอภิวาทน์\nอภิเษก\nอภิสมโพธิ\nอภิสมัย\nอภิสมาจาร\nอภิสัมโพธิ\nอภิสัมโพธิญาณ\nอภิสิต\nอภิสิทธิ์\nอภูตะ\nอม\nอมพะนำ\nอ้ม\nอมตธรรม\nอมตบท\nอมตะ\nอมนุษย์\nอมร\nอมรา\nอมราวดี\nอมรินทร์\nอมเรนทร์\nอมเรศ\nอมฤต\nอมัตร\nอมาตย์\nอมาวสี\nอมาวสุ\nอมาวาสี\nอมิตร\nอเมริกัน\nอย่า\nอยาก\nอย่าง\nอยุทธ์\nอยู่\nอร\nอรชร\nอรชุน\nอรดี\nอรติ\nอรทัย\nอรไท\nอรนุช\nอรพินท์\nอรพิม\nอรรค\nอรรฆ\nอรรฆย์\nอรรจน์\nอรรณพ\nอรรถ\nอรรถกถา\nอรรถกถาจารย์\nอรรถาธิบาย\nอรรธ\nอรสุม\nอรหะ\nอรหัง\nอรหัต\nอรหัตผล\nอรหัตมรรค\nอรหัน\nอรหันต์\nอรหันตฆาต\nอร่อย\nอรัญ\nอรัญญิก\nอรัญวาส\nอรัญวาสี\nอรัณย์\nอราดี\nอร่าม\nอริ\nอรินทร์\nอริน\nอริยกะ\nอริยทรัพย์\nอริยบุคคล\nอริยผล\nอริยมรรค\nอริยสั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nอำพล\nอำพะนำ\nอำพัน\nอำไพ\nอำเภอ\nอำมร\nอำมฤคโชค\nอำมฤต\nอำมหิต\nอำมาตย์\nอำมาตยาธิปไตย\nอำยวน\nอำรุง\nอำลา\nอำอวม\nอ้ำอึ้ง\nอิก\nอิง\nอิงค์\nอิงอร\nอิจฉา\nอิฉัน\nอิชยา\nอิฏฐารมณ์\nอิฐ\nอิฐผล\nอิด\nอิตถี\nอิตเทรียม\nอิตเทอร์เบียม\nอิติวุตตกะ\nอิทธิ\nอิน\nอินซูลิน\nอินเดีย\nอินเดียนแดง\nอินเดียม\nอินท์\nอินทขีล\nอินทนิล\nอินทผลัม\nอินทร์\nอินทรธนู\nอินทรวงศ์\nอินทรวิเชียร\nอินทรศักดิ์\nอินทราณี\nอินทราภิเษก\nอินทรายุธ\nอินทรี\nอินทรีย์\nอินทรียสังวร\nอินทีวร\nอินทุ\nอินฟราเรด\nอินัง\nอิ่ม\nอิมัลชัน\nอิริเดียม\nอิริยา\nอิริยาบถ\nอิรุพเพท\nอิเล็กตรอน\nอิเล็กทรอนิกส์\nอิเล็กโทน\nอิศร\nอิศวร\nอิษฏ์\nอิษฏี\nอิส\nอิสตรี\nอิสัตรี\nอิสรภาพ\nอิสระ\nอิสริยยศ\nอิสริยะ\nอิสริยาภรณ์\nอิสลาม\nอิสสา\nอิสิ\nอิสี\nอิหม่าม\nอิหลักอิเหลื่อ\nอี\nอี่\nอี้\nอี๊\nอี๋\nอี๋อ๋อ\nอีก\nอีก้อ\nอีก๋อย\nอีโก้ง\nอีจู้\nอี๊ด\nอีเต้อ\nอีโต้\nอีทุบ\nอีเทอร์\nอีนุงตุงนัง\nอีนูน\nอีโน\nอีแปะ\nอีโปง\nอีเพา\nอีมู\nอีรม\nอีลุ้ม\nอีลุ่ยฉุยแฉก\nอีเลิ้ง\nอีศ\nอีศวร\nอีส\nอีสาน\nอีสุกอีใส\nอีหรอบ\nอีหลักอีเหลื่อ\nอีหลี\nอีหลุกขลุกขลัก\nอีหลุกขลุกขลุ่ย\nอีเห็น\nอีเหน็บ\nอีเหนียว\nอีเหละเขละขละ\nอีเหละเขะขะ\nอีโหน่อีเหน่\nอีโหลกโขลกเขลก\nอีแอ่น\nอึ\nอึก\nอึ้ก\nอึ๊ก\nอึกทึก\nอึกอัก\nอึง\nอึ่ง\nอึ้ง\nอึด\nอึดตะปือ\nอึ้ดทึ่ด\nอึน\nอืด\nอื่น\nอื้น\nอือ\nอื้อ\nอื้อฮือ\nอุ\nอุก\nอุกกา\nอุกกาบาต\nอุกฤษฏ์\nอุกลาบาต\nอุค\nอุคระ\nอุคหนิมิต\nอุโฆษ\nอุ้ง\nอุจ\nอุจจาระ\nอุจฉุ\nอุจเฉท\nอุจเฉททิฐิ\nอุจาด\nอุชุ\nอุฏฐาการ\nอุณหภูมิ\nอุณหะ\nอุณหาหาร\nอุณหิส\nอุณา\nอุณาโลม\nอุด\nอุดเตา\nอุดม\nอุดมการณ์\nอุดมคติ\nอุดมศึกษา\nอุดร\nอุดหนุน\nอุตดม\nอุตตมะ\nอุตมภาพ\nอุตมางค์\nอุตดร\nอุตรกุรุทวีป\nอุตตรายัน\nอุตรนิกาย\nอุตรผลคุนี\nอุตตรผลคุนี\nอุตรภัทรบท\nอุตตรภัทรบท\nอุตตรภัททะ\nอุตราภิมุข\nอุตราวรรต\nอุตราวัฏ\nอุตราษาฒ\nอุตตราสาฬหะ\nอุตราสงค์\nอุตตานภาพ\nอุตพิด\nอุตรา\nอุตริ\nอุตริมนุสธรรม\nอุตลุด\nอุตส่าห์\nอุตสาหกรรม\nอุตสาหะ\nอุตุ\nอุตุนิยม\nอุตุนิยมวิทยา\nอุทก\nอุทกธาร\nอุทกธารา\nอุทกภัย\nอุทกวิทยา\nอุทกศาสตร์\nอุทธรณ์\nอุทธัจ\nอุทยาน\nอุทร\nอุทริยะ\nอุทลุม\nอุทัช\nอุทัย\nอุทาน\nอุทาร\nอุทาหรณ์\nอุทิศ\nอุทุมพร\nอุเทศ\nอุเทสิกเจดีย์\nอุธัจ\nอุ่น\nอุบ\nอุบล\nอุบะ\nอุบ๊ะ\nอุบัติ\nอุบาท\nอุบาทว์\nอุบาย\nอุบาสก\nอุบาสิกา\nอุเบกขา\nอุโบสถ\nอุปกรณ์\nอุปกรม\nอุปการ\nอุปการะ\nอุปการี\nอุปกิเลส\nอุปจาร\nอุปถัมภ์\nอุปถัมภก\nอุปทม\nอุปทูต\nอุปเทศ\nอุปเท่ห์\nอุปธิ\nอุปนัย\nอุปนิกขิต\nอุปนิษัท\nอุปนิสัย\nอุปบัติ\nอุปปาติกะ\nอุปพัทธ์\nอุปพันธ์\nอุปโภค\nอุปมา\nอุปมาน\nอุปไมย\nอุปยุวราช\nอุปรากร\nอุปราคา\nอุปราช\nอุปริ\nอุปริมปริยาย\nอุปโลกน์\nอุปเวท\nอุปสมบท\nอุปสมบัน\nอุปสัมบัน\nอุปสรรค\nอุปสัมปทา\nอุปฮาด\nอุปัชฌาย์\nอุปัชฌายวัตร\nอุปัชฌายะ\nอุปัฏฐาก\nอุปัฏฐานะ\nอุปัทวะ\nอุปัทวันตราย\nอุปาทาน\nอุปาหนา\nอุภัย\nอุ้ม\nอุมงค์\nอุโมงค์\nอุย\nอุ่ย\nอุ้ย\nอุ๊ย\nอุยยาน\nอุยยาม\nอุรณะ\nอุรพี\nอุระ\nอุรังอุตัง\nอุรัจฉัท\nอุรัจฉทะ\nอุรา\nอุรุ\nอุไร\nอุลกมณี\nอุลโลจ\nอุลามก\nอุลิด\nอุโลก\nอุแว้\nอุษณกร\nอุษณกาล\nอุษณรัศมี\nอุษณรุจี\nอุษณาการ\nอุษณีษ์\nอุษมะ\nอุษมัน\nอุษา\nอุษาโยค\nอุสภ\nอุสส่าห์\nอุสสาหะ\nอุสา\nอุสุ\nอุสุภ\nอุสุภราช\nอุสุม\nอุหรับ\nอุหลบ\nอุเหม่\nอุฬาร\nอู\nอู่\nอู้\nอูฐ\nอูด\nอูม\nอูย\nอูรุ\nอู๋อี๋\nเอ\nเอ้\nเอ๊\nเอก\nเอกเขนก\nเอกซเรย์\nเอกรรถประโยค\nเอกัคตา\nเอกังสพยากรณ์\nเอกังสวาที\nเอกา\nเอ้กา\nเอกาธิปไตย\nเอเคอร์\nเอง\nเอ็ง\nเอ๋ง\nเอ็ด\nเอ็ดตะโร\nเอดส์\nเอตทัคคะ\nเอ้เต\nเอทิล\nเอน\nเอ็น\nเอนไซม์\nเอ็นดู\nเอ็นอ่อน\nเอม\nเอ็มบริโอ\nเอย\nเอ่ย\nเอ๊ย\nเอ๋ย\nเอร็ดอร่อย\nเอราวัณ\nเอว\nเอ๊ว\nเอวัง\nเอฬกะ\nเอฬา\nเออ\nเอ่อ\nเออร์เบียม\nเอ้อระเหย\nเอ้อเร้อ\nเอ้อเฮอ\nเอ๊ะ\nเอะใจ\nเอะอะ\nเอะอะมะเทิ่ง\nเอา\nเอาทาร\nเอาทารย์\nเอารส\nเอาฬาร\nเอาะลาย\nเอิก\nเอิกเกริก\nเอิ้น\nเอิบ\nเอียง\nเอี้ยง\nเอียด\nเอี๊ยด\nเอียน\nเอี่ยน\nเอี่ยม\nเอี๊ยม\nเอี้ยมจุ๊น\nเอี้ยมเฟี้ยม\nเอี่ยว\nเอี้ยว\nเอื้อ\nเอื๊อก\nเอื้อง\nเอือด\nเอือน\nเอื้อน\nเอือม\nเอื้อม\nเอื่อย\nเอื้อย\nแอ\nแอ้\nแอ๋\nแอก\nแอกทิเนียม\nแอ่ง\nแอ้งแม้ง\nแอด\nแอ้ด\nแอ๊ด\nแอ่น\nแอนติเจน\nแอนติบอดี\nแอนติอิเล็กตรอน\nแอโนด\nแอบ\nแอม\nแอ้ม\nแอมแปร์\nแอมมิเตอร์\nแอมโมเนีย\nแอร่ม\nแอลกอฮอล์\nแอลฟา\nแอว\nแอ่ว\nแอ้วแซ่ว\nแอสทาทีน\nแอสไพริน\nแอสฟัลต์\nแอหนัง\nแออัด\nโอ\nโอ่\nโอ้\nโอ๋\nโอก\nโอ้ก\nโอ้กอ้าก\nโอ๊ก\nโอกาส\nโอฆชล\nโอฆสงสาร\nโอฆะ\nโอ่ง\nโองการ\nโองโขดง\nโอชะ\nโอชา\nโอโซน\nโอฐ\nโอด\nโอ๊ต\nโอตตัปปะ\nโอทนะ\nโอน\nโอบ\nโอปปาติกะ\nโอภา\nโอภาส\nโอม\nโอย\nโอ๊ย\nโอรส\nโอละพ่อ\nโอลิมปิก\nโอวาท\nโอษฐ์\nโอษฐชะ\nโอษฐภัย\nโอสถ\nโอห์ม\nโอหัง\nโอฬาร\nโอฬาริก\nโอฬารึก\nโอ้เอ้\nโอเอซิส\nโอ้โฮ\nไอ\nไอ้\nไอโซโทป\nไอน์สไตเนียม\nไอยรา\nไอยเรศ\nไอราพต\nไอราวัณ\nไอราวัต\nไอศกรีม\nไอศวรรย์\nไอศุริยสมบัติ\nไอศูรย์\nไอออน\nไอโอดีน\nฮกเกี้ยน\nฮด\nฮวงซุ้ย\nฮวน\nฮ้วนหมู\nฮวบ\nฮ่อ\nฮ้อ\nฮอกกี้\nฮอด\nฮ่อม\nฮ่อยจ๊อ\nฮอร์โมน\nฮอลแลนด์\nฮอลันดา\nฮะ\nฮะเบส\nฮะเรีย\nฮัก\nฮังเล\nฮัจญ์\nฮัจญะฮ์\nฮัจญี\nฮั่น\nฮั้ว\nฮา\nฮ้า\nฮ่างหลวง\nฮาจญ์\nฮาม\nฮาเร็ม\nฮาห์เนียม\nฮิจเราะห์\nฮินดู\nฮิปโปโปเตมัส\nฮิสทีเรีย\nฮีเลียม\nฮึ\nฮึก\nฮึด\nฮึดฮัด\nฮึ่ม\nฮึย\nฮึ่ย\nฮืดฮาด\nฮือ\nฮื่อ\nฮื้อ\nฮื้อฉี่\nฮุด\nฮุบ\nฮุยเลฮุย\nฮู้\nฮูก\nฮูม\nเฮ\nเฮฮา\nเฮกตาร์\nเฮกโตกรัม\nเฮกโตเมตร\nเฮกโตลิตร\nเฮง\nเฮ็ด\nเฮโมโกลบิน\nเฮย\nเฮ่ย\nเฮ้ย\nเฮโรอีน\nเฮลิคอปเตอร์\nเฮโล\nเฮละโล\nเฮ้ว\nเฮอ\nเฮ่อ\nเฮ้อ\nเฮอริเคน\nเฮิรตซ์\nเฮี้ยน\nเฮี้ยบ\nเฮี้ยว\nเฮือก\nเฮือน\nแฮ\nแฮ่\nแฮก\nแฮ่กึ๊น\nแฮนด์บอล\nแฮฟเนียม\nแฮม\nแฮะ\nโฮ\nโฮก\nโฮ่ง\nโฮ้ง\nโฮเต็ล\nโฮลเมียม\nโฮะ\nไฮ้\nไฮโกรมิเตอร์\nไฮดรา\nไฮโดร\nไฮโดรคาร์บอน\nไฮโดรเจน\nไฮโดรมิเตอร์\nไฮไฟ\nไฮโล\nไฮฮี\n"
+              .split(/[\r\n]+/)
+              .filter(function (w) {
+                return w.length > 1;
+              })
+      this.addWords(words, false)
+    }
+    if(finalize){
+      this.finalizeDict();
+    }
+  },
+
+  dictSeek: function (l, r, ch, strOffset, pos) {
+    var ans = null;
+    while (l <= r) {
+      var m = Math.floor((l + r) / 2),
+        dict_item = this.dict[m],
+        len = dict_item.length;
+      if (len <= strOffset) {
+        l = m + 1;
+      } else {
+        var ch_ = dict_item[strOffset];
+        if (ch_ < ch) {
+          l = m + 1;
+        } else if (ch_ > ch) {
+          r = m - 1;
+        } else {
+          ans = m;
+          if (pos == LEFT) {
+            r = m - 1;
+          } else {
+            l = m + 1;
+          }
+        }
+      }
+    }
+    return ans;
+  },
+
+  isFinal: function (acceptor) {
+    return this.dict[acceptor.l].length == acceptor.strOffset;
+  },
+
+  createAcceptor: function () {
+    return {
+      l: 0,
+      r: this.dict.length - 1,
+      strOffset: 0,
+      isFinal: false,
+      dict: this,
+      transit: function (ch) {
+        return this.dict.transit(this, ch);
+      },
+      isError: false,
+      tag: "DICT",
+      w: 1,
+      type: "DICT"
+    };
+  },
+
+  transit: function (acceptor, ch) {
+    var l = this.dictSeek(acceptor.l,
+      acceptor.r,
+      ch,
+      acceptor.strOffset,
+      LEFT);
+    if (l !== null) {
+      var r = this.dictSeek(l,
+        acceptor.r,
+        ch,
+        acceptor.strOffset,
+        RIGHT);
+      acceptor.l = l;
+      acceptor.r = r;
+      acceptor.strOffset++;
+      acceptor.isFinal = this.isFinal(acceptor);
+    } else {
+      acceptor.isError = true;
+    }
+    return acceptor;
+  },
+
+  sortuniq: function(a){
+    return a.sort().filter(function(item, pos, arr){
+      return !pos || item != arr[pos - 1];
+    })
+  },
+
+  flatten: function(a){
+    //[[1,2],[3]] -> [1,2,3]
+    return [].concat.apply([], a);
+  }
+};
+module.exports = WordcutDict;
+
+}).call(this,"/dist/tmp")
+},{"glob":16,"path":22}],3:[function(require,module,exports){
+var WordRule = {
+  createAcceptor: function(tag) {
+    if (tag["WORD_RULE"])
+      return null;
+
+    return {strOffset: 0,
+            isFinal: false,
+            transit: function(ch) {
+              var lch = ch.toLowerCase();
+              if (lch >= "a" && lch <= "z") {
+                this.isFinal = true;
+                this.strOffset++;
+              } else {
+                this.isError = true;
+              }
+              return this;
+            },
+            isError: false,
+            tag: "WORD_RULE",
+            type: "WORD_RULE",
+            w: 1};
+  }
+};
+
+var NumberRule = {
+  createAcceptor: function(tag) {
+    if (tag["NUMBER_RULE"])
+      return null;
+
+    return {strOffset: 0,
+            isFinal: false,
+            transit: function(ch) {
+              if (ch >= "0" && ch <= "9") {
+                this.isFinal = true;
+                this.strOffset++;
+              } else {
+                this.isError = true;
+              }
+              return this;
+            },
+            isError: false,
+            tag: "NUMBER_RULE",
+            type: "NUMBER_RULE",
+            w: 1};
+  }
+};
+
+var SpaceRule = {
+  tag: "SPACE_RULE",
+  createAcceptor: function(tag) {
+
+    if (tag["SPACE_RULE"])
+      return null;
+
+    return {strOffset: 0,
+            isFinal: false,
+            transit: function(ch) {
+              if (ch == " " || ch == "\t" || ch == "\r" || ch == "\n" ||
+                  ch == "\u00A0" || ch=="\u2003"//nbsp and emsp
+                 ) {
+                this.isFinal = true;
+                this.strOffset++;
+              } else {
+                this.isError = true;
+              }
+              return this;
+            },
+            isError: false,
+            tag: SpaceRule.tag,
+            w: 1,
+            type: "SPACE_RULE"};
+  }
+}
+
+var SingleSymbolRule = {
+  tag: "SINSYM",
+  createAcceptor: function(tag) {
+    return {strOffset: 0,
+            isFinal: false,
+            transit: function(ch) {
+              if (this.strOffset == 0 && ch.match(/^[\@\(\)\/\,\-\."`]$/)) {
+                this.isFinal = true;
+                this.strOffset++;
+              } else {
+                this.isError = true;
+              }
+              return this;
+            },
+            isError: false,
+            tag: "SINSYM",
+            w: 1,
+            type: "SINSYM"};
+  }
+}
+
+
+var LatinRules = [WordRule, SpaceRule, SingleSymbolRule, NumberRule];
+
+module.exports = LatinRules;
+
+},{}],4:[function(require,module,exports){
+var _ = require("underscore")
+  , WordcutCore = require("./wordcut_core");
+var PathInfoBuilder = {
+
+  /*
+    buildByPartAcceptors: function(path, acceptors, i) {
+    var 
+    var genInfos = partAcceptors.reduce(function(genInfos, acceptor) {
+      
+    }, []);
+    
+    return genInfos;
+  } 
+  */
+
+  buildByAcceptors: function(path, finalAcceptors, i) {
+    var self = this;
+    var infos = finalAcceptors.map(function(acceptor) {
+      var p = i - acceptor.strOffset + 1
+        , _info = path[p];            
+      
+      var info = {p: p, 
+                  mw: _info.mw + (acceptor.mw === undefined ? 0 : acceptor.mw),
+                  w: acceptor.w + _info.w,
+                  unk: (acceptor.unk ? acceptor.unk : 0) + _info.unk, 
+                  type: acceptor.type};
+
+      if (acceptor.type == "PART") {
+        for(var j = p + 1; j <= i; j++) {
+          path[j].merge = p;
+        }
+        info.merge = p;
+      }
+
+      return info;
+    });
+    return infos.filter(function(info) { return info; });
+  },
+  
+  fallback: function(path, leftBoundary, text, i) {
+    var _info = path[leftBoundary];
+    if (text[i].match(/[\u0E48-\u0E4E]/)) {
+      if (leftBoundary != 0) 
+        leftBoundary = path[leftBoundary].p;
+      return {p: leftBoundary,
+              mw: 0,
+              w: 1 + _info.w,
+              unk: 1 + _info.unk,
+              type: "UNK"};      
+/*    } else if(leftBoundary > 0 && path[leftBoundary].type !== "UNK") {
+      leftBoundary = path[leftBoundary].p;
+      return {p: leftBoundary,
+              w: 1 + _info.w,
+              unk: 1 + _info.unk,
+              type: "UNK"};            */
+    } else {      
+      return {p: leftBoundary,
+              mw: _info.mw,
+              w: 1 + _info.w,
+              unk: 1 + _info.unk,
+              type: "UNK"};
+    }
+  },
+  
+  build: function(path, finalAcceptors, i, leftBoundary, text) {
+    var basicPathInfos = this.buildByAcceptors(path, finalAcceptors, i);
+    if (basicPathInfos.length > 0) {
+      return basicPathInfos;
+    } else {
+      return [this.fallback(path, leftBoundary, text, i)];
+    }
+  }
+};
+
+module.exports = function() {
+  return _.clone(PathInfoBuilder);
+}
+
+},{"./wordcut_core":8,"underscore":25}],5:[function(require,module,exports){
+var _ = require("underscore");
+
+
+var PathSelector = {
+  selectPath: function(paths) {
+    var path = paths.reduce(function(selectedPath, path) {
+      if (selectedPath == null) {        
+        return path;
+      } else {
+        if (path.unk < selectedPath.unk) 
+          return path;        
+        if (path.unk == selectedPath.unk) {
+          if (path.mw < selectedPath.mw)
+            return path
+          if (path.mw == selectedPath.mw) {
+            if (path.w < selectedPath.w) 
+              return path;
+          }
+        }
+        return selectedPath;
+      }
+    }, null);
+    return path;
+  },
+  
+  createPath: function() {
+    return [{p:null, w:0, unk:0, type: "INIT", mw:0}];
+  }
+};
+
+module.exports = function() {
+  return _.clone(PathSelector);
+};
+
+},{"underscore":25}],6:[function(require,module,exports){
+function isMatch(pat, offset, ch) {
+  if (pat.length <= offset)
+    return false;
+  var _ch = pat[offset];
+  return _ch == ch ||
+         (_ch.match(/[กข]/) && ch.match(/[ก-ฮ]/)) ||
+         (_ch.match(/[มบ]/) && ch.match(/[ก-ฮ]/)) ||
+         (_ch.match(/\u0E49/) && ch.match(/[\u0E48-\u0E4B]/));
+}
+
+var Rule0 = {
+  pat: "เหก็ม",
+  createAcceptor: function(tag) {
+    return {strOffset: 0,
+            isFinal: false,
+            transit: function(ch) {
+              if (isMatch(Rule0.pat, this.strOffset,ch)) {                 
+                this.isFinal = (this.strOffset + 1 == Rule0.pat.length);                
+                this.strOffset++;
+              } else {              
+                this.isError = true;             
+              }
+              return this;
+            },
+            isError: false,
+            tag: "THAI_RULE",
+            type: "THAI_RULE", 
+            w: 1};                        
+  }
+};
+
+var PartRule = {
+  createAcceptor: function(tag) {
+    return {strOffset: 0,
+            patterns: [
+              "แก", "เก", "ก้", "กก์", "กา", "กี", "กิ", "กืก"  
+            ],
+            isFinal: false,
+            transit: function(ch) {
+              var offset = this.strOffset;
+              this.patterns = this.patterns.filter(function(pat) {
+                return isMatch(pat, offset, ch);
+              });
+              
+              if (this.patterns.length > 0) {
+                var len = 1 + offset;
+                this.isFinal = this.patterns.some(function(pat) {
+                  return pat.length == len; 
+                });
+                this.strOffset++;
+              } else {              
+                this.isError = true;             
+              }
+              return this;
+            },
+            isError: false,
+            tag: "PART",
+            type: "PART", 
+            unk: 1,
+            w: 1};                        
+  }
+};
+
+var ThaiRules = [Rule0, PartRule];
+
+module.exports = ThaiRules;
+
+},{}],7:[function(require,module,exports){
+var sys = require("sys")
+  , WordcutDict = require("./dict")
+  , WordcutCore = require("./wordcut_core")
+  , PathInfoBuilder = require("./path_info_builder")
+  , PathSelector = require("./path_selector")
+  , Acceptors = require("./acceptors")
+  , latinRules = require("./latin_rules")
+  , thaiRules = require("./thai_rules")
+  , _ = require("underscore");
+
+
+var Wordcut = Object.create(WordcutCore);
+Wordcut.defaultPathInfoBuilder = PathInfoBuilder;
+Wordcut.defaultPathSelector = PathSelector;
+Wordcut.defaultAcceptors = Acceptors;
+Wordcut.defaultLatinRules = latinRules;
+Wordcut.defaultThaiRules = thaiRules;
+Wordcut.defaultDict = WordcutDict;
+
+
+Wordcut.initNoDict = function(dict_path) {
+  var self = this;
+  self.pathInfoBuilder = new self.defaultPathInfoBuilder;
+  self.pathSelector = new self.defaultPathSelector;
+  self.acceptors = new self.defaultAcceptors;
+  self.defaultLatinRules.forEach(function(rule) {
+    self.acceptors.creators.push(rule);
+  });
+  self.defaultThaiRules.forEach(function(rule) {
+    self.acceptors.creators.push(rule);
+  });
+};
+
+Wordcut.init = function(dict_path, withDefault, additionalWords) {
+  withDefault = withDefault || false;
+  this.initNoDict();
+  var dict = _.clone(this.defaultDict);
+  dict.init(dict_path, withDefault, additionalWords);
+  this.acceptors.creators.push(dict);
+};
+
+module.exports = Wordcut;
+
+},{"./acceptors":1,"./dict":2,"./latin_rules":3,"./path_info_builder":4,"./path_selector":5,"./thai_rules":6,"./wordcut_core":8,"sys":28,"underscore":25}],8:[function(require,module,exports){
+var WordcutCore = {
+
+  buildPath: function(text) {
+    var self = this
+      , path = self.pathSelector.createPath()
+      , leftBoundary = 0;
+    self.acceptors.reset();
+    for (var i = 0; i < text.length; i++) {
+      var ch = text[i];
+      self.acceptors.transit(ch);
+
+      var possiblePathInfos = self
+        .pathInfoBuilder
+        .build(path,
+               self.acceptors.getFinalAcceptors(),
+               i,
+               leftBoundary,
+               text);
+      var selectedPath = self.pathSelector.selectPath(possiblePathInfos)
+
+      path.push(selectedPath);
+      if (selectedPath.type !== "UNK") {
+        leftBoundary = i;
+      }
+    }
+    return path;
+  },
+
+  pathToRanges: function(path) {
+    var e = path.length - 1
+     , ranges = [];
+
+    while (e > 0) {
+      var info = path[e]
+       , s = info.p;
+
+      if (info.merge !== undefined && ranges.length > 0) {
+        var r = ranges[ranges.length - 1];
+        r.s = info.merge;
+        s = r.s;
+      } else {
+        ranges.push({s:s, e:e});
+      }
+      e = s;
+    }
+    return ranges.reverse();
+  },
+
+  rangesToText: function(text, ranges, delimiter) {
+    return ranges.map(function(r) {
+      return text.substring(r.s, r.e);
+    }).join(delimiter);
+  },
+
+  cut: function(text, delimiter) {
+    var path = this.buildPath(text)
+      , ranges = this.pathToRanges(path);
+    return this
+      .rangesToText(text, ranges,
+                    (delimiter === undefined ? "|" : delimiter));
+  },
+
+  cutIntoRanges: function(text, noText) {
+    var path = this.buildPath(text)
+      , ranges = this.pathToRanges(path);
+
+    if (!noText) {
+      ranges.forEach(function(r) {
+        r.text = text.substring(r.s, r.e);
+      });
+    }
+    return ranges;
+  },
+
+  cutIntoArray: function(text) {
+    var path = this.buildPath(text)
+      , ranges = this.pathToRanges(path);
+    
+    return ranges.map(function(r) {
+      return text.substring(r.s, r.e)
+    });
+  }
+};
+
+module.exports = WordcutCore;
+
+},{}],9:[function(require,module,exports){
+// http://wiki.commonjs.org/wiki/Unit_Testing/1.0
+//
+// THIS IS NOT TESTED NOR LIKELY TO WORK OUTSIDE V8!
+//
+// Originally from narwhal.js (http://narwhaljs.org)
+// Copyright (c) 2009 Thomas Robinson <280north.com>
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the 'Software'), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+// WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+// when used in node, this will actually load the util module we depend on
+// versus loading the builtin util module as happens otherwise
+// this is a bug in node module loading as far as I am concerned
+var util = require('util/');
+
+var pSlice = Array.prototype.slice;
+var hasOwn = Object.prototype.hasOwnProperty;
+
+// 1. The assert module provides functions that throw
+// AssertionError's when particular conditions are not met. The
+// assert module must conform to the following interface.
+
+var assert = module.exports = ok;
+
+// 2. The AssertionError is defined in assert.
+// new assert.AssertionError({ message: message,
+//                             actual: actual,
+//                             expected: expected })
+
+assert.AssertionError = function AssertionError(options) {
+  this.name = 'AssertionError';
+  this.actual = options.actual;
+  this.expected = options.expected;
+  this.operator = options.operator;
+  if (options.message) {
+    this.message = options.message;
+    this.generatedMessage = false;
+  } else {
+    this.message = getMessage(this);
+    this.generatedMessage = true;
+  }
+  var stackStartFunction = options.stackStartFunction || fail;
+
+  if (Error.captureStackTrace) {
+    Error.captureStackTrace(this, stackStartFunction);
+  }
+  else {
+    // non v8 browsers so we can have a stacktrace
+    var err = new Error();
+    if (err.stack) {
+      var out = err.stack;
+
+      // try to strip useless frames
+      var fn_name = stackStartFunction.name;
+      var idx = out.indexOf('\n' + fn_name);
+      if (idx >= 0) {
+        // once we have located the function frame
+        // we need to strip out everything before it (and its line)
+        var next_line = out.indexOf('\n', idx + 1);
+        out = out.substring(next_line + 1);
+      }
+
+      this.stack = out;
+    }
+  }
+};
+
+// assert.AssertionError instanceof Error
+util.inherits(assert.AssertionError, Error);
+
+function replacer(key, value) {
+  if (util.isUndefined(value)) {
+    return '' + value;
+  }
+  if (util.isNumber(value) && !isFinite(value)) {
+    return value.toString();
+  }
+  if (util.isFunction(value) || util.isRegExp(value)) {
+    return value.toString();
+  }
+  return value;
+}
+
+function truncate(s, n) {
+  if (util.isString(s)) {
+    return s.length < n ? s : s.slice(0, n);
+  } else {
+    return s;
+  }
+}
+
+function getMessage(self) {
+  return truncate(JSON.stringify(self.actual, replacer), 128) + ' ' +
+         self.operator + ' ' +
+         truncate(JSON.stringify(self.expected, replacer), 128);
+}
+
+// At present only the three keys mentioned above are used and
+// understood by the spec. Implementations or sub modules can pass
+// other keys to the AssertionError's constructor - they will be
+// ignored.
+
+// 3. All of the following functions must throw an AssertionError
+// when a corresponding condition is not met, with a message that
+// may be undefined if not provided.  All assertion methods provide
+// both the actual and expected values to the assertion error for
+// display purposes.
+
+function fail(actual, expected, message, operator, stackStartFunction) {
+  throw new assert.AssertionError({
+    message: message,
+    actual: actual,
+    expected: expected,
+    operator: operator,
+    stackStartFunction: stackStartFunction
+  });
+}
+
+// EXTENSION! allows for well behaved errors defined elsewhere.
+assert.fail = fail;
+
+// 4. Pure assertion tests whether a value is truthy, as determined
+// by !!guard.
+// assert.ok(guard, message_opt);
+// This statement is equivalent to assert.equal(true, !!guard,
+// message_opt);. To test strictly for the value true, use
+// assert.strictEqual(true, guard, message_opt);.
+
+function ok(value, message) {
+  if (!value) fail(value, true, message, '==', assert.ok);
+}
+assert.ok = ok;
+
+// 5. The equality assertion tests shallow, coercive equality with
+// ==.
+// assert.equal(actual, expected, message_opt);
+
+assert.equal = function equal(actual, expected, message) {
+  if (actual != expected) fail(actual, expected, message, '==', assert.equal);
+};
+
+// 6. The non-equality assertion tests for whether two objects are not equal
+// with != assert.notEqual(actual, expected, message_opt);
+
+assert.notEqual = function notEqual(actual, expected, message) {
+  if (actual == expected) {
+    fail(actual, expected, message, '!=', assert.notEqual);
+  }
+};
+
+// 7. The equivalence assertion tests a deep equality relation.
+// assert.deepEqual(actual, expected, message_opt);
+
+assert.deepEqual = function deepEqual(actual, expected, message) {
+  if (!_deepEqual(actual, expected)) {
+    fail(actual, expected, message, 'deepEqual', assert.deepEqual);
+  }
+};
+
+function _deepEqual(actual, expected) {
+  // 7.1. All identical values are equivalent, as determined by ===.
+  if (actual === expected) {
+    return true;
+
+  } else if (util.isBuffer(actual) && util.isBuffer(expected)) {
+    if (actual.length != expected.length) return false;
+
+    for (var i = 0; i < actual.length; i++) {
+      if (actual[i] !== expected[i]) return false;
+    }
+
+    return true;
+
+  // 7.2. If the expected value is a Date object, the actual value is
+  // equivalent if it is also a Date object that refers to the same time.
+  } else if (util.isDate(actual) && util.isDate(expected)) {
+    return actual.getTime() === expected.getTime();
+
+  // 7.3 If the expected value is a RegExp object, the actual value is
+  // equivalent if it is also a RegExp object with the same source and
+  // properties (`global`, `multiline`, `lastIndex`, `ignoreCase`).
+  } else if (util.isRegExp(actual) && util.isRegExp(expected)) {
+    return actual.source === expected.source &&
+           actual.global === expected.global &&
+           actual.multiline === expected.multiline &&
+           actual.lastIndex === expected.lastIndex &&
+           actual.ignoreCase === expected.ignoreCase;
+
+  // 7.4. Other pairs that do not both pass typeof value == 'object',
+  // equivalence is determined by ==.
+  } else if (!util.isObject(actual) && !util.isObject(expected)) {
+    return actual == expected;
+
+  // 7.5 For all other Object pairs, including Array objects, equivalence is
+  // determined by having the same number of owned properties (as verified
+  // with Object.prototype.hasOwnProperty.call), the same set of keys
+  // (although not necessarily the same order), equivalent values for every
+  // corresponding key, and an identical 'prototype' property. Note: this
+  // accounts for both named and indexed properties on Arrays.
+  } else {
+    return objEquiv(actual, expected);
+  }
+}
+
+function isArguments(object) {
+  return Object.prototype.toString.call(object) == '[object Arguments]';
+}
+
+function objEquiv(a, b) {
+  if (util.isNullOrUndefined(a) || util.isNullOrUndefined(b))
+    return false;
+  // an identical 'prototype' property.
+  if (a.prototype !== b.prototype) return false;
+  // if one is a primitive, the other must be same
+  if (util.isPrimitive(a) || util.isPrimitive(b)) {
+    return a === b;
+  }
+  var aIsArgs = isArguments(a),
+      bIsArgs = isArguments(b);
+  if ((aIsArgs && !bIsArgs) || (!aIsArgs && bIsArgs))
+    return false;
+  if (aIsArgs) {
+    a = pSlice.call(a);
+    b = pSlice.call(b);
+    return _deepEqual(a, b);
+  }
+  var ka = objectKeys(a),
+      kb = objectKeys(b),
+      key, i;
+  // having the same number of owned properties (keys incorporates
+  // hasOwnProperty)
+  if (ka.length != kb.length)
+    return false;
+  //the same set of keys (although not necessarily the same order),
+  ka.sort();
+  kb.sort();
+  //~~~cheap key test
+  for (i = ka.length - 1; i >= 0; i--) {
+    if (ka[i] != kb[i])
+      return false;
+  }
+  //equivalent values for every corresponding key, and
+  //~~~possibly expensive deep test
+  for (i = ka.length - 1; i >= 0; i--) {
+    key = ka[i];
+    if (!_deepEqual(a[key], b[key])) return false;
+  }
+  return true;
+}
+
+// 8. The non-equivalence assertion tests for any deep inequality.
+// assert.notDeepEqual(actual, expected, message_opt);
+
+assert.notDeepEqual = function notDeepEqual(actual, expected, message) {
+  if (_deepEqual(actual, expected)) {
+    fail(actual, expected, message, 'notDeepEqual', assert.notDeepEqual);
+  }
+};
+
+// 9. The strict equality assertion tests strict equality, as determined by ===.
+// assert.strictEqual(actual, expected, message_opt);
+
+assert.strictEqual = function strictEqual(actual, expected, message) {
+  if (actual !== expected) {
+    fail(actual, expected, message, '===', assert.strictEqual);
+  }
+};
+
+// 10. The strict non-equality assertion tests for strict inequality, as
+// determined by !==.  assert.notStrictEqual(actual, expected, message_opt);
+
+assert.notStrictEqual = function notStrictEqual(actual, expected, message) {
+  if (actual === expected) {
+    fail(actual, expected, message, '!==', assert.notStrictEqual);
+  }
+};
+
+function expectedException(actual, expected) {
+  if (!actual || !expected) {
+    return false;
+  }
+
+  if (Object.prototype.toString.call(expected) == '[object RegExp]') {
+    return expected.test(actual);
+  } else if (actual instanceof expected) {
+    return true;
+  } else if (expected.call({}, actual) === true) {
+    return true;
+  }
+
+  return false;
+}
+
+function _throws(shouldThrow, block, expected, message) {
+  var actual;
+
+  if (util.isString(expected)) {
+    message = expected;
+    expected = null;
+  }
+
+  try {
+    block();
+  } catch (e) {
+    actual = e;
+  }
+
+  message = (expected && expected.name ? ' (' + expected.name + ').' : '.') +
+            (message ? ' ' + message : '.');
+
+  if (shouldThrow && !actual) {
+    fail(actual, expected, 'Missing expected exception' + message);
+  }
+
+  if (!shouldThrow && expectedException(actual, expected)) {
+    fail(actual, expected, 'Got unwanted exception' + message);
+  }
+
+  if ((shouldThrow && actual && expected &&
+      !expectedException(actual, expected)) || (!shouldThrow && actual)) {
+    throw actual;
+  }
+}
+
+// 11. Expected to throw an error:
+// assert.throws(block, Error_opt, message_opt);
+
+assert.throws = function(block, /*optional*/error, /*optional*/message) {
+  _throws.apply(this, [true].concat(pSlice.call(arguments)));
+};
+
+// EXTENSION! This is annoying to write outside this module.
+assert.doesNotThrow = function(block, /*optional*/message) {
+  _throws.apply(this, [false].concat(pSlice.call(arguments)));
+};
+
+assert.ifError = function(err) { if (err) {throw err;}};
+
+var objectKeys = Object.keys || function (obj) {
+  var keys = [];
+  for (var key in obj) {
+    if (hasOwn.call(obj, key)) keys.push(key);
+  }
+  return keys;
+};
+
+},{"util/":28}],10:[function(require,module,exports){
+'use strict';
+module.exports = balanced;
+function balanced(a, b, str) {
+  if (a instanceof RegExp) a = maybeMatch(a, str);
+  if (b instanceof RegExp) b = maybeMatch(b, str);
+
+  var r = range(a, b, str);
+
+  return r && {
+    start: r[0],
+    end: r[1],
+    pre: str.slice(0, r[0]),
+    body: str.slice(r[0] + a.length, r[1]),
+    post: str.slice(r[1] + b.length)
+  };
+}
+
+function maybeMatch(reg, str) {
+  var m = str.match(reg);
+  return m ? m[0] : null;
+}
+
+balanced.range = range;
+function range(a, b, str) {
+  var begs, beg, left, right, result;
+  var ai = str.indexOf(a);
+  var bi = str.indexOf(b, ai + 1);
+  var i = ai;
+
+  if (ai >= 0 && bi > 0) {
+    begs = [];
+    left = str.length;
+
+    while (i >= 0 && !result) {
+      if (i == ai) {
+        begs.push(i);
+        ai = str.indexOf(a, i + 1);
+      } else if (begs.length == 1) {
+        result = [ begs.pop(), bi ];
+      } else {
+        beg = begs.pop();
+        if (beg < left) {
+          left = beg;
+          right = bi;
+        }
+
+        bi = str.indexOf(b, i + 1);
+      }
+
+      i = ai < bi && ai >= 0 ? ai : bi;
+    }
+
+    if (begs.length) {
+      result = [ left, right ];
+    }
+  }
+
+  return result;
+}
+
+},{}],11:[function(require,module,exports){
+var concatMap = require('concat-map');
+var balanced = require('balanced-match');
+
+module.exports = expandTop;
+
+var escSlash = '\0SLASH'+Math.random()+'\0';
+var escOpen = '\0OPEN'+Math.random()+'\0';
+var escClose = '\0CLOSE'+Math.random()+'\0';
+var escComma = '\0COMMA'+Math.random()+'\0';
+var escPeriod = '\0PERIOD'+Math.random()+'\0';
+
+function numeric(str) {
+  return parseInt(str, 10) == str
+    ? parseInt(str, 10)
+    : str.charCodeAt(0);
+}
+
+function escapeBraces(str) {
+  return str.split('\\\\').join(escSlash)
+            .split('\\{').join(escOpen)
+            .split('\\}').join(escClose)
+            .split('\\,').join(escComma)
+            .split('\\.').join(escPeriod);
+}
+
+function unescapeBraces(str) {
+  return str.split(escSlash).join('\\')
+            .split(escOpen).join('{')
+            .split(escClose).join('}')
+            .split(escComma).join(',')
+            .split(escPeriod).join('.');
+}
+
+
+// Basically just str.split(","), but handling cases
+// where we have nested braced sections, which should be
+// treated as individual members, like {a,{b,c},d}
+function parseCommaParts(str) {
+  if (!str)
+    return [''];
+
+  var parts = [];
+  var m = balanced('{', '}', str);
+
+  if (!m)
+    return str.split(',');
+
+  var pre = m.pre;
+  var body = m.body;
+  var post = m.post;
+  var p = pre.split(',');
+
+  p[p.length-1] += '{' + body + '}';
+  var postParts = parseCommaParts(post);
+  if (post.length) {
+    p[p.length-1] += postParts.shift();
+    p.push.apply(p, postParts);
+  }
+
+  parts.push.apply(parts, p);
+
+  return parts;
+}
+
+function expandTop(str) {
+  if (!str)
+    return [];
+
+  // I don't know why Bash 4.3 does this, but it does.
+  // Anything starting with {} will have the first two bytes preserved
+  // but *only* at the top level, so {},a}b will not expand to anything,
+  // but a{},b}c will be expanded to [a}c,abc].
+  // One could argue that this is a bug in Bash, but since the goal of
+  // this module is to match Bash's rules, we escape a leading {}
+  if (str.substr(0, 2) === '{}') {
+    str = '\\{\\}' + str.substr(2);
+  }
+
+  return expand(escapeBraces(str), true).map(unescapeBraces);
+}
+
+function identity(e) {
+  return e;
+}
+
+function embrace(str) {
+  return '{' + str + '}';
+}
+function isPadded(el) {
+  return /^-?0\d/.test(el);
+}
+
+function lte(i, y) {
+  return i <= y;
+}
+function gte(i, y) {
+  return i >= y;
+}
+
+function expand(str, isTop) {
+  var expansions = [];
+
+  var m = balanced('{', '}', str);
+  if (!m || /\$$/.test(m.pre)) return [str];
+
+  var isNumericSequence = /^-?\d+\.\.-?\d+(?:\.\.-?\d+)?$/.test(m.body);
+  var isAlphaSequence = /^[a-zA-Z]\.\.[a-zA-Z](?:\.\.-?\d+)?$/.test(m.body);
+  var isSequence = isNumericSequence || isAlphaSequence;
+  var isOptions = m.body.indexOf(',') >= 0;
+  if (!isSequence && !isOptions) {
+    // {a},b}
+    if (m.post.match(/,.*\}/)) {
+      str = m.pre + '{' + m.body + escClose + m.post;
+      return expand(str);
+    }
+    return [str];
+  }
+
+  var n;
+  if (isSequence) {
+    n = m.body.split(/\.\./);
+  } else {
+    n = parseCommaParts(m.body);
+    if (n.length === 1) {
+      // x{{a,b}}y ==> x{a}y x{b}y
+      n = expand(n[0], false).map(embrace);
+      if (n.length === 1) {
+        var post = m.post.length
+          ? expand(m.post, false)
+          : [''];
+        return post.map(function(p) {
+          return m.pre + n[0] + p;
+        });
+      }
+    }
+  }
+
+  // at this point, n is the parts, and we know it's not a comma set
+  // with a single entry.
+
+  // no need to expand pre, since it is guaranteed to be free of brace-sets
+  var pre = m.pre;
+  var post = m.post.length
+    ? expand(m.post, false)
+    : [''];
+
+  var N;
+
+  if (isSequence) {
+    var x = numeric(n[0]);
+    var y = numeric(n[1]);
+    var width = Math.max(n[0].length, n[1].length)
+    var incr = n.length == 3
+      ? Math.abs(numeric(n[2]))
+      : 1;
+    var test = lte;
+    var reverse = y < x;
+    if (reverse) {
+      incr *= -1;
+      test = gte;
+    }
+    var pad = n.some(isPadded);
+
+    N = [];
+
+    for (var i = x; test(i, y); i += incr) {
+      var c;
+      if (isAlphaSequence) {
+        c = String.fromCharCode(i);
+        if (c === '\\')
+          c = '';
+      } else {
+        c = String(i);
+        if (pad) {
+          var need = width - c.length;
+          if (need > 0) {
+            var z = new Array(need + 1).join('0');
+            if (i < 0)
+              c = '-' + z + c.slice(1);
+            else
+              c = z + c;
+          }
+        }
+      }
+      N.push(c);
+    }
+  } else {
+    N = concatMap(n, function(el) { return expand(el, false) });
+  }
+
+  for (var j = 0; j < N.length; j++) {
+    for (var k = 0; k < post.length; k++) {
+      var expansion = pre + N[j] + post[k];
+      if (!isTop || isSequence || expansion)
+        expansions.push(expansion);
+    }
+  }
+
+  return expansions;
+}
+
+
+},{"balanced-match":10,"concat-map":13}],12:[function(require,module,exports){
+
+},{}],13:[function(require,module,exports){
+module.exports = function (xs, fn) {
+    var res = [];
+    for (var i = 0; i < xs.length; i++) {
+        var x = fn(xs[i], i);
+        if (isArray(x)) res.push.apply(res, x);
+        else res.push(x);
+    }
+    return res;
+};
+
+var isArray = Array.isArray || function (xs) {
+    return Object.prototype.toString.call(xs) === '[object Array]';
+};
+
+},{}],14:[function(require,module,exports){
+// Copyright Joyent, Inc. and other Node contributors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to permit
+// persons to whom the Software is furnished to do so, subject to the
+// following conditions:
+//
+// The above copyright notice and this permission notice shall be included
+// in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
+// NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
+// USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+function EventEmitter() {
+  this._events = this._events || {};
+  this._maxListeners = this._maxListeners || undefined;
+}
+module.exports = EventEmitter;
+
+// Backwards-compat with node 0.10.x
+EventEmitter.EventEmitter = EventEmitter;
+
+EventEmitter.prototype._events = undefined;
+EventEmitter.prototype._maxListeners = undefined;
+
+// By default EventEmitters will print a warning if more than 10 listeners are
+// added to it. This is a useful default which helps finding memory leaks.
+EventEmitter.defaultMaxListeners = 10;
+
+// Obviously not all Emitters should be limited to 10. This function allows
+// that to be increased. Set to zero for unlimited.
+EventEmitter.prototype.setMaxListeners = function(n) {
+  if (!isNumber(n) || n < 0 || isNaN(n))
+    throw TypeError('n must be a positive number');
+  this._maxListeners = n;
+  return this;
+};
+
+EventEmitter.prototype.emit = function(type) {
+  var er, handler, len, args, i, listeners;
+
+  if (!this._events)
+    this._events = {};
+
+  // If there is no 'error' event listener then throw.
+  if (type === 'error') {
+    if (!this._events.error ||
+        (isObject(this._events.error) && !this._events.error.length)) {
+      er = arguments[1];
+      if (er instanceof Error) {
+        throw er; // Unhandled 'error' event
+      }
+      throw TypeError('Uncaught, unspecified "error" event.');
+    }
+  }
+
+  handler = this._events[type];
+
+  if (isUndefined(handler))
+    return false;
+
+  if (isFunction(handler)) {
+    switch (arguments.length) {
+      // fast cases
+      case 1:
+        handler.call(this);
+        break;
+      case 2:
+        handler.call(this, arguments[1]);
+        break;
+      case 3:
+        handler.call(this, arguments[1], arguments[2]);
+        break;
+      // slower
+      default:
+        len = arguments.length;
+        args = new Array(len - 1);
+        for (i = 1; i < len; i++)
+          args[i - 1] = arguments[i];
+        handler.apply(this, args);
+    }
+  } else if (isObject(handler)) {
+    len = arguments.length;
+    args = new Array(len - 1);
+    for (i = 1; i < len; i++)
+      args[i - 1] = arguments[i];
+
+    listeners = handler.slice();
+    len = listeners.length;
+    for (i = 0; i < len; i++)
+      listeners[i].apply(this, args);
+  }
+
+  return true;
+};
+
+EventEmitter.prototype.addListener = function(type, listener) {
+  var m;
+
+  if (!isFunction(listener))
+    throw TypeError('listener must be a function');
+
+  if (!this._events)
+    this._events = {};
+
+  // To avoid recursion in the case that type === "newListener"! Before
+  // adding it to the listeners, first emit "newListener".
+  if (this._events.newListener)
+    this.emit('newListener', type,
+              isFunction(listener.listener) ?
+              listener.listener : listener);
+
+  if (!this._events[type])
+    // Optimize the case of one listener. Don't need the extra array object.
+    this._events[type] = listener;
+  else if (isObject(this._events[type]))
+    // If we've already got an array, just append.
+    this._events[type].push(listener);
+  else
+    // Adding the second element, need to change to array.
+    this._events[type] = [this._events[type], listener];
+
+  // Check for listener leak
+  if (isObject(this._events[type]) && !this._events[type].warned) {
+    var m;
+    if (!isUndefined(this._maxListeners)) {
+      m = this._maxListeners;
+    } else {
+      m = EventEmitter.defaultMaxListeners;
+    }
+
+    if (m && m > 0 && this._events[type].length > m) {
+      this._events[type].warned = true;
+      console.error('(node) warning: possible EventEmitter memory ' +
+                    'leak detected. %d listeners added. ' +
+                    'Use emitter.setMaxListeners() to increase limit.',
+                    this._events[type].length);
+      if (typeof console.trace === 'function') {
+        // not supported in IE 10
+        console.trace();
+      }
+    }
+  }
+
+  return this;
+};
+
+EventEmitter.prototype.on = EventEmitter.prototype.addListener;
+
+EventEmitter.prototype.once = function(type, listener) {
+  if (!isFunction(listener))
+    throw TypeError('listener must be a function');
+
+  var fired = false;
+
+  function g() {
+    this.removeListener(type, g);
+
+    if (!fired) {
+      fired = true;
+      listener.apply(this, arguments);
+    }
+  }
+
+  g.listener = listener;
+  this.on(type, g);
+
+  return this;
+};
+
+// emits a 'removeListener' event iff the listener was removed
+EventEmitter.prototype.removeListener = function(type, listener) {
+  var list, position, length, i;
+
+  if (!isFunction(listener))
+    throw TypeError('listener must be a function');
+
+  if (!this._events || !this._events[type])
+    return this;
+
+  list = this._events[type];
+  length = list.length;
+  position = -1;
+
+  if (list === listener ||
+      (isFunction(list.listener) && list.listener === listener)) {
+    delete this._events[type];
+    if (this._events.removeListener)
+      this.emit('removeListener', type, listener);
+
+  } else if (isObject(list)) {
+    for (i = length; i-- > 0;) {
+      if (list[i] === listener ||
+          (list[i].listener && list[i].listener === listener)) {
+        position = i;
+        break;
+      }
+    }
+
+    if (position < 0)
+      return this;
+
+    if (list.length === 1) {
+      list.length = 0;
+      delete this._events[type];
+    } else {
+      list.splice(position, 1);
+    }
+
+    if (this._events.removeListener)
+      this.emit('removeListener', type, listener);
+  }
+
+  return this;
+};
+
+EventEmitter.prototype.removeAllListeners = function(type) {
+  var key, listeners;
+
+  if (!this._events)
+    return this;
+
+  // not listening for removeListener, no need to emit
+  if (!this._events.removeListener) {
+    if (arguments.length === 0)
+      this._events = {};
+    else if (this._events[type])
+      delete this._events[type];
+    return this;
+  }
+
+  // emit removeListener for all listeners on all events
+  if (arguments.length === 0) {
+    for (key in this._events) {
+      if (key === 'removeListener') continue;
+      this.removeAllListeners(key);
+    }
+    this.removeAllListeners('removeListener');
+    this._events = {};
+    return this;
+  }
+
+  listeners = this._events[type];
+
+  if (isFunction(listeners)) {
+    this.removeListener(type, listeners);
+  } else {
+    // LIFO order
+    while (listeners.length)
+      this.removeListener(type, listeners[listeners.length - 1]);
+  }
+  delete this._events[type];
+
+  return this;
+};
+
+EventEmitter.prototype.listeners = function(type) {
+  var ret;
+  if (!this._events || !this._events[type])
+    ret = [];
+  else if (isFunction(this._events[type]))
+    ret = [this._events[type]];
+  else
+    ret = this._events[type].slice();
+  return ret;
+};
+
+EventEmitter.listenerCount = function(emitter, type) {
+  var ret;
+  if (!emitter._events || !emitter._events[type])
+    ret = 0;
+  else if (isFunction(emitter._events[type]))
+    ret = 1;
+  else
+    ret = emitter._events[type].length;
+  return ret;
+};
+
+function isFunction(arg) {
+  return typeof arg === 'function';
+}
+
+function isNumber(arg) {
+  return typeof arg === 'number';
+}
+
+function isObject(arg) {
+  return typeof arg === 'object' && arg !== null;
+}
+
+function isUndefined(arg) {
+  return arg === void 0;
+}
+
+},{}],15:[function(require,module,exports){
+(function (process){
+exports.alphasort = alphasort
+exports.alphasorti = alphasorti
+exports.setopts = setopts
+exports.ownProp = ownProp
+exports.makeAbs = makeAbs
+exports.finish = finish
+exports.mark = mark
+exports.isIgnored = isIgnored
+exports.childrenIgnored = childrenIgnored
+
+function ownProp (obj, field) {
+  return Object.prototype.hasOwnProperty.call(obj, field)
+}
+
+var path = require("path")
+var minimatch = require("minimatch")
+var isAbsolute = require("path-is-absolute")
+var Minimatch = minimatch.Minimatch
+
+function alphasorti (a, b) {
+  return a.toLowerCase().localeCompare(b.toLowerCase())
+}
+
+function alphasort (a, b) {
+  return a.localeCompare(b)
+}
+
+function setupIgnores (self, options) {
+  self.ignore = options.ignore || []
+
+  if (!Array.isArray(self.ignore))
+    self.ignore = [self.ignore]
+
+  if (self.ignore.length) {
+    self.ignore = self.ignore.map(ignoreMap)
+  }
+}
+
+function ignoreMap (pattern) {
+  var gmatcher = null
+  if (pattern.slice(-3) === '/**') {
+    var gpattern = pattern.replace(/(\/\*\*)+$/, '')
+    gmatcher = new Minimatch(gpattern)
+  }
+
+  return {
+    matcher: new Minimatch(pattern),
+    gmatcher: gmatcher
+  }
+}
+
+function setopts (self, pattern, options) {
+  if (!options)
+    options = {}
+
+  // base-matching: just use globstar for that.
+  if (options.matchBase && -1 === pattern.indexOf("/")) {
+    if (options.noglobstar) {
+      throw new Error("base matching requires globstar")
+    }
+    pattern = "**/" + pattern
+  }
+
+  self.silent = !!options.silent
+  self.pattern = pattern
+  self.strict = options.strict !== false
+  self.realpath = !!options.realpath
+  self.realpathCache = options.realpathCache || Object.create(null)
+  self.follow = !!options.follow
+  self.dot = !!options.dot
+  self.mark = !!options.mark
+  self.nodir = !!options.nodir
+  if (self.nodir)
+    self.mark = true
+  self.sync = !!options.sync
+  self.nounique = !!options.nounique
+  self.nonull = !!options.nonull
+  self.nosort = !!options.nosort
+  self.nocase = !!options.nocase
+  self.stat = !!options.stat
+  self.noprocess = !!options.noprocess
+
+  self.maxLength = options.maxLength || Infinity
+  self.cache = options.cache || Object.create(null)
+  self.statCache = options.statCache || Object.create(null)
+  self.symlinks = options.symlinks || Object.create(null)
+
+  setupIgnores(self, options)
+
+  self.changedCwd = false
+  var cwd = process.cwd()
+  if (!ownProp(options, "cwd"))
+    self.cwd = cwd
+  else {
+    self.cwd = options.cwd
+    self.changedCwd = path.resolve(options.cwd) !== cwd
+  }
+
+  self.root = options.root || path.resolve(self.cwd, "/")
+  self.root = path.resolve(self.root)
+  if (process.platform === "win32")
+    self.root = self.root.replace(/\\/g, "/")
+
+  self.nomount = !!options.nomount
+
+  // disable comments and negation unless the user explicitly
+  // passes in false as the option.
+  options.nonegate = options.nonegate === false ? false : true
+  options.nocomment = options.nocomment === false ? false : true
+  deprecationWarning(options)
+
+  self.minimatch = new Minimatch(pattern, options)
+  self.options = self.minimatch.options
+}
+
+// TODO(isaacs): remove entirely in v6
+// exported to reset in tests
+exports.deprecationWarned
+function deprecationWarning(options) {
+  if (!options.nonegate || !options.nocomment) {
+    if (process.noDeprecation !== true && !exports.deprecationWarned) {
+      var msg = 'glob WARNING: comments and negation will be disabled in v6'
+      if (process.throwDeprecation)
+        throw new Error(msg)
+      else if (process.traceDeprecation)
+        console.trace(msg)
+      else
+        console.error(msg)
+
+      exports.deprecationWarned = true
+    }
+  }
+}
+
+function finish (self) {
+  var nou = self.nounique
+  var all = nou ? [] : Object.create(null)
+
+  for (var i = 0, l = self.matches.length; i < l; i ++) {
+    var matches = self.matches[i]
+    if (!matches || Object.keys(matches).length === 0) {
+      if (self.nonull) {
+        // do like the shell, and spit out the literal glob
+        var literal = self.minimatch.globSet[i]
+        if (nou)
+          all.push(literal)
+        else
+          all[literal] = true
+      }
+    } else {
+      // had matches
+      var m = Object.keys(matches)
+      if (nou)
+        all.push.apply(all, m)
+      else
+        m.forEach(function (m) {
+          all[m] = true
+        })
+    }
+  }
+
+  if (!nou)
+    all = Object.keys(all)
+
+  if (!self.nosort)
+    all = all.sort(self.nocase ? alphasorti : alphasort)
+
+  // at *some* point we statted all of these
+  if (self.mark) {
+    for (var i = 0; i < all.length; i++) {
+      all[i] = self._mark(all[i])
+    }
+    if (self.nodir) {
+      all = all.filter(function (e) {
+        return !(/\/$/.test(e))
+      })
+    }
+  }
+
+  if (self.ignore.length)
+    all = all.filter(function(m) {
+      return !isIgnored(self, m)
+    })
+
+  self.found = all
+}
+
+function mark (self, p) {
+  var abs = makeAbs(self, p)
+  var c = self.cache[abs]
+  var m = p
+  if (c) {
+    var isDir = c === 'DIR' || Array.isArray(c)
+    var slash = p.slice(-1) === '/'
+
+    if (isDir && !slash)
+      m += '/'
+    else if (!isDir && slash)
+      m = m.slice(0, -1)
+
+    if (m !== p) {
+      var mabs = makeAbs(self, m)
+      self.statCache[mabs] = self.statCache[abs]
+      self.cache[mabs] = self.cache[abs]
+    }
+  }
+
+  return m
+}
+
+// lotta situps...
+function makeAbs (self, f) {
+  var abs = f
+  if (f.charAt(0) === '/') {
+    abs = path.join(self.root, f)
+  } else if (isAbsolute(f) || f === '') {
+    abs = f
+  } else if (self.changedCwd) {
+    abs = path.resolve(self.cwd, f)
+  } else {
+    abs = path.resolve(f)
+  }
+  return abs
+}
+
+
+// Return true, if pattern ends with globstar '**', for the accompanying parent directory.
+// Ex:- If node_modules/** is the pattern, add 'node_modules' to ignore list along with it's contents
+function isIgnored (self, path) {
+  if (!self.ignore.length)
+    return false
+
+  return self.ignore.some(function(item) {
+    return item.matcher.match(path) || !!(item.gmatcher && item.gmatcher.match(path))
+  })
+}
+
+function childrenIgnored (self, path) {
+  if (!self.ignore.length)
+    return false
+
+  return self.ignore.some(function(item) {
+    return !!(item.gmatcher && item.gmatcher.match(path))
+  })
+}
+
+}).call(this,require('_process'))
+},{"_process":24,"minimatch":20,"path":22,"path-is-absolute":23}],16:[function(require,module,exports){
+(function (process){
+// Approach:
+//
+// 1. Get the minimatch set
+// 2. For each pattern in the set, PROCESS(pattern, false)
+// 3. Store matches per-set, then uniq them
+//
+// PROCESS(pattern, inGlobStar)
+// Get the first [n] items from pattern that are all strings
+// Join these together.  This is PREFIX.
+//   If there is no more remaining, then stat(PREFIX) and
+//   add to matches if it succeeds.  END.
+//
+// If inGlobStar and PREFIX is symlink and points to dir
+//   set ENTRIES = []
+// else readdir(PREFIX) as ENTRIES
+//   If fail, END
+//
+// with ENTRIES
+//   If pattern[n] is GLOBSTAR
+//     // handle the case where the globstar match is empty
+//     // by pruning it out, and testing the resulting pattern
+//     PROCESS(pattern[0..n] + pattern[n+1 .. $], false)
+//     // handle other cases.
+//     for ENTRY in ENTRIES (not dotfiles)
+//       // attach globstar + tail onto the entry
+//       // Mark that this entry is a globstar match
+//       PROCESS(pattern[0..n] + ENTRY + pattern[n .. $], true)
+//
+//   else // not globstar
+//     for ENTRY in ENTRIES (not dotfiles, unless pattern[n] is dot)
+//       Test ENTRY against pattern[n]
+//       If fails, continue
+//       If passes, PROCESS(pattern[0..n] + item + pattern[n+1 .. $])
+//
+// Caveat:
+//   Cache all stats and readdirs results to minimize syscall.  Since all
+//   we ever care about is existence and directory-ness, we can just keep
+//   `true` for files, and [children,...] for directories, or `false` for
+//   things that don't exist.
+
+module.exports = glob
+
+var fs = require('fs')
+var minimatch = require('minimatch')
+var Minimatch = minimatch.Minimatch
+var inherits = require('inherits')
+var EE = require('events').EventEmitter
+var path = require('path')
+var assert = require('assert')
+var isAbsolute = require('path-is-absolute')
+var globSync = require('./sync.js')
+var common = require('./common.js')
+var alphasort = common.alphasort
+var alphasorti = common.alphasorti
+var setopts = common.setopts
+var ownProp = common.ownProp
+var inflight = require('inflight')
+var util = require('util')
+var childrenIgnored = common.childrenIgnored
+var isIgnored = common.isIgnored
+
+var once = require('once')
+
+function glob (pattern, options, cb) {
+  if (typeof options === 'function') cb = options, options = {}
+  if (!options) options = {}
+
+  if (options.sync) {
+    if (cb)
+      throw new TypeError('callback provided to sync glob')
+    return globSync(pattern, options)
+  }
+
+  return new Glob(pattern, options, cb)
+}
+
+glob.sync = globSync
+var GlobSync = glob.GlobSync = globSync.GlobSync
+
+// old api surface
+glob.glob = glob
+
+glob.hasMagic = function (pattern, options_) {
+  var options = util._extend({}, options_)
+  options.noprocess = true
+
+  var g = new Glob(pattern, options)
+  var set = g.minimatch.set
+  if (set.length > 1)
+    return true
+
+  for (var j = 0; j < set[0].length; j++) {
+    if (typeof set[0][j] !== 'string')
+      return true
+  }
+
+  return false
+}
+
+glob.Glob = Glob
+inherits(Glob, EE)
+function Glob (pattern, options, cb) {
+  if (typeof options === 'function') {
+    cb = options
+    options = null
+  }
+
+  if (options && options.sync) {
+    if (cb)
+      throw new TypeError('callback provided to sync glob')
+    return new GlobSync(pattern, options)
+  }
+
+  if (!(this instanceof Glob))
+    return new Glob(pattern, options, cb)
+
+  setopts(this, pattern, options)
+  this._didRealPath = false
+
+  // process each pattern in the minimatch set
+  var n = this.minimatch.set.length
+
+  // The matches are stored as {<filename>: true,...} so that
+  // duplicates are automagically pruned.
+  // Later, we do an Object.keys() on these.
+  // Keep them as a list so we can fill in when nonull is set.
+  this.matches = new Array(n)
+
+  if (typeof cb === 'function') {
+    cb = once(cb)
+    this.on('error', cb)
+    this.on('end', function (matches) {
+      cb(null, matches)
+    })
+  }
+
+  var self = this
+  var n = this.minimatch.set.length
+  this._processing = 0
+  this.matches = new Array(n)
+
+  this._emitQueue = []
+  this._processQueue = []
+  this.paused = false
+
+  if (this.noprocess)
+    return this
+
+  if (n === 0)
+    return done()
+
+  for (var i = 0; i < n; i ++) {
+    this._process(this.minimatch.set[i], i, false, done)
+  }
+
+  function done () {
+    --self._processing
+    if (self._processing <= 0)
+      self._finish()
+  }
+}
+
+Glob.prototype._finish = function () {
+  assert(this instanceof Glob)
+  if (this.aborted)
+    return
+
+  if (this.realpath && !this._didRealpath)
+    return this._realpath()
+
+  common.finish(this)
+  this.emit('end', this.found)
+}
+
+Glob.prototype._realpath = function () {
+  if (this._didRealpath)
+    return
+
+  this._didRealpath = true
+
+  var n = this.matches.length
+  if (n === 0)
+    return this._finish()
+
+  var self = this
+  for (var i = 0; i < this.matches.length; i++)
+    this._realpathSet(i, next)
+
+  function next () {
+    if (--n === 0)
+      self._finish()
+  }
+}
+
+Glob.prototype._realpathSet = function (index, cb) {
+  var matchset = this.matches[index]
+  if (!matchset)
+    return cb()
+
+  var found = Object.keys(matchset)
+  var self = this
+  var n = found.length
+
+  if (n === 0)
+    return cb()
+
+  var set = this.matches[index] = Object.create(null)
+  found.forEach(function (p, i) {
+    // If there's a problem with the stat, then it means that
+    // one or more of the links in the realpath couldn't be
+    // resolved.  just return the abs value in that case.
+    p = self._makeAbs(p)
+    fs.realpath(p, self.realpathCache, function (er, real) {
+      if (!er)
+        set[real] = true
+      else if (er.syscall === 'stat')
+        set[p] = true
+      else
+        self.emit('error', er) // srsly wtf right here
+
+      if (--n === 0) {
+        self.matches[index] = set
+        cb()
+      }
+    })
+  })
+}
+
+Glob.prototype._mark = function (p) {
+  return common.mark(this, p)
+}
+
+Glob.prototype._makeAbs = function (f) {
+  return common.makeAbs(this, f)
+}
+
+Glob.prototype.abort = function () {
+  this.aborted = true
+  this.emit('abort')
+}
+
+Glob.prototype.pause = function () {
+  if (!this.paused) {
+    this.paused = true
+    this.emit('pause')
+  }
+}
+
+Glob.prototype.resume = function () {
+  if (this.paused) {
+    this.emit('resume')
+    this.paused = false
+    if (this._emitQueue.length) {
+      var eq = this._emitQueue.slice(0)
+      this._emitQueue.length = 0
+      for (var i = 0; i < eq.length; i ++) {
+        var e = eq[i]
+        this._emitMatch(e[0], e[1])
+      }
+    }
+    if (this._processQueue.length) {
+      var pq = this._processQueue.slice(0)
+      this._processQueue.length = 0
+      for (var i = 0; i < pq.length; i ++) {
+        var p = pq[i]
+        this._processing--
+        this._process(p[0], p[1], p[2], p[3])
+      }
+    }
+  }
+}
+
+Glob.prototype._process = function (pattern, index, inGlobStar, cb) {
+  assert(this instanceof Glob)
+  assert(typeof cb === 'function')
+
+  if (this.aborted)
+    return
+
+  this._processing++
+  if (this.paused) {
+    this._processQueue.push([pattern, index, inGlobStar, cb])
+    return
+  }
+
+  //console.error('PROCESS %d', this._processing, pattern)
+
+  // Get the first [n] parts of pattern that are all strings.
+  var n = 0
+  while (typeof pattern[n] === 'string') {
+    n ++
+  }
+  // now n is the index of the first one that is *not* a string.
+
+  // see if there's anything else
+  var prefix
+  switch (n) {
+    // if not, then this is rather simple
+    case pattern.length:
+      this._processSimple(pattern.join('/'), index, cb)
+      return
+
+    case 0:
+      // pattern *starts* with some non-trivial item.
+      // going to readdir(cwd), but not include the prefix in matches.
+      prefix = null
+      break
+
+    default:
+      // pattern has some string bits in the front.
+      // whatever it starts with, whether that's 'absolute' like /foo/bar,
+      // or 'relative' like '../baz'
+      prefix = pattern.slice(0, n).join('/')
+      break
+  }
+
+  var remain = pattern.slice(n)
+
+  // get the list of entries.
+  var read
+  if (prefix === null)
+    read = '.'
+  else if (isAbsolute(prefix) || isAbsolute(pattern.join('/'))) {
+    if (!prefix || !isAbsolute(prefix))
+      prefix = '/' + prefix
+    read = prefix
+  } else
+    read = prefix
+
+  var abs = this._makeAbs(read)
+
+  //if ignored, skip _processing
+  if (childrenIgnored(this, read))
+    return cb()
+
+  var isGlobStar = remain[0] === minimatch.GLOBSTAR
+  if (isGlobStar)
+    this._processGlobStar(prefix, read, abs, remain, index, inGlobStar, cb)
+  else
+    this._processReaddir(prefix, read, abs, remain, index, inGlobStar, cb)
+}
+
+Glob.prototype._processReaddir = function (prefix, read, abs, remain, index, inGlobStar, cb) {
+  var self = this
+  this._readdir(abs, inGlobStar, function (er, entries) {
+    return self._processReaddir2(prefix, read, abs, remain, index, inGlobStar, entries, cb)
+  })
+}
+
+Glob.prototype._processReaddir2 = function (prefix, read, abs, remain, index, inGlobStar, entries, cb) {
+
+  // if the abs isn't a dir, then nothing can match!
+  if (!entries)
+    return cb()
+
+  // It will only match dot entries if it starts with a dot, or if
+  // dot is set.  Stuff like @(.foo|.bar) isn't allowed.
+  var pn = remain[0]
+  var negate = !!this.minimatch.negate
+  var rawGlob = pn._glob
+  var dotOk = this.dot || rawGlob.charAt(0) === '.'
+
+  var matchedEntries = []
+  for (var i = 0; i < entries.length; i++) {
+    var e = entries[i]
+    if (e.charAt(0) !== '.' || dotOk) {
+      var m
+      if (negate && !prefix) {
+        m = !e.match(pn)
+      } else {
+        m = e.match(pn)
+      }
+      if (m)
+        matchedEntries.push(e)
+    }
+  }
+
+  //console.error('prd2', prefix, entries, remain[0]._glob, matchedEntries)
+
+  var len = matchedEntries.length
+  // If there are no matched entries, then nothing matches.
+  if (len === 0)
+    return cb()
+
+  // if this is the last remaining pattern bit, then no need for
+  // an additional stat *unless* the user has specified mark or
+  // stat explicitly.  We know they exist, since readdir returned
+  // them.
+
+  if (remain.length === 1 && !this.mark && !this.stat) {
+    if (!this.matches[index])
+      this.matches[index] = Object.create(null)
+
+    for (var i = 0; i < len; i ++) {
+      var e = matchedEntries[i]
+      if (prefix) {
+        if (prefix !== '/')
+          e = prefix + '/' + e
+        else
+          e = prefix + e
+      }
+
+      if (e.charAt(0) === '/' && !this.nomount) {
+        e = path.join(this.root, e)
+      }
+      this._emitMatch(index, e)
+    }
+    // This was the last one, and no stats were needed
+    return cb()
+  }
+
+  // now test all matched entries as stand-ins for that part
+  // of the pattern.
+  remain.shift()
+  for (var i = 0; i < len; i ++) {
+    var e = matchedEntries[i]
+    var newPattern
+    if (prefix) {
+      if (prefix !== '/')
+        e = prefix + '/' + e
+      else
+        e = prefix + e
+    }
+    this._process([e].concat(remain), index, inGlobStar, cb)
+  }
+  cb()
+}
+
+Glob.prototype._emitMatch = function (index, e) {
+  if (this.aborted)
+    return
+
+  if (this.matches[index][e])
+    return
+
+  if (isIgnored(this, e))
+    return
+
+  if (this.paused) {
+    this._emitQueue.push([index, e])
+    return
+  }
+
+  var abs = this._makeAbs(e)
+
+  if (this.nodir) {
+    var c = this.cache[abs]
+    if (c === 'DIR' || Array.isArray(c))
+      return
+  }
+
+  if (this.mark)
+    e = this._mark(e)
+
+  this.matches[index][e] = true
+
+  var st = this.statCache[abs]
+  if (st)
+    this.emit('stat', e, st)
+
+  this.emit('match', e)
+}
+
+Glob.prototype._readdirInGlobStar = function (abs, cb) {
+  if (this.aborted)
+    return
+
+  // follow all symlinked directories forever
+  // just proceed as if this is a non-globstar situation
+  if (this.follow)
+    return this._readdir(abs, false, cb)
+
+  var lstatkey = 'lstat\0' + abs
+  var self = this
+  var lstatcb = inflight(lstatkey, lstatcb_)
+
+  if (lstatcb)
+    fs.lstat(abs, lstatcb)
+
+  function lstatcb_ (er, lstat) {
+    if (er)
+      return cb()
+
+    var isSym = lstat.isSymbolicLink()
+    self.symlinks[abs] = isSym
+
+    // If it's not a symlink or a dir, then it's definitely a regular file.
+    // don't bother doing a readdir in that case.
+    if (!isSym && !lstat.isDirectory()) {
+      self.cache[abs] = 'FILE'
+      cb()
+    } else
+      self._readdir(abs, false, cb)
+  }
+}
+
+Glob.prototype._readdir = function (abs, inGlobStar, cb) {
+  if (this.aborted)
+    return
+
+  cb = inflight('readdir\0'+abs+'\0'+inGlobStar, cb)
+  if (!cb)
+    return
+
+  //console.error('RD %j %j', +inGlobStar, abs)
+  if (inGlobStar && !ownProp(this.symlinks, abs))
+    return this._readdirInGlobStar(abs, cb)
+
+  if (ownProp(this.cache, abs)) {
+    var c = this.cache[abs]
+    if (!c || c === 'FILE')
+      return cb()
+
+    if (Array.isArray(c))
+      return cb(null, c)
+  }
+
+  var self = this
+  fs.readdir(abs, readdirCb(this, abs, cb))
+}
+
+function readdirCb (self, abs, cb) {
+  return function (er, entries) {
+    if (er)
+      self._readdirError(abs, er, cb)
+    else
+      self._readdirEntries(abs, entries, cb)
+  }
+}
+
+Glob.prototype._readdirEntries = function (abs, entries, cb) {
+  if (this.aborted)
+    return
+
+  // if we haven't asked to stat everything, then just
+  // assume that everything in there exists, so we can avoid
+  // having to stat it a second time.
+  if (!this.mark && !this.stat) {
+    for (var i = 0; i < entries.length; i ++) {
+      var e = entries[i]
+      if (abs === '/')
+        e = abs + e
+      else
+        e = abs + '/' + e
+      this.cache[e] = true
+    }
+  }
+
+  this.cache[abs] = entries
+  return cb(null, entries)
+}
+
+Glob.prototype._readdirError = function (f, er, cb) {
+  if (this.aborted)
+    return
+
+  // handle errors, and cache the information
+  switch (er.code) {
+    case 'ENOTSUP': // https://github.com/isaacs/node-glob/issues/205
+    case 'ENOTDIR': // totally normal. means it *does* exist.
+      this.cache[this._makeAbs(f)] = 'FILE'
+      break
+
+    case 'ENOENT': // not terribly unusual
+    case 'ELOOP':
+    case 'ENAMETOOLONG':
+    case 'UNKNOWN':
+      this.cache[this._makeAbs(f)] = false
+      break
+
+    default: // some unusual error.  Treat as failure.
+      this.cache[this._makeAbs(f)] = false
+      if (this.strict) {
+        this.emit('error', er)
+        // If the error is handled, then we abort
+        // if not, we threw out of here
+        this.abort()
+      }
+      if (!this.silent)
+        console.error('glob error', er)
+      break
+  }
+
+  return cb()
+}
+
+Glob.prototype._processGlobStar = function (prefix, read, abs, remain, index, inGlobStar, cb) {
+  var self = this
+  this._readdir(abs, inGlobStar, function (er, entries) {
+    self._processGlobStar2(prefix, read, abs, remain, index, inGlobStar, entries, cb)
+  })
+}
+
+
+Glob.prototype._processGlobStar2 = function (prefix, read, abs, remain, index, inGlobStar, entries, cb) {
+  //console.error('pgs2', prefix, remain[0], entries)
+
+  // no entries means not a dir, so it can never have matches
+  // foo.txt/** doesn't match foo.txt
+  if (!entries)
+    return cb()
+
+  // test without the globstar, and with every child both below
+  // and replacing the globstar.
+  var remainWithoutGlobStar = remain.slice(1)
+  var gspref = prefix ? [ prefix ] : []
+  var noGlobStar = gspref.concat(remainWithoutGlobStar)
+
+  // the noGlobStar pattern exits the inGlobStar state
+  this._process(noGlobStar, index, false, cb)
+
+  var isSym = this.symlinks[abs]
+  var len = entries.length
+
+  // If it's a symlink, and we're in a globstar, then stop
+  if (isSym && inGlobStar)
+    return cb()
+
+  for (var i = 0; i < len; i++) {
+    var e = entries[i]
+    if (e.charAt(0) === '.' && !this.dot)
+      continue
+
+    // these two cases enter the inGlobStar state
+    var instead = gspref.concat(entries[i], remainWithoutGlobStar)
+    this._process(instead, index, true, cb)
+
+    var below = gspref.concat(entries[i], remain)
+    this._process(below, index, true, cb)
+  }
+
+  cb()
+}
+
+Glob.prototype._processSimple = function (prefix, index, cb) {
+  // XXX review this.  Shouldn't it be doing the mounting etc
+  // before doing stat?  kinda weird?
+  var self = this
+  this._stat(prefix, function (er, exists) {
+    self._processSimple2(prefix, index, er, exists, cb)
+  })
+}
+Glob.prototype._processSimple2 = function (prefix, index, er, exists, cb) {
+
+  //console.error('ps2', prefix, exists)
+
+  if (!this.matches[index])
+    this.matches[index] = Object.create(null)
+
+  // If it doesn't exist, then just mark the lack of results
+  if (!exists)
+    return cb()
+
+  if (prefix && isAbsolute(prefix) && !this.nomount) {
+    var trail = /[\/\\]$/.test(prefix)
+    if (prefix.charAt(0) === '/') {
+      prefix = path.join(this.root, prefix)
+    } else {
+      prefix = path.resolve(this.root, prefix)
+      if (trail)
+        prefix += '/'
+    }
+  }
+
+  if (process.platform === 'win32')
+    prefix = prefix.replace(/\\/g, '/')
+
+  // Mark this as a match
+  this._emitMatch(index, prefix)
+  cb()
+}
+
+// Returns either 'DIR', 'FILE', or false
+Glob.prototype._stat = function (f, cb) {
+  var abs = this._makeAbs(f)
+  var needDir = f.slice(-1) === '/'
+
+  if (f.length > this.maxLength)
+    return cb()
+
+  if (!this.stat && ownProp(this.cache, abs)) {
+    var c = this.cache[abs]
+
+    if (Array.isArray(c))
+      c = 'DIR'
+
+    // It exists, but maybe not how we need it
+    if (!needDir || c === 'DIR')
+      return cb(null, c)
+
+    if (needDir && c === 'FILE')
+      return cb()
+
+    // otherwise we have to stat, because maybe c=true
+    // if we know it exists, but not what it is.
+  }
+
+  var exists
+  var stat = this.statCache[abs]
+  if (stat !== undefined) {
+    if (stat === false)
+      return cb(null, stat)
+    else {
+      var type = stat.isDirectory() ? 'DIR' : 'FILE'
+      if (needDir && type === 'FILE')
+        return cb()
+      else
+        return cb(null, type, stat)
+    }
+  }
+
+  var self = this
+  var statcb = inflight('stat\0' + abs, lstatcb_)
+  if (statcb)
+    fs.lstat(abs, statcb)
+
+  function lstatcb_ (er, lstat) {
+    if (lstat && lstat.isSymbolicLink()) {
+      // If it's a symlink, then treat it as the target, unless
+      // the target does not exist, then treat it as a file.
+      return fs.stat(abs, function (er, stat) {
+        if (er)
+          self._stat2(f, abs, null, lstat, cb)
+        else
+          self._stat2(f, abs, er, stat, cb)
+      })
+    } else {
+      self._stat2(f, abs, er, lstat, cb)
+    }
+  }
+}
+
+Glob.prototype._stat2 = function (f, abs, er, stat, cb) {
+  if (er) {
+    this.statCache[abs] = false
+    return cb()
+  }
+
+  var needDir = f.slice(-1) === '/'
+  this.statCache[abs] = stat
+
+  if (abs.slice(-1) === '/' && !stat.isDirectory())
+    return cb(null, false, stat)
+
+  var c = stat.isDirectory() ? 'DIR' : 'FILE'
+  this.cache[abs] = this.cache[abs] || c
+
+  if (needDir && c !== 'DIR')
+    return cb()
+
+  return cb(null, c, stat)
+}
+
+}).call(this,require('_process'))
+},{"./common.js":15,"./sync.js":17,"_process":24,"assert":9,"events":14,"fs":12,"inflight":18,"inherits":19,"minimatch":20,"once":21,"path":22,"path-is-absolute":23,"util":28}],17:[function(require,module,exports){
+(function (process){
+module.exports = globSync
+globSync.GlobSync = GlobSync
+
+var fs = require('fs')
+var minimatch = require('minimatch')
+var Minimatch = minimatch.Minimatch
+var Glob = require('./glob.js').Glob
+var util = require('util')
+var path = require('path')
+var assert = require('assert')
+var isAbsolute = require('path-is-absolute')
+var common = require('./common.js')
+var alphasort = common.alphasort
+var alphasorti = common.alphasorti
+var setopts = common.setopts
+var ownProp = common.ownProp
+var childrenIgnored = common.childrenIgnored
+
+function globSync (pattern, options) {
+  if (typeof options === 'function' || arguments.length === 3)
+    throw new TypeError('callback provided to sync glob\n'+
+                        'See: https://github.com/isaacs/node-glob/issues/167')
+
+  return new GlobSync(pattern, options).found
+}
+
+function GlobSync (pattern, options) {
+  if (!pattern)
+    throw new Error('must provide pattern')
+
+  if (typeof options === 'function' || arguments.length === 3)
+    throw new TypeError('callback provided to sync glob\n'+
+                        'See: https://github.com/isaacs/node-glob/issues/167')
+
+  if (!(this instanceof GlobSync))
+    return new GlobSync(pattern, options)
+
+  setopts(this, pattern, options)
+
+  if (this.noprocess)
+    return this
+
+  var n = this.minimatch.set.length
+  this.matches = new Array(n)
+  for (var i = 0; i < n; i ++) {
+    this._process(this.minimatch.set[i], i, false)
+  }
+  this._finish()
+}
+
+GlobSync.prototype._finish = function () {
+  assert(this instanceof GlobSync)
+  if (this.realpath) {
+    var self = this
+    this.matches.forEach(function (matchset, index) {
+      var set = self.matches[index] = Object.create(null)
+      for (var p in matchset) {
+        try {
+          p = self._makeAbs(p)
+          var real = fs.realpathSync(p, self.realpathCache)
+          set[real] = true
+        } catch (er) {
+          if (er.syscall === 'stat')
+            set[self._makeAbs(p)] = true
+          else
+            throw er
+        }
+      }
+    })
+  }
+  common.finish(this)
+}
+
+
+GlobSync.prototype._process = function (pattern, index, inGlobStar) {
+  assert(this instanceof GlobSync)
+
+  // Get the first [n] parts of pattern that are all strings.
+  var n = 0
+  while (typeof pattern[n] === 'string') {
+    n ++
+  }
+  // now n is the index of the first one that is *not* a string.
+
+  // See if there's anything else
+  var prefix
+  switch (n) {
+    // if not, then this is rather simple
+    case pattern.length:
+      this._processSimple(pattern.join('/'), index)
+      return
+
+    case 0:
+      // pattern *starts* with some non-trivial item.
+      // going to readdir(cwd), but not include the prefix in matches.
+      prefix = null
+      break
+
+    default:
+      // pattern has some string bits in the front.
+      // whatever it starts with, whether that's 'absolute' like /foo/bar,
+      // or 'relative' like '../baz'
+      prefix = pattern.slice(0, n).join('/')
+      break
+  }
+
+  var remain = pattern.slice(n)
+
+  // get the list of entries.
+  var read
+  if (prefix === null)
+    read = '.'
+  else if (isAbsolute(prefix) || isAbsolute(pattern.join('/'))) {
+    if (!prefix || !isAbsolute(prefix))
+      prefix = '/' + prefix
+    read = prefix
+  } else
+    read = prefix
+
+  var abs = this._makeAbs(read)
+
+  //if ignored, skip processing
+  if (childrenIgnored(this, read))
+    return
+
+  var isGlobStar = remain[0] === minimatch.GLOBSTAR
+  if (isGlobStar)
+    this._processGlobStar(prefix, read, abs, remain, index, inGlobStar)
+  else
+    this._processReaddir(prefix, read, abs, remain, index, inGlobStar)
+}
+
+
+GlobSync.prototype._processReaddir = function (prefix, read, abs, remain, index, inGlobStar) {
+  var entries = this._readdir(abs, inGlobStar)
+
+  // if the abs isn't a dir, then nothing can match!
+  if (!entries)
+    return
+
+  // It will only match dot entries if it starts with a dot, or if
+  // dot is set.  Stuff like @(.foo|.bar) isn't allowed.
+  var pn = remain[0]
+  var negate = !!this.minimatch.negate
+  var rawGlob = pn._glob
+  var dotOk = this.dot || rawGlob.charAt(0) === '.'
+
+  var matchedEntries = []
+  for (var i = 0; i < entries.length; i++) {
+    var e = entries[i]
+    if (e.charAt(0) !== '.' || dotOk) {
+      var m
+      if (negate && !prefix) {
+        m = !e.match(pn)
+      } else {
+        m = e.match(pn)
+      }
+      if (m)
+        matchedEntries.push(e)
+    }
+  }
+
+  var len = matchedEntries.length
+  // If there are no matched entries, then nothing matches.
+  if (len === 0)
+    return
+
+  // if this is the last remaining pattern bit, then no need for
+  // an additional stat *unless* the user has specified mark or
+  // stat explicitly.  We know they exist, since readdir returned
+  // them.
+
+  if (remain.length === 1 && !this.mark && !this.stat) {
+    if (!this.matches[index])
+      this.matches[index] = Object.create(null)
+
+    for (var i = 0; i < len; i ++) {
+      var e = matchedEntries[i]
+      if (prefix) {
+        if (prefix.slice(-1) !== '/')
+          e = prefix + '/' + e
+        else
+          e = prefix + e
+      }
+
+      if (e.charAt(0) === '/' && !this.nomount) {
+        e = path.join(this.root, e)
+      }
+      this.matches[index][e] = true
+    }
+    // This was the last one, and no stats were needed
+    return
+  }
+
+  // now test all matched entries as stand-ins for that part
+  // of the pattern.
+  remain.shift()
+  for (var i = 0; i < len; i ++) {
+    var e = matchedEntries[i]
+    var newPattern
+    if (prefix)
+      newPattern = [prefix, e]
+    else
+      newPattern = [e]
+    this._process(newPattern.concat(remain), index, inGlobStar)
+  }
+}
+
+
+GlobSync.prototype._emitMatch = function (index, e) {
+  var abs = this._makeAbs(e)
+  if (this.mark)
+    e = this._mark(e)
+
+  if (this.matches[index][e])
+    return
+
+  if (this.nodir) {
+    var c = this.cache[this._makeAbs(e)]
+    if (c === 'DIR' || Array.isArray(c))
+      return
+  }
+
+  this.matches[index][e] = true
+  if (this.stat)
+    this._stat(e)
+}
+
+
+GlobSync.prototype._readdirInGlobStar = function (abs) {
+  // follow all symlinked directories forever
+  // just proceed as if this is a non-globstar situation
+  if (this.follow)
+    return this._readdir(abs, false)
+
+  var entries
+  var lstat
+  var stat
+  try {
+    lstat = fs.lstatSync(abs)
+  } catch (er) {
+    // lstat failed, doesn't exist
+    return null
+  }
+
+  var isSym = lstat.isSymbolicLink()
+  this.symlinks[abs] = isSym
+
+  // If it's not a symlink or a dir, then it's definitely a regular file.
+  // don't bother doing a readdir in that case.
+  if (!isSym && !lstat.isDirectory())
+    this.cache[abs] = 'FILE'
+  else
+    entries = this._readdir(abs, false)
+
+  return entries
+}
+
+GlobSync.prototype._readdir = function (abs, inGlobStar) {
+  var entries
+
+  if (inGlobStar && !ownProp(this.symlinks, abs))
+    return this._readdirInGlobStar(abs)
+
+  if (ownProp(this.cache, abs)) {
+    var c = this.cache[abs]
+    if (!c || c === 'FILE')
+      return null
+
+    if (Array.isArray(c))
+      return c
+  }
+
+  try {
+    return this._readdirEntries(abs, fs.readdirSync(abs))
+  } catch (er) {
+    this._readdirError(abs, er)
+    return null
+  }
+}
+
+GlobSync.prototype._readdirEntries = function (abs, entries) {
+  // if we haven't asked to stat everything, then just
+  // assume that everything in there exists, so we can avoid
+  // having to stat it a second time.
+  if (!this.mark && !this.stat) {
+    for (var i = 0; i < entries.length; i ++) {
+      var e = entries[i]
+      if (abs === '/')
+        e = abs + e
+      else
+        e = abs + '/' + e
+      this.cache[e] = true
+    }
+  }
+
+  this.cache[abs] = entries
+
+  // mark and cache dir-ness
+  return entries
+}
+
+GlobSync.prototype._readdirError = function (f, er) {
+  // handle errors, and cache the information
+  switch (er.code) {
+    case 'ENOTSUP': // https://github.com/isaacs/node-glob/issues/205
+    case 'ENOTDIR': // totally normal. means it *does* exist.
+      this.cache[this._makeAbs(f)] = 'FILE'
+      break
+
+    case 'ENOENT': // not terribly unusual
+    case 'ELOOP':
+    case 'ENAMETOOLONG':
+    case 'UNKNOWN':
+      this.cache[this._makeAbs(f)] = false
+      break
+
+    default: // some unusual error.  Treat as failure.
+      this.cache[this._makeAbs(f)] = false
+      if (this.strict)
+        throw er
+      if (!this.silent)
+        console.error('glob error', er)
+      break
+  }
+}
+
+GlobSync.prototype._processGlobStar = function (prefix, read, abs, remain, index, inGlobStar) {
+
+  var entries = this._readdir(abs, inGlobStar)
+
+  // no entries means not a dir, so it can never have matches
+  // foo.txt/** doesn't match foo.txt
+  if (!entries)
+    return
+
+  // test without the globstar, and with every child both below
+  // and replacing the globstar.
+  var remainWithoutGlobStar = remain.slice(1)
+  var gspref = prefix ? [ prefix ] : []
+  var noGlobStar = gspref.concat(remainWithoutGlobStar)
+
+  // the noGlobStar pattern exits the inGlobStar state
+  this._process(noGlobStar, index, false)
+
+  var len = entries.length
+  var isSym = this.symlinks[abs]
+
+  // If it's a symlink, and we're in a globstar, then stop
+  if (isSym && inGlobStar)
+    return
+
+  for (var i = 0; i < len; i++) {
+    var e = entries[i]
+    if (e.charAt(0) === '.' && !this.dot)
+      continue
+
+    // these two cases enter the inGlobStar state
+    var instead = gspref.concat(entries[i], remainWithoutGlobStar)
+    this._process(instead, index, true)
+
+    var below = gspref.concat(entries[i], remain)
+    this._process(below, index, true)
+  }
+}
+
+GlobSync.prototype._processSimple = function (prefix, index) {
+  // XXX review this.  Shouldn't it be doing the mounting etc
+  // before doing stat?  kinda weird?
+  var exists = this._stat(prefix)
+
+  if (!this.matches[index])
+    this.matches[index] = Object.create(null)
+
+  // If it doesn't exist, then just mark the lack of results
+  if (!exists)
+    return
+
+  if (prefix && isAbsolute(prefix) && !this.nomount) {
+    var trail = /[\/\\]$/.test(prefix)
+    if (prefix.charAt(0) === '/') {
+      prefix = path.join(this.root, prefix)
+    } else {
+      prefix = path.resolve(this.root, prefix)
+      if (trail)
+        prefix += '/'
+    }
+  }
+
+  if (process.platform === 'win32')
+    prefix = prefix.replace(/\\/g, '/')
+
+  // Mark this as a match
+  this.matches[index][prefix] = true
+}
+
+// Returns either 'DIR', 'FILE', or false
+GlobSync.prototype._stat = function (f) {
+  var abs = this._makeAbs(f)
+  var needDir = f.slice(-1) === '/'
+
+  if (f.length > this.maxLength)
+    return false
+
+  if (!this.stat && ownProp(this.cache, abs)) {
+    var c = this.cache[abs]
+
+    if (Array.isArray(c))
+      c = 'DIR'
+
+    // It exists, but maybe not how we need it
+    if (!needDir || c === 'DIR')
+      return c
+
+    if (needDir && c === 'FILE')
+      return false
+
+    // otherwise we have to stat, because maybe c=true
+    // if we know it exists, but not what it is.
+  }
+
+  var exists
+  var stat = this.statCache[abs]
+  if (!stat) {
+    var lstat
+    try {
+      lstat = fs.lstatSync(abs)
+    } catch (er) {
+      return false
+    }
+
+    if (lstat.isSymbolicLink()) {
+      try {
+        stat = fs.statSync(abs)
+      } catch (er) {
+        stat = lstat
+      }
+    } else {
+      stat = lstat
+    }
+  }
+
+  this.statCache[abs] = stat
+
+  var c = stat.isDirectory() ? 'DIR' : 'FILE'
+  this.cache[abs] = this.cache[abs] || c
+
+  if (needDir && c !== 'DIR')
+    return false
+
+  return c
+}
+
+GlobSync.prototype._mark = function (p) {
+  return common.mark(this, p)
+}
+
+GlobSync.prototype._makeAbs = function (f) {
+  return common.makeAbs(this, f)
+}
+
+}).call(this,require('_process'))
+},{"./common.js":15,"./glob.js":16,"_process":24,"assert":9,"fs":12,"minimatch":20,"path":22,"path-is-absolute":23,"util":28}],18:[function(require,module,exports){
+(function (process){
+var wrappy = require('wrappy')
+var reqs = Object.create(null)
+var once = require('once')
+
+module.exports = wrappy(inflight)
+
+function inflight (key, cb) {
+  if (reqs[key]) {
+    reqs[key].push(cb)
+    return null
+  } else {
+    reqs[key] = [cb]
+    return makeres(key)
+  }
+}
+
+function makeres (key) {
+  return once(function RES () {
+    var cbs = reqs[key]
+    var len = cbs.length
+    var args = slice(arguments)
+
+    // XXX It's somewhat ambiguous whether a new callback added in this
+    // pass should be queued for later execution if something in the
+    // list of callbacks throws, or if it should just be discarded.
+    // However, it's such an edge case that it hardly matters, and either
+    // choice is likely as surprising as the other.
+    // As it happens, we do go ahead and schedule it for later execution.
+    try {
+      for (var i = 0; i < len; i++) {
+        cbs[i].apply(null, args)
+      }
+    } finally {
+      if (cbs.length > len) {
+        // added more in the interim.
+        // de-zalgo, just in case, but don't call again.
+        cbs.splice(0, len)
+        process.nextTick(function () {
+          RES.apply(null, args)
+        })
+      } else {
+        delete reqs[key]
+      }
+    }
+  })
+}
+
+function slice (args) {
+  var length = args.length
+  var array = []
+
+  for (var i = 0; i < length; i++) array[i] = args[i]
+  return array
+}
+
+}).call(this,require('_process'))
+},{"_process":24,"once":21,"wrappy":29}],19:[function(require,module,exports){
+if (typeof Object.create === 'function') {
+  // implementation from standard node.js 'util' module
+  module.exports = function inherits(ctor, superCtor) {
+    ctor.super_ = superCtor
+    ctor.prototype = Object.create(superCtor.prototype, {
+      constructor: {
+        value: ctor,
+        enumerable: false,
+        writable: true,
+        configurable: true
+      }
+    });
+  };
+} else {
+  // old school shim for old browsers
+  module.exports = function inherits(ctor, superCtor) {
+    ctor.super_ = superCtor
+    var TempCtor = function () {}
+    TempCtor.prototype = superCtor.prototype
+    ctor.prototype = new TempCtor()
+    ctor.prototype.constructor = ctor
+  }
+}
+
+},{}],20:[function(require,module,exports){
+module.exports = minimatch
+minimatch.Minimatch = Minimatch
+
+var path = { sep: '/' }
+try {
+  path = require('path')
+} catch (er) {}
+
+var GLOBSTAR = minimatch.GLOBSTAR = Minimatch.GLOBSTAR = {}
+var expand = require('brace-expansion')
+
+var plTypes = {
+  '!': { open: '(?:(?!(?:', close: '))[^/]*?)'},
+  '?': { open: '(?:', close: ')?' },
+  '+': { open: '(?:', close: ')+' },
+  '*': { open: '(?:', close: ')*' },
+  '@': { open: '(?:', close: ')' }
+}
+
+// any single thing other than /
+// don't need to escape / when using new RegExp()
+var qmark = '[^/]'
+
+// * => any number of characters
+var star = qmark + '*?'
+
+// ** when dots are allowed.  Anything goes, except .. and .
+// not (^ or / followed by one or two dots followed by $ or /),
+// followed by anything, any number of times.
+var twoStarDot = '(?:(?!(?:\\\/|^)(?:\\.{1,2})($|\\\/)).)*?'
+
+// not a ^ or / followed by a dot,
+// followed by anything, any number of times.
+var twoStarNoDot = '(?:(?!(?:\\\/|^)\\.).)*?'
+
+// characters that need to be escaped in RegExp.
+var reSpecials = charSet('().*{}+?[]^$\\!')
+
+// "abc" -> { a:true, b:true, c:true }
+function charSet (s) {
+  return s.split('').reduce(function (set, c) {
+    set[c] = true
+    return set
+  }, {})
+}
+
+// normalizes slashes.
+var slashSplit = /\/+/
+
+minimatch.filter = filter
+function filter (pattern, options) {
+  options = options || {}
+  return function (p, i, list) {
+    return minimatch(p, pattern, options)
+  }
+}
+
+function ext (a, b) {
+  a = a || {}
+  b = b || {}
+  var t = {}
+  Object.keys(b).forEach(function (k) {
+    t[k] = b[k]
+  })
+  Object.keys(a).forEach(function (k) {
+    t[k] = a[k]
+  })
+  return t
+}
+
+minimatch.defaults = function (def) {
+  if (!def || !Object.keys(def).length) return minimatch
+
+  var orig = minimatch
+
+  var m = function minimatch (p, pattern, options) {
+    return orig.minimatch(p, pattern, ext(def, options))
+  }
+
+  m.Minimatch = function Minimatch (pattern, options) {
+    return new orig.Minimatch(pattern, ext(def, options))
+  }
+
+  return m
+}
+
+Minimatch.defaults = function (def) {
+  if (!def || !Object.keys(def).length) return Minimatch
+  return minimatch.defaults(def).Minimatch
+}
+
+function minimatch (p, pattern, options) {
+  if (typeof pattern !== 'string') {
+    throw new TypeError('glob pattern string required')
+  }
+
+  if (!options) options = {}
+
+  // shortcut: comments match nothing.
+  if (!options.nocomment && pattern.charAt(0) === '#') {
+    return false
+  }
+
+  // "" only matches ""
+  if (pattern.trim() === '') return p === ''
+
+  return new Minimatch(pattern, options).match(p)
+}
+
+function Minimatch (pattern, options) {
+  if (!(this instanceof Minimatch)) {
+    return new Minimatch(pattern, options)
+  }
+
+  if (typeof pattern !== 'string') {
+    throw new TypeError('glob pattern string required')
+  }
+
+  if (!options) options = {}
+  pattern = pattern.trim()
+
+  // windows support: need to use /, not \
+  if (path.sep !== '/') {
+    pattern = pattern.split(path.sep).join('/')
+  }
+
+  this.options = options
+  this.set = []
+  this.pattern = pattern
+  this.regexp = null
+  this.negate = false
+  this.comment = false
+  this.empty = false
+
+  // make the set of regexps etc.
+  this.make()
+}
+
+Minimatch.prototype.debug = function () {}
+
+Minimatch.prototype.make = make
+function make () {
+  // don't do it more than once.
+  if (this._made) return
+
+  var pattern = this.pattern
+  var options = this.options
+
+  // empty patterns and comments match nothing.
+  if (!options.nocomment && pattern.charAt(0) === '#') {
+    this.comment = true
+    return
+  }
+  if (!pattern) {
+    this.empty = true
+    return
+  }
+
+  // step 1: figure out negation, etc.
+  this.parseNegate()
+
+  // step 2: expand braces
+  var set = this.globSet = this.braceExpand()
+
+  if (options.debug) this.debug = console.error
+
+  this.debug(this.pattern, set)
+
+  // step 3: now we have a set, so turn each one into a series of path-portion
+  // matching patterns.
+  // These will be regexps, except in the case of "**", which is
+  // set to the GLOBSTAR object for globstar behavior,
+  // and will not contain any / characters
+  set = this.globParts = set.map(function (s) {
+    return s.split(slashSplit)
+  })
+
+  this.debug(this.pattern, set)
+
+  // glob --> regexps
+  set = set.map(function (s, si, set) {
+    return s.map(this.parse, this)
+  }, this)
+
+  this.debug(this.pattern, set)
+
+  // filter out everything that didn't compile properly.
+  set = set.filter(function (s) {
+    return s.indexOf(false) === -1
+  })
+
+  this.debug(this.pattern, set)
+
+  this.set = set
+}
+
+Minimatch.prototype.parseNegate = parseNegate
+function parseNegate () {
+  var pattern = this.pattern
+  var negate = false
+  var options = this.options
+  var negateOffset = 0
+
+  if (options.nonegate) return
+
+  for (var i = 0, l = pattern.length
+    ; i < l && pattern.charAt(i) === '!'
+    ; i++) {
+    negate = !negate
+    negateOffset++
+  }
+
+  if (negateOffset) this.pattern = pattern.substr(negateOffset)
+  this.negate = negate
+}
+
+// Brace expansion:
+// a{b,c}d -> abd acd
+// a{b,}c -> abc ac
+// a{0..3}d -> a0d a1d a2d a3d
+// a{b,c{d,e}f}g -> abg acdfg acefg
+// a{b,c}d{e,f}g -> abdeg acdeg abdeg abdfg
+//
+// Invalid sets are not expanded.
+// a{2..}b -> a{2..}b
+// a{b}c -> a{b}c
+minimatch.braceExpand = function (pattern, options) {
+  return braceExpand(pattern, options)
+}
+
+Minimatch.prototype.braceExpand = braceExpand
+
+function braceExpand (pattern, options) {
+  if (!options) {
+    if (this instanceof Minimatch) {
+      options = this.options
+    } else {
+      options = {}
+    }
+  }
+
+  pattern = typeof pattern === 'undefined'
+    ? this.pattern : pattern
+
+  if (typeof pattern === 'undefined') {
+    throw new TypeError('undefined pattern')
+  }
+
+  if (options.nobrace ||
+    !pattern.match(/\{.*\}/)) {
+    // shortcut. no need to expand.
+    return [pattern]
+  }
+
+  return expand(pattern)
+}
+
+// parse a component of the expanded set.
+// At this point, no pattern may contain "/" in it
+// so we're going to return a 2d array, where each entry is the full
+// pattern, split on '/', and then turned into a regular expression.
+// A regexp is made at the end which joins each array with an
+// escaped /, and another full one which joins each regexp with |.
+//
+// Following the lead of Bash 4.1, note that "**" only has special meaning
+// when it is the *only* thing in a path portion.  Otherwise, any series
+// of * is equivalent to a single *.  Globstar behavior is enabled by
+// default, and can be disabled by setting options.noglobstar.
+Minimatch.prototype.parse = parse
+var SUBPARSE = {}
+function parse (pattern, isSub) {
+  if (pattern.length > 1024 * 64) {
+    throw new TypeError('pattern is too long')
+  }
+
+  var options = this.options
+
+  // shortcuts
+  if (!options.noglobstar && pattern === '**') return GLOBSTAR
+  if (pattern === '') return ''
+
+  var re = ''
+  var hasMagic = !!options.nocase
+  var escaping = false
+  // ? => one single character
+  var patternListStack = []
+  var negativeLists = []
+  var stateChar
+  var inClass = false
+  var reClassStart = -1
+  var classStart = -1
+  // . and .. never match anything that doesn't start with .,
+  // even when options.dot is set.
+  var patternStart = pattern.charAt(0) === '.' ? '' // anything
+  // not (start or / followed by . or .. followed by / or end)
+  : options.dot ? '(?!(?:^|\\\/)\\.{1,2}(?:$|\\\/))'
+  : '(?!\\.)'
+  var self = this
+
+  function clearStateChar () {
+    if (stateChar) {
+      // we had some state-tracking character
+      // that wasn't consumed by this pass.
+      switch (stateChar) {
+        case '*':
+          re += star
+          hasMagic = true
+        break
+        case '?':
+          re += qmark
+          hasMagic = true
+        break
+        default:
+          re += '\\' + stateChar
+        break
+      }
+      self.debug('clearStateChar %j %j', stateChar, re)
+      stateChar = false
+    }
+  }
+
+  for (var i = 0, len = pattern.length, c
+    ; (i < len) && (c = pattern.charAt(i))
+    ; i++) {
+    this.debug('%s\t%s %s %j', pattern, i, re, c)
+
+    // skip over any that are escaped.
+    if (escaping && reSpecials[c]) {
+      re += '\\' + c
+      escaping = false
+      continue
+    }
+
+    switch (c) {
+      case '/':
+        // completely not allowed, even escaped.
+        // Should already be path-split by now.
+        return false
+
+      case '\\':
+        clearStateChar()
+        escaping = true
+      continue
+
+      // the various stateChar values
+      // for the "extglob" stuff.
+      case '?':
+      case '*':
+      case '+':
+      case '@':
+      case '!':
+        this.debug('%s\t%s %s %j <-- stateChar', pattern, i, re, c)
+
+        // all of those are literals inside a class, except that
+        // the glob [!a] means [^a] in regexp
+        if (inClass) {
+          this.debug('  in class')
+          if (c === '!' && i === classStart + 1) c = '^'
+          re += c
+          continue
+        }
+
+        // if we already have a stateChar, then it means
+        // that there was something like ** or +? in there.
+        // Handle the stateChar, then proceed with this one.
+        self.debug('call clearStateChar %j', stateChar)
+        clearStateChar()
+        stateChar = c
+        // if extglob is disabled, then +(asdf|foo) isn't a thing.
+        // just clear the statechar *now*, rather than even diving into
+        // the patternList stuff.
+        if (options.noext) clearStateChar()
+      continue
+
+      case '(':
+        if (inClass) {
+          re += '('
+          continue
+        }
+
+        if (!stateChar) {
+          re += '\\('
+          continue
+        }
+
+        patternListStack.push({
+          type: stateChar,
+          start: i - 1,
+          reStart: re.length,
+          open: plTypes[stateChar].open,
+          close: plTypes[stateChar].close
+        })
+        // negation is (?:(?!js)[^/]*)
+        re += stateChar === '!' ? '(?:(?!(?:' : '(?:'
+        this.debug('plType %j %j', stateChar, re)
+        stateChar = false
+      continue
+
+      case ')':
+        if (inClass || !patternListStack.length) {
+          re += '\\)'
+          continue
+        }
+
+        clearStateChar()
+        hasMagic = true
+        var pl = patternListStack.pop()
+        // negation is (?:(?!js)[^/]*)
+        // The others are (?:<pattern>)<type>
+        re += pl.close
+        if (pl.type === '!') {
+          negativeLists.push(pl)
+        }
+        pl.reEnd = re.length
+      continue
+
+      case '|':
+        if (inClass || !patternListStack.length || escaping) {
+          re += '\\|'
+          escaping = false
+          continue
+        }
+
+        clearStateChar()
+        re += '|'
+      continue
+
+      // these are mostly the same in regexp and glob
+      case '[':
+        // swallow any state-tracking char before the [
+        clearStateChar()
+
+        if (inClass) {
+          re += '\\' + c
+          continue
+        }
+
+        inClass = true
+        classStart = i
+        reClassStart = re.length
+        re += c
+      continue
+
+      case ']':
+        //  a right bracket shall lose its special
+        //  meaning and represent itself in
+        //  a bracket expression if it occurs
+        //  first in the list.  -- POSIX.2 2.8.3.2
+        if (i === classStart + 1 || !inClass) {
+          re += '\\' + c
+          escaping = false
+          continue
+        }
+
+        // handle the case where we left a class open.
+        // "[z-a]" is valid, equivalent to "\[z-a\]"
+        if (inClass) {
+          // split where the last [ was, make sure we don't have
+          // an invalid re. if so, re-walk the contents of the
+          // would-be class to re-translate any characters that
+          // were passed through as-is
+          // TODO: It would probably be faster to determine this
+          // without a try/catch and a new RegExp, but it's tricky
+          // to do safely.  For now, this is safe and works.
+          var cs = pattern.substring(classStart + 1, i)
+          try {
+            RegExp('[' + cs + ']')
+          } catch (er) {
+            // not a valid class!
+            var sp = this.parse(cs, SUBPARSE)
+            re = re.substr(0, reClassStart) + '\\[' + sp[0] + '\\]'
+            hasMagic = hasMagic || sp[1]
+            inClass = false
+            continue
+          }
+        }
+
+        // finish up the class.
+        hasMagic = true
+        inClass = false
+        re += c
+      continue
+
+      default:
+        // swallow any state char that wasn't consumed
+        clearStateChar()
+
+        if (escaping) {
+          // no need
+          escaping = false
+        } else if (reSpecials[c]
+          && !(c === '^' && inClass)) {
+          re += '\\'
+        }
+
+        re += c
+
+    } // switch
+  } // for
+
+  // handle the case where we left a class open.
+  // "[abc" is valid, equivalent to "\[abc"
+  if (inClass) {
+    // split where the last [ was, and escape it
+    // this is a huge pita.  We now have to re-walk
+    // the contents of the would-be class to re-translate
+    // any characters that were passed through as-is
+    cs = pattern.substr(classStart + 1)
+    sp = this.parse(cs, SUBPARSE)
+    re = re.substr(0, reClassStart) + '\\[' + sp[0]
+    hasMagic = hasMagic || sp[1]
+  }
+
+  // handle the case where we had a +( thing at the *end*
+  // of the pattern.
+  // each pattern list stack adds 3 chars, and we need to go through
+  // and escape any | chars that were passed through as-is for the regexp.
+  // Go through and escape them, taking care not to double-escape any
+  // | chars that were already escaped.
+  for (pl = patternListStack.pop(); pl; pl = patternListStack.pop()) {
+    var tail = re.slice(pl.reStart + pl.open.length)
+    this.debug('setting tail', re, pl)
+    // maybe some even number of \, then maybe 1 \, followed by a |
+    tail = tail.replace(/((?:\\{2}){0,64})(\\?)\|/g, function (_, $1, $2) {
+      if (!$2) {
+        // the | isn't already escaped, so escape it.
+        $2 = '\\'
+      }
+
+      // need to escape all those slashes *again*, without escaping the
+      // one that we need for escaping the | character.  As it works out,
+      // escaping an even number of slashes can be done by simply repeating
+      // it exactly after itself.  That's why this trick works.
+      //
+      // I am sorry that you have to see this.
+      return $1 + $1 + $2 + '|'
+    })
+
+    this.debug('tail=%j\n   %s', tail, tail, pl, re)
+    var t = pl.type === '*' ? star
+      : pl.type === '?' ? qmark
+      : '\\' + pl.type
+
+    hasMagic = true
+    re = re.slice(0, pl.reStart) + t + '\\(' + tail
+  }
+
+  // handle trailing things that only matter at the very end.
+  clearStateChar()
+  if (escaping) {
+    // trailing \\
+    re += '\\\\'
+  }
+
+  // only need to apply the nodot start if the re starts with
+  // something that could conceivably capture a dot
+  var addPatternStart = false
+  switch (re.charAt(0)) {
+    case '.':
+    case '[':
+    case '(': addPatternStart = true
+  }
+
+  // Hack to work around lack of negative lookbehind in JS
+  // A pattern like: *.!(x).!(y|z) needs to ensure that a name
+  // like 'a.xyz.yz' doesn't match.  So, the first negative
+  // lookahead, has to look ALL the way ahead, to the end of
+  // the pattern.
+  for (var n = negativeLists.length - 1; n > -1; n--) {
+    var nl = negativeLists[n]
+
+    var nlBefore = re.slice(0, nl.reStart)
+    var nlFirst = re.slice(nl.reStart, nl.reEnd - 8)
+    var nlLast = re.slice(nl.reEnd - 8, nl.reEnd)
+    var nlAfter = re.slice(nl.reEnd)
+
+    nlLast += nlAfter
+
+    // Handle nested stuff like *(*.js|!(*.json)), where open parens
+    // mean that we should *not* include the ) in the bit that is considered
+    // "after" the negated section.
+    var openParensBefore = nlBefore.split('(').length - 1
+    var cleanAfter = nlAfter
+    for (i = 0; i < openParensBefore; i++) {
+      cleanAfter = cleanAfter.replace(/\)[+*?]?/, '')
+    }
+    nlAfter = cleanAfter
+
+    var dollar = ''
+    if (nlAfter === '' && isSub !== SUBPARSE) {
+      dollar = '$'
+    }
+    var newRe = nlBefore + nlFirst + nlAfter + dollar + nlLast
+    re = newRe
+  }
+
+  // if the re is not "" at this point, then we need to make sure
+  // it doesn't match against an empty path part.
+  // Otherwise a/* will match a/, which it should not.
+  if (re !== '' && hasMagic) {
+    re = '(?=.)' + re
+  }
+
+  if (addPatternStart) {
+    re = patternStart + re
+  }
+
+  // parsing just a piece of a larger pattern.
+  if (isSub === SUBPARSE) {
+    return [re, hasMagic]
+  }
+
+  // skip the regexp for non-magical patterns
+  // unescape anything in it, though, so that it'll be
+  // an exact match against a file etc.
+  if (!hasMagic) {
+    return globUnescape(pattern)
+  }
+
+  var flags = options.nocase ? 'i' : ''
+  try {
+    var regExp = new RegExp('^' + re + '$', flags)
+  } catch (er) {
+    // If it was an invalid regular expression, then it can't match
+    // anything.  This trick looks for a character after the end of
+    // the string, which is of course impossible, except in multi-line
+    // mode, but it's not a /m regex.
+    return new RegExp('$.')
+  }
+
+  regExp._glob = pattern
+  regExp._src = re
+
+  return regExp
+}
+
+minimatch.makeRe = function (pattern, options) {
+  return new Minimatch(pattern, options || {}).makeRe()
+}
+
+Minimatch.prototype.makeRe = makeRe
+function makeRe () {
+  if (this.regexp || this.regexp === false) return this.regexp
+
+  // at this point, this.set is a 2d array of partial
+  // pattern strings, or "**".
+  //
+  // It's better to use .match().  This function shouldn't
+  // be used, really, but it's pretty convenient sometimes,
+  // when you just want to work with a regex.
+  var set = this.set
+
+  if (!set.length) {
+    this.regexp = false
+    return this.regexp
+  }
+  var options = this.options
+
+  var twoStar = options.noglobstar ? star
+    : options.dot ? twoStarDot
+    : twoStarNoDot
+  var flags = options.nocase ? 'i' : ''
+
+  var re = set.map(function (pattern) {
+    return pattern.map(function (p) {
+      return (p === GLOBSTAR) ? twoStar
+      : (typeof p === 'string') ? regExpEscape(p)
+      : p._src
+    }).join('\\\/')
+  }).join('|')
+
+  // must match entire pattern
+  // ending in a * or ** will make it less strict.
+  re = '^(?:' + re + ')$'
+
+  // can match anything, as long as it's not this.
+  if (this.negate) re = '^(?!' + re + ').*$'
+
+  try {
+    this.regexp = new RegExp(re, flags)
+  } catch (ex) {
+    this.regexp = false
+  }
+  return this.regexp
+}
+
+minimatch.match = function (list, pattern, options) {
+  options = options || {}
+  var mm = new Minimatch(pattern, options)
+  list = list.filter(function (f) {
+    return mm.match(f)
+  })
+  if (mm.options.nonull && !list.length) {
+    list.push(pattern)
+  }
+  return list
+}
+
+Minimatch.prototype.match = match
+function match (f, partial) {
+  this.debug('match', f, this.pattern)
+  // short-circuit in the case of busted things.
+  // comments, etc.
+  if (this.comment) return false
+  if (this.empty) return f === ''
+
+  if (f === '/' && partial) return true
+
+  var options = this.options
+
+  // windows: need to use /, not \
+  if (path.sep !== '/') {
+    f = f.split(path.sep).join('/')
+  }
+
+  // treat the test path as a set of pathparts.
+  f = f.split(slashSplit)
+  this.debug(this.pattern, 'split', f)
+
+  // just ONE of the pattern sets in this.set needs to match
+  // in order for it to be valid.  If negating, then just one
+  // match means that we have failed.
+  // Either way, return on the first hit.
+
+  var set = this.set
+  this.debug(this.pattern, 'set', set)
+
+  // Find the basename of the path by looking for the last non-empty segment
+  var filename
+  var i
+  for (i = f.length - 1; i >= 0; i--) {
+    filename = f[i]
+    if (filename) break
+  }
+
+  for (i = 0; i < set.length; i++) {
+    var pattern = set[i]
+    var file = f
+    if (options.matchBase && pattern.length === 1) {
+      file = [filename]
+    }
+    var hit = this.matchOne(file, pattern, partial)
+    if (hit) {
+      if (options.flipNegate) return true
+      return !this.negate
+    }
+  }
+
+  // didn't get any hits.  this is success if it's a negative
+  // pattern, failure otherwise.
+  if (options.flipNegate) return false
+  return this.negate
+}
+
+// set partial to true to test if, for example,
+// "/a/b" matches the start of "/*/b/*/d"
+// Partial means, if you run out of file before you run
+// out of pattern, then that's fine, as long as all
+// the parts match.
+Minimatch.prototype.matchOne = function (file, pattern, partial) {
+  var options = this.options
+
+  this.debug('matchOne',
+    { 'this': this, file: file, pattern: pattern })
+
+  this.debug('matchOne', file.length, pattern.length)
+
+  for (var fi = 0,
+      pi = 0,
+      fl = file.length,
+      pl = pattern.length
+      ; (fi < fl) && (pi < pl)
+      ; fi++, pi++) {
+    this.debug('matchOne loop')
+    var p = pattern[pi]
+    var f = file[fi]
+
+    this.debug(pattern, p, f)
+
+    // should be impossible.
+    // some invalid regexp stuff in the set.
+    if (p === false) return false
+
+    if (p === GLOBSTAR) {
+      this.debug('GLOBSTAR', [pattern, p, f])
+
+      // "**"
+      // a/**/b/**/c would match the following:
+      // a/b/x/y/z/c
+      // a/x/y/z/b/c
+      // a/b/x/b/x/c
+      // a/b/c
+      // To do this, take the rest of the pattern after
+      // the **, and see if it would match the file remainder.
+      // If so, return success.
+      // If not, the ** "swallows" a segment, and try again.
+      // This is recursively awful.
+      //
+      // a/**/b/**/c matching a/b/x/y/z/c
+      // - a matches a
+      // - doublestar
+      //   - matchOne(b/x/y/z/c, b/**/c)
+      //     - b matches b
+      //     - doublestar
+      //       - matchOne(x/y/z/c, c) -> no
+      //       - matchOne(y/z/c, c) -> no
+      //       - matchOne(z/c, c) -> no
+      //       - matchOne(c, c) yes, hit
+      var fr = fi
+      var pr = pi + 1
+      if (pr === pl) {
+        this.debug('** at the end')
+        // a ** at the end will just swallow the rest.
+        // We have found a match.
+        // however, it will not swallow /.x, unless
+        // options.dot is set.
+        // . and .. are *never* matched by **, for explosively
+        // exponential reasons.
+        for (; fi < fl; fi++) {
+          if (file[fi] === '.' || file[fi] === '..' ||
+            (!options.dot && file[fi].charAt(0) === '.')) return false
+        }
+        return true
+      }
+
+      // ok, let's see if we can swallow whatever we can.
+      while (fr < fl) {
+        var swallowee = file[fr]
+
+        this.debug('\nglobstar while', file, fr, pattern, pr, swallowee)
+
+        // XXX remove this slice.  Just pass the start index.
+        if (this.matchOne(file.slice(fr), pattern.slice(pr), partial)) {
+          this.debug('globstar found match!', fr, fl, swallowee)
+          // found a match.
+          return true
+        } else {
+          // can't swallow "." or ".." ever.
+          // can only swallow ".foo" when explicitly asked.
+          if (swallowee === '.' || swallowee === '..' ||
+            (!options.dot && swallowee.charAt(0) === '.')) {
+            this.debug('dot detected!', file, fr, pattern, pr)
+            break
+          }
+
+          // ** swallows a segment, and continue.
+          this.debug('globstar swallow a segment, and continue')
+          fr++
+        }
+      }
+
+      // no match was found.
+      // However, in partial mode, we can't say this is necessarily over.
+      // If there's more *pattern* left, then
+      if (partial) {
+        // ran out of file
+        this.debug('\n>>> no match, partial?', file, fr, pattern, pr)
+        if (fr === fl) return true
+      }
+      return false
+    }
+
+    // something other than **
+    // non-magic patterns just have to match exactly
+    // patterns with magic have been turned into regexps.
+    var hit
+    if (typeof p === 'string') {
+      if (options.nocase) {
+        hit = f.toLowerCase() === p.toLowerCase()
+      } else {
+        hit = f === p
+      }
+      this.debug('string match', p, f, hit)
+    } else {
+      hit = f.match(p)
+      this.debug('pattern match', p, f, hit)
+    }
+
+    if (!hit) return false
+  }
+
+  // Note: ending in / means that we'll get a final ""
+  // at the end of the pattern.  This can only match a
+  // corresponding "" at the end of the file.
+  // If the file ends in /, then it can only match a
+  // a pattern that ends in /, unless the pattern just
+  // doesn't have any more for it. But, a/b/ should *not*
+  // match "a/b/*", even though "" matches against the
+  // [^/]*? pattern, except in partial mode, where it might
+  // simply not be reached yet.
+  // However, a/b/ should still satisfy a/*
+
+  // now either we fell off the end of the pattern, or we're done.
+  if (fi === fl && pi === pl) {
+    // ran out of pattern and filename at the same time.
+    // an exact hit!
+    return true
+  } else if (fi === fl) {
+    // ran out of file, but still had pattern left.
+    // this is ok if we're doing the match as part of
+    // a glob fs traversal.
+    return partial
+  } else if (pi === pl) {
+    // ran out of pattern, still have file left.
+    // this is only acceptable if we're on the very last
+    // empty segment of a file with a trailing slash.
+    // a/* should match a/b/
+    var emptyFileEnd = (fi === fl - 1) && (file[fi] === '')
+    return emptyFileEnd
+  }
+
+  // should be unreachable.
+  throw new Error('wtf?')
+}
+
+// replace stuff like \* with *
+function globUnescape (s) {
+  return s.replace(/\\(.)/g, '$1')
+}
+
+function regExpEscape (s) {
+  return s.replace(/[-[\]{}()*+?.,\\^$|#\s]/g, '\\$&')
+}
+
+},{"brace-expansion":11,"path":22}],21:[function(require,module,exports){
+var wrappy = require('wrappy')
+module.exports = wrappy(once)
+module.exports.strict = wrappy(onceStrict)
+
+once.proto = once(function () {
+  Object.defineProperty(Function.prototype, 'once', {
+    value: function () {
+      return once(this)
+    },
+    configurable: true
+  })
+
+  Object.defineProperty(Function.prototype, 'onceStrict', {
+    value: function () {
+      return onceStrict(this)
+    },
+    configurable: true
+  })
+})
+
+function once (fn) {
+  var f = function () {
+    if (f.called) return f.value
+    f.called = true
+    return f.value = fn.apply(this, arguments)
+  }
+  f.called = false
+  return f
+}
+
+function onceStrict (fn) {
+  var f = function () {
+    if (f.called)
+      throw new Error(f.onceError)
+    f.called = true
+    return f.value = fn.apply(this, arguments)
+  }
+  var name = fn.name || 'Function wrapped with `once`'
+  f.onceError = name + " shouldn't be called more than once"
+  f.called = false
+  return f
+}
+
+},{"wrappy":29}],22:[function(require,module,exports){
+(function (process){
+// Copyright Joyent, Inc. and other Node contributors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to permit
+// persons to whom the Software is furnished to do so, subject to the
+// following conditions:
+//
+// The above copyright notice and this permission notice shall be included
+// in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
+// NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
+// USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+// resolves . and .. elements in a path array with directory names there
+// must be no slashes, empty elements, or device names (c:\) in the array
+// (so also no leading and trailing slashes - it does not distinguish
+// relative and absolute paths)
+function normalizeArray(parts, allowAboveRoot) {
+  // if the path tries to go above the root, `up` ends up > 0
+  var up = 0;
+  for (var i = parts.length - 1; i >= 0; i--) {
+    var last = parts[i];
+    if (last === '.') {
+      parts.splice(i, 1);
+    } else if (last === '..') {
+      parts.splice(i, 1);
+      up++;
+    } else if (up) {
+      parts.splice(i, 1);
+      up--;
+    }
+  }
+
+  // if the path is allowed to go above the root, restore leading ..s
+  if (allowAboveRoot) {
+    for (; up--; up) {
+      parts.unshift('..');
+    }
+  }
+
+  return parts;
+}
+
+// Split a filename into [root, dir, basename, ext], unix version
+// 'root' is just a slash, or nothing.
+var splitPathRe =
+    /^(\/?|)([\s\S]*?)((?:\.{1,2}|[^\/]+?|)(\.[^.\/]*|))(?:[\/]*)$/;
+var splitPath = function(filename) {
+  return splitPathRe.exec(filename).slice(1);
+};
+
+// path.resolve([from ...], to)
+// posix version
+exports.resolve = function() {
+  var resolvedPath = '',
+      resolvedAbsolute = false;
+
+  for (var i = arguments.length - 1; i >= -1 && !resolvedAbsolute; i--) {
+    var path = (i >= 0) ? arguments[i] : process.cwd();
+
+    // Skip empty and invalid entries
+    if (typeof path !== 'string') {
+      throw new TypeError('Arguments to path.resolve must be strings');
+    } else if (!path) {
+      continue;
+    }
+
+    resolvedPath = path + '/' + resolvedPath;
+    resolvedAbsolute = path.charAt(0) === '/';
+  }
+
+  // At this point the path should be resolved to a full absolute path, but
+  // handle relative paths to be safe (might happen when process.cwd() fails)
+
+  // Normalize the path
+  resolvedPath = normalizeArray(filter(resolvedPath.split('/'), function(p) {
+    return !!p;
+  }), !resolvedAbsolute).join('/');
+
+  return ((resolvedAbsolute ? '/' : '') + resolvedPath) || '.';
+};
+
+// path.normalize(path)
+// posix version
+exports.normalize = function(path) {
+  var isAbsolute = exports.isAbsolute(path),
+      trailingSlash = substr(path, -1) === '/';
+
+  // Normalize the path
+  path = normalizeArray(filter(path.split('/'), function(p) {
+    return !!p;
+  }), !isAbsolute).join('/');
+
+  if (!path && !isAbsolute) {
+    path = '.';
+  }
+  if (path && trailingSlash) {
+    path += '/';
+  }
+
+  return (isAbsolute ? '/' : '') + path;
+};
+
+// posix version
+exports.isAbsolute = function(path) {
+  return path.charAt(0) === '/';
+};
+
+// posix version
+exports.join = function() {
+  var paths = Array.prototype.slice.call(arguments, 0);
+  return exports.normalize(filter(paths, function(p, index) {
+    if (typeof p !== 'string') {
+      throw new TypeError('Arguments to path.join must be strings');
+    }
+    return p;
+  }).join('/'));
+};
+
+
+// path.relative(from, to)
+// posix version
+exports.relative = function(from, to) {
+  from = exports.resolve(from).substr(1);
+  to = exports.resolve(to).substr(1);
+
+  function trim(arr) {
+    var start = 0;
+    for (; start < arr.length; start++) {
+      if (arr[start] !== '') break;
+    }
+
+    var end = arr.length - 1;
+    for (; end >= 0; end--) {
+      if (arr[end] !== '') break;
+    }
+
+    if (start > end) return [];
+    return arr.slice(start, end - start + 1);
+  }
+
+  var fromParts = trim(from.split('/'));
+  var toParts = trim(to.split('/'));
+
+  var length = Math.min(fromParts.length, toParts.length);
+  var samePartsLength = length;
+  for (var i = 0; i < length; i++) {
+    if (fromParts[i] !== toParts[i]) {
+      samePartsLength = i;
+      break;
+    }
+  }
+
+  var outputParts = [];
+  for (var i = samePartsLength; i < fromParts.length; i++) {
+    outputParts.push('..');
+  }
+
+  outputParts = outputParts.concat(toParts.slice(samePartsLength));
+
+  return outputParts.join('/');
+};
+
+exports.sep = '/';
+exports.delimiter = ':';
+
+exports.dirname = function(path) {
+  var result = splitPath(path),
+      root = result[0],
+      dir = result[1];
+
+  if (!root && !dir) {
+    // No dirname whatsoever
+    return '.';
+  }
+
+  if (dir) {
+    // It has a dirname, strip trailing slash
+    dir = dir.substr(0, dir.length - 1);
+  }
+
+  return root + dir;
+};
+
+
+exports.basename = function(path, ext) {
+  var f = splitPath(path)[2];
+  // TODO: make this comparison case-insensitive on windows?
+  if (ext && f.substr(-1 * ext.length) === ext) {
+    f = f.substr(0, f.length - ext.length);
+  }
+  return f;
+};
+
+
+exports.extname = function(path) {
+  return splitPath(path)[3];
+};
+
+function filter (xs, f) {
+    if (xs.filter) return xs.filter(f);
+    var res = [];
+    for (var i = 0; i < xs.length; i++) {
+        if (f(xs[i], i, xs)) res.push(xs[i]);
+    }
+    return res;
+}
+
+// String.prototype.substr - negative index don't work in IE8
+var substr = 'ab'.substr(-1) === 'b'
+    ? function (str, start, len) { return str.substr(start, len) }
+    : function (str, start, len) {
+        if (start < 0) start = str.length + start;
+        return str.substr(start, len);
+    }
+;
+
+}).call(this,require('_process'))
+},{"_process":24}],23:[function(require,module,exports){
+(function (process){
+'use strict';
+
+function posix(path) {
+	return path.charAt(0) === '/';
+}
+
+function win32(path) {
+	// https://github.com/nodejs/node/blob/b3fcc245fb25539909ef1d5eaa01dbf92e168633/lib/path.js#L56
+	var splitDeviceRe = /^([a-zA-Z]:|[\\\/]{2}[^\\\/]+[\\\/]+[^\\\/]+)?([\\\/])?([\s\S]*?)$/;
+	var result = splitDeviceRe.exec(path);
+	var device = result[1] || '';
+	var isUnc = Boolean(device && device.charAt(1) !== ':');
+
+	// UNC paths are always absolute
+	return Boolean(result[2] || isUnc);
+}
+
+module.exports = process.platform === 'win32' ? win32 : posix;
+module.exports.posix = posix;
+module.exports.win32 = win32;
+
+}).call(this,require('_process'))
+},{"_process":24}],24:[function(require,module,exports){
+// shim for using process in browser
+var process = module.exports = {};
+
+// cached from whatever global is present so that test runners that stub it
+// don't break things.  But we need to wrap it in a try catch in case it is
+// wrapped in strict mode code which doesn't define any globals.  It's inside a
+// function because try/catches deoptimize in certain engines.
+
+var cachedSetTimeout;
+var cachedClearTimeout;
+
+function defaultSetTimout() {
+    throw new Error('setTimeout has not been defined');
+}
+function defaultClearTimeout () {
+    throw new Error('clearTimeout has not been defined');
+}
+(function () {
+    try {
+        if (typeof setTimeout === 'function') {
+            cachedSetTimeout = setTimeout;
+        } else {
+            cachedSetTimeout = defaultSetTimout;
+        }
+    } catch (e) {
+        cachedSetTimeout = defaultSetTimout;
+    }
+    try {
+        if (typeof clearTimeout === 'function') {
+            cachedClearTimeout = clearTimeout;
+        } else {
+            cachedClearTimeout = defaultClearTimeout;
+        }
+    } catch (e) {
+        cachedClearTimeout = defaultClearTimeout;
+    }
+} ())
+function runTimeout(fun) {
+    if (cachedSetTimeout === setTimeout) {
+        //normal enviroments in sane situations
+        return setTimeout(fun, 0);
+    }
+    // if setTimeout wasn't available but was latter defined
+    if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
+        cachedSetTimeout = setTimeout;
+        return setTimeout(fun, 0);
+    }
+    try {
+        // when when somebody has screwed with setTimeout but no I.E. maddness
+        return cachedSetTimeout(fun, 0);
+    } catch(e){
+        try {
+            // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
+            return cachedSetTimeout.call(null, fun, 0);
+        } catch(e){
+            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
+            return cachedSetTimeout.call(this, fun, 0);
+        }
+    }
+
+
+}
+function runClearTimeout(marker) {
+    if (cachedClearTimeout === clearTimeout) {
+        //normal enviroments in sane situations
+        return clearTimeout(marker);
+    }
+    // if clearTimeout wasn't available but was latter defined
+    if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
+        cachedClearTimeout = clearTimeout;
+        return clearTimeout(marker);
+    }
+    try {
+        // when when somebody has screwed with setTimeout but no I.E. maddness
+        return cachedClearTimeout(marker);
+    } catch (e){
+        try {
+            // When we are in I.E. but the script has been evaled so I.E. doesn't  trust the global object when called normally
+            return cachedClearTimeout.call(null, marker);
+        } catch (e){
+            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
+            // Some versions of I.E. have different rules for clearTimeout vs setTimeout
+            return cachedClearTimeout.call(this, marker);
+        }
+    }
+
+
+
+}
+var queue = [];
+var draining = false;
+var currentQueue;
+var queueIndex = -1;
+
+function cleanUpNextTick() {
+    if (!draining || !currentQueue) {
+        return;
+    }
+    draining = false;
+    if (currentQueue.length) {
+        queue = currentQueue.concat(queue);
+    } else {
+        queueIndex = -1;
+    }
+    if (queue.length) {
+        drainQueue();
+    }
+}
+
+function drainQueue() {
+    if (draining) {
+        return;
+    }
+    var timeout = runTimeout(cleanUpNextTick);
+    draining = true;
+
+    var len = queue.length;
+    while(len) {
+        currentQueue = queue;
+        queue = [];
+        while (++queueIndex < len) {
+            if (currentQueue) {
+                currentQueue[queueIndex].run();
+            }
+        }
+        queueIndex = -1;
+        len = queue.length;
+    }
+    currentQueue = null;
+    draining = false;
+    runClearTimeout(timeout);
+}
+
+process.nextTick = function (fun) {
+    var args = new Array(arguments.length - 1);
+    if (arguments.length > 1) {
+        for (var i = 1; i < arguments.length; i++) {
+            args[i - 1] = arguments[i];
+        }
+    }
+    queue.push(new Item(fun, args));
+    if (queue.length === 1 && !draining) {
+        runTimeout(drainQueue);
+    }
+};
+
+// v8 likes predictible objects
+function Item(fun, array) {
+    this.fun = fun;
+    this.array = array;
+}
+Item.prototype.run = function () {
+    this.fun.apply(null, this.array);
+};
+process.title = 'browser';
+process.browser = true;
+process.env = {};
+process.argv = [];
+process.version = ''; // empty string to avoid regexp issues
+process.versions = {};
+
+function noop() {}
+
+process.on = noop;
+process.addListener = noop;
+process.once = noop;
+process.off = noop;
+process.removeListener = noop;
+process.removeAllListeners = noop;
+process.emit = noop;
+process.prependListener = noop;
+process.prependOnceListener = noop;
+
+process.listeners = function (name) { return [] }
+
+process.binding = function (name) {
+    throw new Error('process.binding is not supported');
+};
+
+process.cwd = function () { return '/' };
+process.chdir = function (dir) {
+    throw new Error('process.chdir is not supported');
+};
+process.umask = function() { return 0; };
+
+},{}],25:[function(require,module,exports){
+//     Underscore.js 1.8.3
+//     http://underscorejs.org
+//     (c) 2009-2015 Jeremy Ashkenas, DocumentCloud and Investigative Reporters & Editors
+//     Underscore may be freely distributed under the MIT license.
+
+(function() {
+
+  // Baseline setup
+  // --------------
+
+  // Establish the root object, `window` in the browser, or `exports` on the server.
+  var root = this;
+
+  // Save the previous value of the `_` variable.
+  var previousUnderscore = root._;
+
+  // Save bytes in the minified (but not gzipped) version:
+  var ArrayProto = Array.prototype, ObjProto = Object.prototype, FuncProto = Function.prototype;
+
+  // Create quick reference variables for speed access to core prototypes.
+  var
+    push             = ArrayProto.push,
+    slice            = ArrayProto.slice,
+    toString         = ObjProto.toString,
+    hasOwnProperty   = ObjProto.hasOwnProperty;
+
+  // All **ECMAScript 5** native function implementations that we hope to use
+  // are declared here.
+  var
+    nativeIsArray      = Array.isArray,
+    nativeKeys         = Object.keys,
+    nativeBind         = FuncProto.bind,
+    nativeCreate       = Object.create;
+
+  // Naked function reference for surrogate-prototype-swapping.
+  var Ctor = function(){};
+
+  // Create a safe reference to the Underscore object for use below.
+  var _ = function(obj) {
+    if (obj instanceof _) return obj;
+    if (!(this instanceof _)) return new _(obj);
+    this._wrapped = obj;
+  };
+
+  // Export the Underscore object for **Node.js**, with
+  // backwards-compatibility for the old `require()` API. If we're in
+  // the browser, add `_` as a global object.
+  if (typeof exports !== 'undefined') {
+    if (typeof module !== 'undefined' && module.exports) {
+      exports = module.exports = _;
+    }
+    exports._ = _;
+  } else {
+    root._ = _;
+  }
+
+  // Current version.
+  _.VERSION = '1.8.3';
+
+  // Internal function that returns an efficient (for current engines) version
+  // of the passed-in callback, to be repeatedly applied in other Underscore
+  // functions.
+  var optimizeCb = function(func, context, argCount) {
+    if (context === void 0) return func;
+    switch (argCount == null ? 3 : argCount) {
+      case 1: return function(value) {
+        return func.call(context, value);
+      };
+      case 2: return function(value, other) {
+        return func.call(context, value, other);
+      };
+      case 3: return function(value, index, collection) {
+        return func.call(context, value, index, collection);
+      };
+      case 4: return function(accumulator, value, index, collection) {
+        return func.call(context, accumulator, value, index, collection);
+      };
+    }
+    return function() {
+      return func.apply(context, arguments);
+    };
+  };
+
+  // A mostly-internal function to generate callbacks that can be applied
+  // to each element in a collection, returning the desired result — either
+  // identity, an arbitrary callback, a property matcher, or a property accessor.
+  var cb = function(value, context, argCount) {
+    if (value == null) return _.identity;
+    if (_.isFunction(value)) return optimizeCb(value, context, argCount);
+    if (_.isObject(value)) return _.matcher(value);
+    return _.property(value);
+  };
+  _.iteratee = function(value, context) {
+    return cb(value, context, Infinity);
+  };
+
+  // An internal function for creating assigner functions.
+  var createAssigner = function(keysFunc, undefinedOnly) {
+    return function(obj) {
+      var length = arguments.length;
+      if (length < 2 || obj == null) return obj;
+      for (var index = 1; index < length; index++) {
+        var source = arguments[index],
+            keys = keysFunc(source),
+            l = keys.length;
+        for (var i = 0; i < l; i++) {
+          var key = keys[i];
+          if (!undefinedOnly || obj[key] === void 0) obj[key] = source[key];
+        }
+      }
+      return obj;
+    };
+  };
+
+  // An internal function for creating a new object that inherits from another.
+  var baseCreate = function(prototype) {
+    if (!_.isObject(prototype)) return {};
+    if (nativeCreate) return nativeCreate(prototype);
+    Ctor.prototype = prototype;
+    var result = new Ctor;
+    Ctor.prototype = null;
+    return result;
+  };
+
+  var property = function(key) {
+    return function(obj) {
+      return obj == null ? void 0 : obj[key];
+    };
+  };
+
+  // Helper for collection methods to determine whether a collection
+  // should be iterated as an array or as an object
+  // Related: http://people.mozilla.org/~jorendorff/es6-draft.html#sec-tolength
+  // Avoids a very nasty iOS 8 JIT bug on ARM-64. #2094
+  var MAX_ARRAY_INDEX = Math.pow(2, 53) - 1;
+  var getLength = property('length');
+  var isArrayLike = function(collection) {
+    var length = getLength(collection);
+    return typeof length == 'number' && length >= 0 && length <= MAX_ARRAY_INDEX;
+  };
+
+  // Collection Functions
+  // --------------------
+
+  // The cornerstone, an `each` implementation, aka `forEach`.
+  // Handles raw objects in addition to array-likes. Treats all
+  // sparse array-likes as if they were dense.
+  _.each = _.forEach = function(obj, iteratee, context) {
+    iteratee = optimizeCb(iteratee, context);
+    var i, length;
+    if (isArrayLike(obj)) {
+      for (i = 0, length = obj.length; i < length; i++) {
+        iteratee(obj[i], i, obj);
+      }
+    } else {
+      var keys = _.keys(obj);
+      for (i = 0, length = keys.length; i < length; i++) {
+        iteratee(obj[keys[i]], keys[i], obj);
+      }
+    }
+    return obj;
+  };
+
+  // Return the results of applying the iteratee to each element.
+  _.map = _.collect = function(obj, iteratee, context) {
+    iteratee = cb(iteratee, context);
+    var keys = !isArrayLike(obj) && _.keys(obj),
+        length = (keys || obj).length,
+        results = Array(length);
+    for (var index = 0; index < length; index++) {
+      var currentKey = keys ? keys[index] : index;
+      results[index] = iteratee(obj[currentKey], currentKey, obj);
+    }
+    return results;
+  };
+
+  // Create a reducing function iterating left or right.
+  function createReduce(dir) {
+    // Optimized iterator function as using arguments.length
+    // in the main function will deoptimize the, see #1991.
+    function iterator(obj, iteratee, memo, keys, index, length) {
+      for (; index >= 0 && index < length; index += dir) {
+        var currentKey = keys ? keys[index] : index;
+        memo = iteratee(memo, obj[currentKey], currentKey, obj);
+      }
+      return memo;
+    }
+
+    return function(obj, iteratee, memo, context) {
+      iteratee = optimizeCb(iteratee, context, 4);
+      var keys = !isArrayLike(obj) && _.keys(obj),
+          length = (keys || obj).length,
+          index = dir > 0 ? 0 : length - 1;
+      // Determine the initial value if none is provided.
+      if (arguments.length < 3) {
+        memo = obj[keys ? keys[index] : index];
+        index += dir;
+      }
+      return iterator(obj, iteratee, memo, keys, index, length);
+    };
+  }
+
+  // **Reduce** builds up a single result from a list of values, aka `inject`,
+  // or `foldl`.
+  _.reduce = _.foldl = _.inject = createReduce(1);
+
+  // The right-associative version of reduce, also known as `foldr`.
+  _.reduceRight = _.foldr = createReduce(-1);
+
+  // Return the first value which passes a truth test. Aliased as `detect`.
+  _.find = _.detect = function(obj, predicate, context) {
+    var key;
+    if (isArrayLike(obj)) {
+      key = _.findIndex(obj, predicate, context);
+    } else {
+      key = _.findKey(obj, predicate, context);
+    }
+    if (key !== void 0 && key !== -1) return obj[key];
+  };
+
+  // Return all the elements that pass a truth test.
+  // Aliased as `select`.
+  _.filter = _.select = function(obj, predicate, context) {
+    var results = [];
+    predicate = cb(predicate, context);
+    _.each(obj, function(value, index, list) {
+      if (predicate(value, index, list)) results.push(value);
+    });
+    return results;
+  };
+
+  // Return all the elements for which a truth test fails.
+  _.reject = function(obj, predicate, context) {
+    return _.filter(obj, _.negate(cb(predicate)), context);
+  };
+
+  // Determine whether all of the elements match a truth test.
+  // Aliased as `all`.
+  _.every = _.all = function(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var keys = !isArrayLike(obj) && _.keys(obj),
+        length = (keys || obj).length;
+    for (var index = 0; index < length; index++) {
+      var currentKey = keys ? keys[index] : index;
+      if (!predicate(obj[currentKey], currentKey, obj)) return false;
+    }
+    return true;
+  };
+
+  // Determine if at least one element in the object matches a truth test.
+  // Aliased as `any`.
+  _.some = _.any = function(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var keys = !isArrayLike(obj) && _.keys(obj),
+        length = (keys || obj).length;
+    for (var index = 0; index < length; index++) {
+      var currentKey = keys ? keys[index] : index;
+      if (predicate(obj[currentKey], currentKey, obj)) return true;
+    }
+    return false;
+  };
+
+  // Determine if the array or object contains a given item (using `===`).
+  // Aliased as `includes` and `include`.
+  _.contains = _.includes = _.include = function(obj, item, fromIndex, guard) {
+    if (!isArrayLike(obj)) obj = _.values(obj);
+    if (typeof fromIndex != 'number' || guard) fromIndex = 0;
+    return _.indexOf(obj, item, fromIndex) >= 0;
+  };
+
+  // Invoke a method (with arguments) on every item in a collection.
+  _.invoke = function(obj, method) {
+    var args = slice.call(arguments, 2);
+    var isFunc = _.isFunction(method);
+    return _.map(obj, function(value) {
+      var func = isFunc ? method : value[method];
+      return func == null ? func : func.apply(value, args);
+    });
+  };
+
+  // Convenience version of a common use case of `map`: fetching a property.
+  _.pluck = function(obj, key) {
+    return _.map(obj, _.property(key));
+  };
+
+  // Convenience version of a common use case of `filter`: selecting only objects
+  // containing specific `key:value` pairs.
+  _.where = function(obj, attrs) {
+    return _.filter(obj, _.matcher(attrs));
+  };
+
+  // Convenience version of a common use case of `find`: getting the first object
+  // containing specific `key:value` pairs.
+  _.findWhere = function(obj, attrs) {
+    return _.find(obj, _.matcher(attrs));
+  };
+
+  // Return the maximum element (or element-based computation).
+  _.max = function(obj, iteratee, context) {
+    var result = -Infinity, lastComputed = -Infinity,
+        value, computed;
+    if (iteratee == null && obj != null) {
+      obj = isArrayLike(obj) ? obj : _.values(obj);
+      for (var i = 0, length = obj.length; i < length; i++) {
+        value = obj[i];
+        if (value > result) {
+          result = value;
+        }
+      }
+    } else {
+      iteratee = cb(iteratee, context);
+      _.each(obj, function(value, index, list) {
+        computed = iteratee(value, index, list);
+        if (computed > lastComputed || computed === -Infinity && result === -Infinity) {
+          result = value;
+          lastComputed = computed;
+        }
+      });
+    }
+    return result;
+  };
+
+  // Return the minimum element (or element-based computation).
+  _.min = function(obj, iteratee, context) {
+    var result = Infinity, lastComputed = Infinity,
+        value, computed;
+    if (iteratee == null && obj != null) {
+      obj = isArrayLike(obj) ? obj : _.values(obj);
+      for (var i = 0, length = obj.length; i < length; i++) {
+        value = obj[i];
+        if (value < result) {
+          result = value;
+        }
+      }
+    } else {
+      iteratee = cb(iteratee, context);
+      _.each(obj, function(value, index, list) {
+        computed = iteratee(value, index, list);
+        if (computed < lastComputed || computed === Infinity && result === Infinity) {
+          result = value;
+          lastComputed = computed;
+        }
+      });
+    }
+    return result;
+  };
+
+  // Shuffle a collection, using the modern version of the
+  // [Fisher-Yates shuffle](http://en.wikipedia.org/wiki/Fisher–Yates_shuffle).
+  _.shuffle = function(obj) {
+    var set = isArrayLike(obj) ? obj : _.values(obj);
+    var length = set.length;
+    var shuffled = Array(length);
+    for (var index = 0, rand; index < length; index++) {
+      rand = _.random(0, index);
+      if (rand !== index) shuffled[index] = shuffled[rand];
+      shuffled[rand] = set[index];
+    }
+    return shuffled;
+  };
+
+  // Sample **n** random values from a collection.
+  // If **n** is not specified, returns a single random element.
+  // The internal `guard` argument allows it to work with `map`.
+  _.sample = function(obj, n, guard) {
+    if (n == null || guard) {
+      if (!isArrayLike(obj)) obj = _.values(obj);
+      return obj[_.random(obj.length - 1)];
+    }
+    return _.shuffle(obj).slice(0, Math.max(0, n));
+  };
+
+  // Sort the object's values by a criterion produced by an iteratee.
+  _.sortBy = function(obj, iteratee, context) {
+    iteratee = cb(iteratee, context);
+    return _.pluck(_.map(obj, function(value, index, list) {
+      return {
+        value: value,
+        index: index,
+        criteria: iteratee(value, index, list)
+      };
+    }).sort(function(left, right) {
+      var a = left.criteria;
+      var b = right.criteria;
+      if (a !== b) {
+        if (a > b || a === void 0) return 1;
+        if (a < b || b === void 0) return -1;
+      }
+      return left.index - right.index;
+    }), 'value');
+  };
+
+  // An internal function used for aggregate "group by" operations.
+  var group = function(behavior) {
+    return function(obj, iteratee, context) {
+      var result = {};
+      iteratee = cb(iteratee, context);
+      _.each(obj, function(value, index) {
+        var key = iteratee(value, index, obj);
+        behavior(result, value, key);
+      });
+      return result;
+    };
+  };
+
+  // Groups the object's values by a criterion. Pass either a string attribute
+  // to group by, or a function that returns the criterion.
+  _.groupBy = group(function(result, value, key) {
+    if (_.has(result, key)) result[key].push(value); else result[key] = [value];
+  });
+
+  // Indexes the object's values by a criterion, similar to `groupBy`, but for
+  // when you know that your index values will be unique.
+  _.indexBy = group(function(result, value, key) {
+    result[key] = value;
+  });
+
+  // Counts instances of an object that group by a certain criterion. Pass
+  // either a string attribute to count by, or a function that returns the
+  // criterion.
+  _.countBy = group(function(result, value, key) {
+    if (_.has(result, key)) result[key]++; else result[key] = 1;
+  });
+
+  // Safely create a real, live array from anything iterable.
+  _.toArray = function(obj) {
+    if (!obj) return [];
+    if (_.isArray(obj)) return slice.call(obj);
+    if (isArrayLike(obj)) return _.map(obj, _.identity);
+    return _.values(obj);
+  };
+
+  // Return the number of elements in an object.
+  _.size = function(obj) {
+    if (obj == null) return 0;
+    return isArrayLike(obj) ? obj.length : _.keys(obj).length;
+  };
+
+  // Split a collection into two arrays: one whose elements all satisfy the given
+  // predicate, and one whose elements all do not satisfy the predicate.
+  _.partition = function(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var pass = [], fail = [];
+    _.each(obj, function(value, key, obj) {
+      (predicate(value, key, obj) ? pass : fail).push(value);
+    });
+    return [pass, fail];
+  };
+
+  // Array Functions
+  // ---------------
+
+  // Get the first element of an array. Passing **n** will return the first N
+  // values in the array. Aliased as `head` and `take`. The **guard** check
+  // allows it to work with `_.map`.
+  _.first = _.head = _.take = function(array, n, guard) {
+    if (array == null) return void 0;
+    if (n == null || guard) return array[0];
+    return _.initial(array, array.length - n);
+  };
+
+  // Returns everything but the last entry of the array. Especially useful on
+  // the arguments object. Passing **n** will return all the values in
+  // the array, excluding the last N.
+  _.initial = function(array, n, guard) {
+    return slice.call(array, 0, Math.max(0, array.length - (n == null || guard ? 1 : n)));
+  };
+
+  // Get the last element of an array. Passing **n** will return the last N
+  // values in the array.
+  _.last = function(array, n, guard) {
+    if (array == null) return void 0;
+    if (n == null || guard) return array[array.length - 1];
+    return _.rest(array, Math.max(0, array.length - n));
+  };
+
+  // Returns everything but the first entry of the array. Aliased as `tail` and `drop`.
+  // Especially useful on the arguments object. Passing an **n** will return
+  // the rest N values in the array.
+  _.rest = _.tail = _.drop = function(array, n, guard) {
+    return slice.call(array, n == null || guard ? 1 : n);
+  };
+
+  // Trim out all falsy values from an array.
+  _.compact = function(array) {
+    return _.filter(array, _.identity);
+  };
+
+  // Internal implementation of a recursive `flatten` function.
+  var flatten = function(input, shallow, strict, startIndex) {
+    var output = [], idx = 0;
+    for (var i = startIndex || 0, length = getLength(input); i < length; i++) {
+      var value = input[i];
+      if (isArrayLike(value) && (_.isArray(value) || _.isArguments(value))) {
+        //flatten current level of array or arguments object
+        if (!shallow) value = flatten(value, shallow, strict);
+        var j = 0, len = value.length;
+        output.length += len;
+        while (j < len) {
+          output[idx++] = value[j++];
+        }
+      } else if (!strict) {
+        output[idx++] = value;
+      }
+    }
+    return output;
+  };
+
+  // Flatten out an array, either recursively (by default), or just one level.
+  _.flatten = function(array, shallow) {
+    return flatten(array, shallow, false);
+  };
+
+  // Return a version of the array that does not contain the specified value(s).
+  _.without = function(array) {
+    return _.difference(array, slice.call(arguments, 1));
+  };
+
+  // Produce a duplicate-free version of the array. If the array has already
+  // been sorted, you have the option of using a faster algorithm.
+  // Aliased as `unique`.
+  _.uniq = _.unique = function(array, isSorted, iteratee, context) {
+    if (!_.isBoolean(isSorted)) {
+      context = iteratee;
+      iteratee = isSorted;
+      isSorted = false;
+    }
+    if (iteratee != null) iteratee = cb(iteratee, context);
+    var result = [];
+    var seen = [];
+    for (var i = 0, length = getLength(array); i < length; i++) {
+      var value = array[i],
+          computed = iteratee ? iteratee(value, i, array) : value;
+      if (isSorted) {
+        if (!i || seen !== computed) result.push(value);
+        seen = computed;
+      } else if (iteratee) {
+        if (!_.contains(seen, computed)) {
+          seen.push(computed);
+          result.push(value);
+        }
+      } else if (!_.contains(result, value)) {
+        result.push(value);
+      }
+    }
+    return result;
+  };
+
+  // Produce an array that contains the union: each distinct element from all of
+  // the passed-in arrays.
+  _.union = function() {
+    return _.uniq(flatten(arguments, true, true));
+  };
+
+  // Produce an array that contains every item shared between all the
+  // passed-in arrays.
+  _.intersection = function(array) {
+    var result = [];
+    var argsLength = arguments.length;
+    for (var i = 0, length = getLength(array); i < length; i++) {
+      var item = array[i];
+      if (_.contains(result, item)) continue;
+      for (var j = 1; j < argsLength; j++) {
+        if (!_.contains(arguments[j], item)) break;
+      }
+      if (j === argsLength) result.push(item);
+    }
+    return result;
+  };
+
+  // Take the difference between one array and a number of other arrays.
+  // Only the elements present in just the first array will remain.
+  _.difference = function(array) {
+    var rest = flatten(arguments, true, true, 1);
+    return _.filter(array, function(value){
+      return !_.contains(rest, value);
+    });
+  };
+
+  // Zip together multiple lists into a single array -- elements that share
+  // an index go together.
+  _.zip = function() {
+    return _.unzip(arguments);
+  };
+
+  // Complement of _.zip. Unzip accepts an array of arrays and groups
+  // each array's elements on shared indices
+  _.unzip = function(array) {
+    var length = array && _.max(array, getLength).length || 0;
+    var result = Array(length);
+
+    for (var index = 0; index < length; index++) {
+      result[index] = _.pluck(array, index);
+    }
+    return result;
+  };
+
+  // Converts lists into objects. Pass either a single array of `[key, value]`
+  // pairs, or two parallel arrays of the same length -- one of keys, and one of
+  // the corresponding values.
+  _.object = function(list, values) {
+    var result = {};
+    for (var i = 0, length = getLength(list); i < length; i++) {
+      if (values) {
+        result[list[i]] = values[i];
+      } else {
+        result[list[i][0]] = list[i][1];
+      }
+    }
+    return result;
+  };
+
+  // Generator function to create the findIndex and findLastIndex functions
+  function createPredicateIndexFinder(dir) {
+    return function(array, predicate, context) {
+      predicate = cb(predicate, context);
+      var length = getLength(array);
+      var index = dir > 0 ? 0 : length - 1;
+      for (; index >= 0 && index < length; index += dir) {
+        if (predicate(array[index], index, array)) return index;
+      }
+      return -1;
+    };
+  }
+
+  // Returns the first index on an array-like that passes a predicate test
+  _.findIndex = createPredicateIndexFinder(1);
+  _.findLastIndex = createPredicateIndexFinder(-1);
+
+  // Use a comparator function to figure out the smallest index at which
+  // an object should be inserted so as to maintain order. Uses binary search.
+  _.sortedIndex = function(array, obj, iteratee, context) {
+    iteratee = cb(iteratee, context, 1);
+    var value = iteratee(obj);
+    var low = 0, high = getLength(array);
+    while (low < high) {
+      var mid = Math.floor((low + high) / 2);
+      if (iteratee(array[mid]) < value) low = mid + 1; else high = mid;
+    }
+    return low;
+  };
+
+  // Generator function to create the indexOf and lastIndexOf functions
+  function createIndexFinder(dir, predicateFind, sortedIndex) {
+    return function(array, item, idx) {
+      var i = 0, length = getLength(array);
+      if (typeof idx == 'number') {
+        if (dir > 0) {
+            i = idx >= 0 ? idx : Math.max(idx + length, i);
+        } else {
+            length = idx >= 0 ? Math.min(idx + 1, length) : idx + length + 1;
+        }
+      } else if (sortedIndex && idx && length) {
+        idx = sortedIndex(array, item);
+        return array[idx] === item ? idx : -1;
+      }
+      if (item !== item) {
+        idx = predicateFind(slice.call(array, i, length), _.isNaN);
+        return idx >= 0 ? idx + i : -1;
+      }
+      for (idx = dir > 0 ? i : length - 1; idx >= 0 && idx < length; idx += dir) {
+        if (array[idx] === item) return idx;
+      }
+      return -1;
+    };
+  }
+
+  // Return the position of the first occurrence of an item in an array,
+  // or -1 if the item is not included in the array.
+  // If the array is large and already in sort order, pass `true`
+  // for **isSorted** to use binary search.
+  _.indexOf = createIndexFinder(1, _.findIndex, _.sortedIndex);
+  _.lastIndexOf = createIndexFinder(-1, _.findLastIndex);
+
+  // Generate an integer Array containing an arithmetic progression. A port of
+  // the native Python `range()` function. See
+  // [the Python documentation](http://docs.python.org/library/functions.html#range).
+  _.range = function(start, stop, step) {
+    if (stop == null) {
+      stop = start || 0;
+      start = 0;
+    }
+    step = step || 1;
+
+    var length = Math.max(Math.ceil((stop - start) / step), 0);
+    var range = Array(length);
+
+    for (var idx = 0; idx < length; idx++, start += step) {
+      range[idx] = start;
+    }
+
+    return range;
+  };
+
+  // Function (ahem) Functions
+  // ------------------
+
+  // Determines whether to execute a function as a constructor
+  // or a normal function with the provided arguments
+  var executeBound = function(sourceFunc, boundFunc, context, callingContext, args) {
+    if (!(callingContext instanceof boundFunc)) return sourceFunc.apply(context, args);
+    var self = baseCreate(sourceFunc.prototype);
+    var result = sourceFunc.apply(self, args);
+    if (_.isObject(result)) return result;
+    return self;
+  };
+
+  // Create a function bound to a given object (assigning `this`, and arguments,
+  // optionally). Delegates to **ECMAScript 5**'s native `Function.bind` if
+  // available.
+  _.bind = function(func, context) {
+    if (nativeBind && func.bind === nativeBind) return nativeBind.apply(func, slice.call(arguments, 1));
+    if (!_.isFunction(func)) throw new TypeError('Bind must be called on a function');
+    var args = slice.call(arguments, 2);
+    var bound = function() {
+      return executeBound(func, bound, context, this, args.concat(slice.call(arguments)));
+    };
+    return bound;
+  };
+
+  // Partially apply a function by creating a version that has had some of its
+  // arguments pre-filled, without changing its dynamic `this` context. _ acts
+  // as a placeholder, allowing any combination of arguments to be pre-filled.
+  _.partial = function(func) {
+    var boundArgs = slice.call(arguments, 1);
+    var bound = function() {
+      var position = 0, length = boundArgs.length;
+      var args = Array(length);
+      for (var i = 0; i < length; i++) {
+        args[i] = boundArgs[i] === _ ? arguments[position++] : boundArgs[i];
+      }
+      while (position < arguments.length) args.push(arguments[position++]);
+      return executeBound(func, bound, this, this, args);
+    };
+    return bound;
+  };
+
+  // Bind a number of an object's methods to that object. Remaining arguments
+  // are the method names to be bound. Useful for ensuring that all callbacks
+  // defined on an object belong to it.
+  _.bindAll = function(obj) {
+    var i, length = arguments.length, key;
+    if (length <= 1) throw new Error('bindAll must be passed function names');
+    for (i = 1; i < length; i++) {
+      key = arguments[i];
+      obj[key] = _.bind(obj[key], obj);
+    }
+    return obj;
+  };
+
+  // Memoize an expensive function by storing its results.
+  _.memoize = function(func, hasher) {
+    var memoize = function(key) {
+      var cache = memoize.cache;
+      var address = '' + (hasher ? hasher.apply(this, arguments) : key);
+      if (!_.has(cache, address)) cache[address] = func.apply(this, arguments);
+      return cache[address];
+    };
+    memoize.cache = {};
+    return memoize;
+  };
+
+  // Delays a function for the given number of milliseconds, and then calls
+  // it with the arguments supplied.
+  _.delay = function(func, wait) {
+    var args = slice.call(arguments, 2);
+    return setTimeout(function(){
+      return func.apply(null, args);
+    }, wait);
+  };
+
+  // Defers a function, scheduling it to run after the current call stack has
+  // cleared.
+  _.defer = _.partial(_.delay, _, 1);
+
+  // Returns a function, that, when invoked, will only be triggered at most once
+  // during a given window of time. Normally, the throttled function will run
+  // as much as it can, without ever going more than once per `wait` duration;
+  // but if you'd like to disable the execution on the leading edge, pass
+  // `{leading: false}`. To disable execution on the trailing edge, ditto.
+  _.throttle = function(func, wait, options) {
+    var context, args, result;
+    var timeout = null;
+    var previous = 0;
+    if (!options) options = {};
+    var later = function() {
+      previous = options.leading === false ? 0 : _.now();
+      timeout = null;
+      result = func.apply(context, args);
+      if (!timeout) context = args = null;
+    };
+    return function() {
+      var now = _.now();
+      if (!previous && options.leading === false) previous = now;
+      var remaining = wait - (now - previous);
+      context = this;
+      args = arguments;
+      if (remaining <= 0 || remaining > wait) {
+        if (timeout) {
+          clearTimeout(timeout);
+          timeout = null;
+        }
+        previous = now;
+        result = func.apply(context, args);
+        if (!timeout) context = args = null;
+      } else if (!timeout && options.trailing !== false) {
+        timeout = setTimeout(later, remaining);
+      }
+      return result;
+    };
+  };
+
+  // Returns a function, that, as long as it continues to be invoked, will not
+  // be triggered. The function will be called after it stops being called for
+  // N milliseconds. If `immediate` is passed, trigger the function on the
+  // leading edge, instead of the trailing.
+  _.debounce = function(func, wait, immediate) {
+    var timeout, args, context, timestamp, result;
+
+    var later = function() {
+      var last = _.now() - timestamp;
+
+      if (last < wait && last >= 0) {
+        timeout = setTimeout(later, wait - last);
+      } else {
+        timeout = null;
+        if (!immediate) {
+          result = func.apply(context, args);
+          if (!timeout) context = args = null;
+        }
+      }
+    };
+
+    return function() {
+      context = this;
+      args = arguments;
+      timestamp = _.now();
+      var callNow = immediate && !timeout;
+      if (!timeout) timeout = setTimeout(later, wait);
+      if (callNow) {
+        result = func.apply(context, args);
+        context = args = null;
+      }
+
+      return result;
+    };
+  };
+
+  // Returns the first function passed as an argument to the second,
+  // allowing you to adjust arguments, run code before and after, and
+  // conditionally execute the original function.
+  _.wrap = function(func, wrapper) {
+    return _.partial(wrapper, func);
+  };
+
+  // Returns a negated version of the passed-in predicate.
+  _.negate = function(predicate) {
+    return function() {
+      return !predicate.apply(this, arguments);
+    };
+  };
+
+  // Returns a function that is the composition of a list of functions, each
+  // consuming the return value of the function that follows.
+  _.compose = function() {
+    var args = arguments;
+    var start = args.length - 1;
+    return function() {
+      var i = start;
+      var result = args[start].apply(this, arguments);
+      while (i--) result = args[i].call(this, result);
+      return result;
+    };
+  };
+
+  // Returns a function that will only be executed on and after the Nth call.
+  _.after = function(times, func) {
+    return function() {
+      if (--times < 1) {
+        return func.apply(this, arguments);
+      }
+    };
+  };
+
+  // Returns a function that will only be executed up to (but not including) the Nth call.
+  _.before = function(times, func) {
+    var memo;
+    return function() {
+      if (--times > 0) {
+        memo = func.apply(this, arguments);
+      }
+      if (times <= 1) func = null;
+      return memo;
+    };
+  };
+
+  // Returns a function that will be executed at most one time, no matter how
+  // often you call it. Useful for lazy initialization.
+  _.once = _.partial(_.before, 2);
+
+  // Object Functions
+  // ----------------
+
+  // Keys in IE < 9 that won't be iterated by `for key in ...` and thus missed.
+  var hasEnumBug = !{toString: null}.propertyIsEnumerable('toString');
+  var nonEnumerableProps = ['valueOf', 'isPrototypeOf', 'toString',
+                      'propertyIsEnumerable', 'hasOwnProperty', 'toLocaleString'];
+
+  function collectNonEnumProps(obj, keys) {
+    var nonEnumIdx = nonEnumerableProps.length;
+    var constructor = obj.constructor;
+    var proto = (_.isFunction(constructor) && constructor.prototype) || ObjProto;
+
+    // Constructor is a special case.
+    var prop = 'constructor';
+    if (_.has(obj, prop) && !_.contains(keys, prop)) keys.push(prop);
+
+    while (nonEnumIdx--) {
+      prop = nonEnumerableProps[nonEnumIdx];
+      if (prop in obj && obj[prop] !== proto[prop] && !_.contains(keys, prop)) {
+        keys.push(prop);
+      }
+    }
+  }
+
+  // Retrieve the names of an object's own properties.
+  // Delegates to **ECMAScript 5**'s native `Object.keys`
+  _.keys = function(obj) {
+    if (!_.isObject(obj)) return [];
+    if (nativeKeys) return nativeKeys(obj);
+    var keys = [];
+    for (var key in obj) if (_.has(obj, key)) keys.push(key);
+    // Ahem, IE < 9.
+    if (hasEnumBug) collectNonEnumProps(obj, keys);
+    return keys;
+  };
+
+  // Retrieve all the property names of an object.
+  _.allKeys = function(obj) {
+    if (!_.isObject(obj)) return [];
+    var keys = [];
+    for (var key in obj) keys.push(key);
+    // Ahem, IE < 9.
+    if (hasEnumBug) collectNonEnumProps(obj, keys);
+    return keys;
+  };
+
+  // Retrieve the values of an object's properties.
+  _.values = function(obj) {
+    var keys = _.keys(obj);
+    var length = keys.length;
+    var values = Array(length);
+    for (var i = 0; i < length; i++) {
+      values[i] = obj[keys[i]];
+    }
+    return values;
+  };
+
+  // Returns the results of applying the iteratee to each element of the object
+  // In contrast to _.map it returns an object
+  _.mapObject = function(obj, iteratee, context) {
+    iteratee = cb(iteratee, context);
+    var keys =  _.keys(obj),
+          length = keys.length,
+          results = {},
+          currentKey;
+      for (var index = 0; index < length; index++) {
+        currentKey = keys[index];
+        results[currentKey] = iteratee(obj[currentKey], currentKey, obj);
+      }
+      return results;
+  };
+
+  // Convert an object into a list of `[key, value]` pairs.
+  _.pairs = function(obj) {
+    var keys = _.keys(obj);
+    var length = keys.length;
+    var pairs = Array(length);
+    for (var i = 0; i < length; i++) {
+      pairs[i] = [keys[i], obj[keys[i]]];
+    }
+    return pairs;
+  };
+
+  // Invert the keys and values of an object. The values must be serializable.
+  _.invert = function(obj) {
+    var result = {};
+    var keys = _.keys(obj);
+    for (var i = 0, length = keys.length; i < length; i++) {
+      result[obj[keys[i]]] = keys[i];
+    }
+    return result;
+  };
+
+  // Return a sorted list of the function names available on the object.
+  // Aliased as `methods`
+  _.functions = _.methods = function(obj) {
+    var names = [];
+    for (var key in obj) {
+      if (_.isFunction(obj[key])) names.push(key);
+    }
+    return names.sort();
+  };
+
+  // Extend a given object with all the properties in passed-in object(s).
+  _.extend = createAssigner(_.allKeys);
+
+  // Assigns a given object with all the own properties in the passed-in object(s)
+  // (https://developer.mozilla.org/docs/Web/JavaScript/Reference/Global_Objects/Object/assign)
+  _.extendOwn = _.assign = createAssigner(_.keys);
+
+  // Returns the first key on an object that passes a predicate test
+  _.findKey = function(obj, predicate, context) {
+    predicate = cb(predicate, context);
+    var keys = _.keys(obj), key;
+    for (var i = 0, length = keys.length; i < length; i++) {
+      key = keys[i];
+      if (predicate(obj[key], key, obj)) return key;
+    }
+  };
+
+  // Return a copy of the object only containing the whitelisted properties.
+  _.pick = function(object, oiteratee, context) {
+    var result = {}, obj = object, iteratee, keys;
+    if (obj == null) return result;
+    if (_.isFunction(oiteratee)) {
+      keys = _.allKeys(obj);
+      iteratee = optimizeCb(oiteratee, context);
+    } else {
+      keys = flatten(arguments, false, false, 1);
+      iteratee = function(value, key, obj) { return key in obj; };
+      obj = Object(obj);
+    }
+    for (var i = 0, length = keys.length; i < length; i++) {
+      var key = keys[i];
+      var value = obj[key];
+      if (iteratee(value, key, obj)) result[key] = value;
+    }
+    return result;
+  };
+
+   // Return a copy of the object without the blacklisted properties.
+  _.omit = function(obj, iteratee, context) {
+    if (_.isFunction(iteratee)) {
+      iteratee = _.negate(iteratee);
+    } else {
+      var keys = _.map(flatten(arguments, false, false, 1), String);
+      iteratee = function(value, key) {
+        return !_.contains(keys, key);
+      };
+    }
+    return _.pick(obj, iteratee, context);
+  };
+
+  // Fill in a given object with default properties.
+  _.defaults = createAssigner(_.allKeys, true);
+
+  // Creates an object that inherits from the given prototype object.
+  // If additional properties are provided then they will be added to the
+  // created object.
+  _.create = function(prototype, props) {
+    var result = baseCreate(prototype);
+    if (props) _.extendOwn(result, props);
+    return result;
+  };
+
+  // Create a (shallow-cloned) duplicate of an object.
+  _.clone = function(obj) {
+    if (!_.isObject(obj)) return obj;
+    return _.isArray(obj) ? obj.slice() : _.extend({}, obj);
+  };
+
+  // Invokes interceptor with the obj, and then returns obj.
+  // The primary purpose of this method is to "tap into" a method chain, in
+  // order to perform operations on intermediate results within the chain.
+  _.tap = function(obj, interceptor) {
+    interceptor(obj);
+    return obj;
+  };
+
+  // Returns whether an object has a given set of `key:value` pairs.
+  _.isMatch = function(object, attrs) {
+    var keys = _.keys(attrs), length = keys.length;
+    if (object == null) return !length;
+    var obj = Object(object);
+    for (var i = 0; i < length; i++) {
+      var key = keys[i];
+      if (attrs[key] !== obj[key] || !(key in obj)) return false;
+    }
+    return true;
+  };
+
+
+  // Internal recursive comparison function for `isEqual`.
+  var eq = function(a, b, aStack, bStack) {
+    // Identical objects are equal. `0 === -0`, but they aren't identical.
+    // See the [Harmony `egal` proposal](http://wiki.ecmascript.org/doku.php?id=harmony:egal).
+    if (a === b) return a !== 0 || 1 / a === 1 / b;
+    // A strict comparison is necessary because `null == undefined`.
+    if (a == null || b == null) return a === b;
+    // Unwrap any wrapped objects.
+    if (a instanceof _) a = a._wrapped;
+    if (b instanceof _) b = b._wrapped;
+    // Compare `[[Class]]` names.
+    var className = toString.call(a);
+    if (className !== toString.call(b)) return false;
+    switch (className) {
+      // Strings, numbers, regular expressions, dates, and booleans are compared by value.
+      case '[object RegExp]':
+      // RegExps are coerced to strings for comparison (Note: '' + /a/i === '/a/i')
+      case '[object String]':
+        // Primitives and their corresponding object wrappers are equivalent; thus, `"5"` is
+        // equivalent to `new String("5")`.
+        return '' + a === '' + b;
+      case '[object Number]':
+        // `NaN`s are equivalent, but non-reflexive.
+        // Object(NaN) is equivalent to NaN
+        if (+a !== +a) return +b !== +b;
+        // An `egal` comparison is performed for other numeric values.
+        return +a === 0 ? 1 / +a === 1 / b : +a === +b;
+      case '[object Date]':
+      case '[object Boolean]':
+        // Coerce dates and booleans to numeric primitive values. Dates are compared by their
+        // millisecond representations. Note that invalid dates with millisecond representations
+        // of `NaN` are not equivalent.
+        return +a === +b;
+    }
+
+    var areArrays = className === '[object Array]';
+    if (!areArrays) {
+      if (typeof a != 'object' || typeof b != 'object') return false;
+
+      // Objects with different constructors are not equivalent, but `Object`s or `Array`s
+      // from different frames are.
+      var aCtor = a.constructor, bCtor = b.constructor;
+      if (aCtor !== bCtor && !(_.isFunction(aCtor) && aCtor instanceof aCtor &&
+                               _.isFunction(bCtor) && bCtor instanceof bCtor)
+                          && ('constructor' in a && 'constructor' in b)) {
+        return false;
+      }
+    }
+    // Assume equality for cyclic structures. The algorithm for detecting cyclic
+    // structures is adapted from ES 5.1 section 15.12.3, abstract operation `JO`.
+
+    // Initializing stack of traversed objects.
+    // It's done here since we only need them for objects and arrays comparison.
+    aStack = aStack || [];
+    bStack = bStack || [];
+    var length = aStack.length;
+    while (length--) {
+      // Linear search. Performance is inversely proportional to the number of
+      // unique nested structures.
+      if (aStack[length] === a) return bStack[length] === b;
+    }
+
+    // Add the first object to the stack of traversed objects.
+    aStack.push(a);
+    bStack.push(b);
+
+    // Recursively compare objects and arrays.
+    if (areArrays) {
+      // Compare array lengths to determine if a deep comparison is necessary.
+      length = a.length;
+      if (length !== b.length) return false;
+      // Deep compare the contents, ignoring non-numeric properties.
+      while (length--) {
+        if (!eq(a[length], b[length], aStack, bStack)) return false;
+      }
+    } else {
+      // Deep compare objects.
+      var keys = _.keys(a), key;
+      length = keys.length;
+      // Ensure that both objects contain the same number of properties before comparing deep equality.
+      if (_.keys(b).length !== length) return false;
+      while (length--) {
+        // Deep compare each member
+        key = keys[length];
+        if (!(_.has(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
+      }
+    }
+    // Remove the first object from the stack of traversed objects.
+    aStack.pop();
+    bStack.pop();
+    return true;
+  };
+
+  // Perform a deep comparison to check if two objects are equal.
+  _.isEqual = function(a, b) {
+    return eq(a, b);
+  };
+
+  // Is a given array, string, or object empty?
+  // An "empty" object has no enumerable own-properties.
+  _.isEmpty = function(obj) {
+    if (obj == null) return true;
+    if (isArrayLike(obj) && (_.isArray(obj) || _.isString(obj) || _.isArguments(obj))) return obj.length === 0;
+    return _.keys(obj).length === 0;
+  };
+
+  // Is a given value a DOM element?
+  _.isElement = function(obj) {
+    return !!(obj && obj.nodeType === 1);
+  };
+
+  // Is a given value an array?
+  // Delegates to ECMA5's native Array.isArray
+  _.isArray = nativeIsArray || function(obj) {
+    return toString.call(obj) === '[object Array]';
+  };
+
+  // Is a given variable an object?
+  _.isObject = function(obj) {
+    var type = typeof obj;
+    return type === 'function' || type === 'object' && !!obj;
+  };
+
+  // Add some isType methods: isArguments, isFunction, isString, isNumber, isDate, isRegExp, isError.
+  _.each(['Arguments', 'Function', 'String', 'Number', 'Date', 'RegExp', 'Error'], function(name) {
+    _['is' + name] = function(obj) {
+      return toString.call(obj) === '[object ' + name + ']';
+    };
+  });
+
+  // Define a fallback version of the method in browsers (ahem, IE < 9), where
+  // there isn't any inspectable "Arguments" type.
+  if (!_.isArguments(arguments)) {
+    _.isArguments = function(obj) {
+      return _.has(obj, 'callee');
+    };
+  }
+
+  // Optimize `isFunction` if appropriate. Work around some typeof bugs in old v8,
+  // IE 11 (#1621), and in Safari 8 (#1929).
+  if (typeof /./ != 'function' && typeof Int8Array != 'object') {
+    _.isFunction = function(obj) {
+      return typeof obj == 'function' || false;
+    };
+  }
+
+  // Is a given object a finite number?
+  _.isFinite = function(obj) {
+    return isFinite(obj) && !isNaN(parseFloat(obj));
+  };
+
+  // Is the given value `NaN`? (NaN is the only number which does not equal itself).
+  _.isNaN = function(obj) {
+    return _.isNumber(obj) && obj !== +obj;
+  };
+
+  // Is a given value a boolean?
+  _.isBoolean = function(obj) {
+    return obj === true || obj === false || toString.call(obj) === '[object Boolean]';
+  };
+
+  // Is a given value equal to null?
+  _.isNull = function(obj) {
+    return obj === null;
+  };
+
+  // Is a given variable undefined?
+  _.isUndefined = function(obj) {
+    return obj === void 0;
+  };
+
+  // Shortcut function for checking if an object has a given property directly
+  // on itself (in other words, not on a prototype).
+  _.has = function(obj, key) {
+    return obj != null && hasOwnProperty.call(obj, key);
+  };
+
+  // Utility Functions
+  // -----------------
+
+  // Run Underscore.js in *noConflict* mode, returning the `_` variable to its
+  // previous owner. Returns a reference to the Underscore object.
+  _.noConflict = function() {
+    root._ = previousUnderscore;
+    return this;
+  };
+
+  // Keep the identity function around for default iteratees.
+  _.identity = function(value) {
+    return value;
+  };
+
+  // Predicate-generating functions. Often useful outside of Underscore.
+  _.constant = function(value) {
+    return function() {
+      return value;
+    };
+  };
+
+  _.noop = function(){};
+
+  _.property = property;
+
+  // Generates a function for a given object that returns a given property.
+  _.propertyOf = function(obj) {
+    return obj == null ? function(){} : function(key) {
+      return obj[key];
+    };
+  };
+
+  // Returns a predicate for checking whether an object has a given set of
+  // `key:value` pairs.
+  _.matcher = _.matches = function(attrs) {
+    attrs = _.extendOwn({}, attrs);
+    return function(obj) {
+      return _.isMatch(obj, attrs);
+    };
+  };
+
+  // Run a function **n** times.
+  _.times = function(n, iteratee, context) {
+    var accum = Array(Math.max(0, n));
+    iteratee = optimizeCb(iteratee, context, 1);
+    for (var i = 0; i < n; i++) accum[i] = iteratee(i);
+    return accum;
+  };
+
+  // Return a random integer between min and max (inclusive).
+  _.random = function(min, max) {
+    if (max == null) {
+      max = min;
+      min = 0;
+    }
+    return min + Math.floor(Math.random() * (max - min + 1));
+  };
+
+  // A (possibly faster) way to get the current timestamp as an integer.
+  _.now = Date.now || function() {
+    return new Date().getTime();
+  };
+
+   // List of HTML entities for escaping.
+  var escapeMap = {
+    '&': '&amp;',
+    '<': '&lt;',
+    '>': '&gt;',
+    '"': '&quot;',
+    "'": '&#x27;',
+    '`': '&#x60;'
+  };
+  var unescapeMap = _.invert(escapeMap);
+
+  // Functions for escaping and unescaping strings to/from HTML interpolation.
+  var createEscaper = function(map) {
+    var escaper = function(match) {
+      return map[match];
+    };
+    // Regexes for identifying a key that needs to be escaped
+    var source = '(?:' + _.keys(map).join('|') + ')';
+    var testRegexp = RegExp(source);
+    var replaceRegexp = RegExp(source, 'g');
+    return function(string) {
+      string = string == null ? '' : '' + string;
+      return testRegexp.test(string) ? string.replace(replaceRegexp, escaper) : string;
+    };
+  };
+  _.escape = createEscaper(escapeMap);
+  _.unescape = createEscaper(unescapeMap);
+
+  // If the value of the named `property` is a function then invoke it with the
+  // `object` as context; otherwise, return it.
+  _.result = function(object, property, fallback) {
+    var value = object == null ? void 0 : object[property];
+    if (value === void 0) {
+      value = fallback;
+    }
+    return _.isFunction(value) ? value.call(object) : value;
+  };
+
+  // Generate a unique integer id (unique within the entire client session).
+  // Useful for temporary DOM ids.
+  var idCounter = 0;
+  _.uniqueId = function(prefix) {
+    var id = ++idCounter + '';
+    return prefix ? prefix + id : id;
+  };
+
+  // By default, Underscore uses ERB-style template delimiters, change the
+  // following template settings to use alternative delimiters.
+  _.templateSettings = {
+    evaluate    : /<%([\s\S]+?)%>/g,
+    interpolate : /<%=([\s\S]+?)%>/g,
+    escape      : /<%-([\s\S]+?)%>/g
+  };
+
+  // When customizing `templateSettings`, if you don't want to define an
+  // interpolation, evaluation or escaping regex, we need one that is
+  // guaranteed not to match.
+  var noMatch = /(.)^/;
+
+  // Certain characters need to be escaped so that they can be put into a
+  // string literal.
+  var escapes = {
+    "'":      "'",
+    '\\':     '\\',
+    '\r':     'r',
+    '\n':     'n',
+    '\u2028': 'u2028',
+    '\u2029': 'u2029'
+  };
+
+  var escaper = /\\|'|\r|\n|\u2028|\u2029/g;
+
+  var escapeChar = function(match) {
+    return '\\' + escapes[match];
+  };
+
+  // JavaScript micro-templating, similar to John Resig's implementation.
+  // Underscore templating handles arbitrary delimiters, preserves whitespace,
+  // and correctly escapes quotes within interpolated code.
+  // NB: `oldSettings` only exists for backwards compatibility.
+  _.template = function(text, settings, oldSettings) {
+    if (!settings && oldSettings) settings = oldSettings;
+    settings = _.defaults({}, settings, _.templateSettings);
+
+    // Combine delimiters into one regular expression via alternation.
+    var matcher = RegExp([
+      (settings.escape || noMatch).source,
+      (settings.interpolate || noMatch).source,
+      (settings.evaluate || noMatch).source
+    ].join('|') + '|$', 'g');
+
+    // Compile the template source, escaping string literals appropriately.
+    var index = 0;
+    var source = "__p+='";
+    text.replace(matcher, function(match, escape, interpolate, evaluate, offset) {
+      source += text.slice(index, offset).replace(escaper, escapeChar);
+      index = offset + match.length;
+
+      if (escape) {
+        source += "'+\n((__t=(" + escape + "))==null?'':_.escape(__t))+\n'";
+      } else if (interpolate) {
+        source += "'+\n((__t=(" + interpolate + "))==null?'':__t)+\n'";
+      } else if (evaluate) {
+        source += "';\n" + evaluate + "\n__p+='";
+      }
+
+      // Adobe VMs need the match returned to produce the correct offest.
+      return match;
+    });
+    source += "';\n";
+
+    // If a variable is not specified, place data values in local scope.
+    if (!settings.variable) source = 'with(obj||{}){\n' + source + '}\n';
+
+    source = "var __t,__p='',__j=Array.prototype.join," +
+      "print=function(){__p+=__j.call(arguments,'');};\n" +
+      source + 'return __p;\n';
+
+    try {
+      var render = new Function(settings.variable || 'obj', '_', source);
+    } catch (e) {
+      e.source = source;
+      throw e;
+    }
+
+    var template = function(data) {
+      return render.call(this, data, _);
+    };
+
+    // Provide the compiled source as a convenience for precompilation.
+    var argument = settings.variable || 'obj';
+    template.source = 'function(' + argument + '){\n' + source + '}';
+
+    return template;
+  };
+
+  // Add a "chain" function. Start chaining a wrapped Underscore object.
+  _.chain = function(obj) {
+    var instance = _(obj);
+    instance._chain = true;
+    return instance;
+  };
+
+  // OOP
+  // ---------------
+  // If Underscore is called as a function, it returns a wrapped object that
+  // can be used OO-style. This wrapper holds altered versions of all the
+  // underscore functions. Wrapped objects may be chained.
+
+  // Helper function to continue chaining intermediate results.
+  var result = function(instance, obj) {
+    return instance._chain ? _(obj).chain() : obj;
+  };
+
+  // Add your own custom functions to the Underscore object.
+  _.mixin = function(obj) {
+    _.each(_.functions(obj), function(name) {
+      var func = _[name] = obj[name];
+      _.prototype[name] = function() {
+        var args = [this._wrapped];
+        push.apply(args, arguments);
+        return result(this, func.apply(_, args));
+      };
+    });
+  };
+
+  // Add all of the Underscore functions to the wrapper object.
+  _.mixin(_);
+
+  // Add all mutator Array functions to the wrapper.
+  _.each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
+    var method = ArrayProto[name];
+    _.prototype[name] = function() {
+      var obj = this._wrapped;
+      method.apply(obj, arguments);
+      if ((name === 'shift' || name === 'splice') && obj.length === 0) delete obj[0];
+      return result(this, obj);
+    };
+  });
+
+  // Add all accessor Array functions to the wrapper.
+  _.each(['concat', 'join', 'slice'], function(name) {
+    var method = ArrayProto[name];
+    _.prototype[name] = function() {
+      return result(this, method.apply(this._wrapped, arguments));
+    };
+  });
+
+  // Extracts the result from a wrapped and chained object.
+  _.prototype.value = function() {
+    return this._wrapped;
+  };
+
+  // Provide unwrapping proxy for some methods used in engine operations
+  // such as arithmetic and JSON stringification.
+  _.prototype.valueOf = _.prototype.toJSON = _.prototype.value;
+
+  _.prototype.toString = function() {
+    return '' + this._wrapped;
+  };
+
+  // AMD registration happens at the end for compatibility with AMD loaders
+  // that may not enforce next-turn semantics on modules. Even though general
+  // practice for AMD registration is to be anonymous, underscore registers
+  // as a named module because, like jQuery, it is a base library that is
+  // popular enough to be bundled in a third party lib, but not be part of
+  // an AMD load request. Those cases could generate an error when an
+  // anonymous define() is called outside of a loader request.
+  if (typeof define === 'function' && define.amd) {
+    define('underscore', [], function() {
+      return _;
+    });
+  }
+}.call(this));
+
+},{}],26:[function(require,module,exports){
+arguments[4][19][0].apply(exports,arguments)
+},{"dup":19}],27:[function(require,module,exports){
+module.exports = function isBuffer(arg) {
+  return arg && typeof arg === 'object'
+    && typeof arg.copy === 'function'
+    && typeof arg.fill === 'function'
+    && typeof arg.readUInt8 === 'function';
+}
+},{}],28:[function(require,module,exports){
+(function (process,global){
+// Copyright Joyent, Inc. and other Node contributors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to permit
+// persons to whom the Software is furnished to do so, subject to the
+// following conditions:
+//
+// The above copyright notice and this permission notice shall be included
+// in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
+// NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
+// USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+var formatRegExp = /%[sdj%]/g;
+exports.format = function(f) {
+  if (!isString(f)) {
+    var objects = [];
+    for (var i = 0; i < arguments.length; i++) {
+      objects.push(inspect(arguments[i]));
+    }
+    return objects.join(' ');
+  }
+
+  var i = 1;
+  var args = arguments;
+  var len = args.length;
+  var str = String(f).replace(formatRegExp, function(x) {
+    if (x === '%%') return '%';
+    if (i >= len) return x;
+    switch (x) {
+      case '%s': return String(args[i++]);
+      case '%d': return Number(args[i++]);
+      case '%j':
+        try {
+          return JSON.stringify(args[i++]);
+        } catch (_) {
+          return '[Circular]';
+        }
+      default:
+        return x;
+    }
+  });
+  for (var x = args[i]; i < len; x = args[++i]) {
+    if (isNull(x) || !isObject(x)) {
+      str += ' ' + x;
+    } else {
+      str += ' ' + inspect(x);
+    }
+  }
+  return str;
+};
+
+
+// Mark that a method should not be used.
+// Returns a modified function which warns once by default.
+// If --no-deprecation is set, then it is a no-op.
+exports.deprecate = function(fn, msg) {
+  // Allow for deprecating things in the process of starting up.
+  if (isUndefined(global.process)) {
+    return function() {
+      return exports.deprecate(fn, msg).apply(this, arguments);
+    };
+  }
+
+  if (process.noDeprecation === true) {
+    return fn;
+  }
+
+  var warned = false;
+  function deprecated() {
+    if (!warned) {
+      if (process.throwDeprecation) {
+        throw new Error(msg);
+      } else if (process.traceDeprecation) {
+        console.trace(msg);
+      } else {
+        console.error(msg);
+      }
+      warned = true;
+    }
+    return fn.apply(this, arguments);
+  }
+
+  return deprecated;
+};
+
+
+var debugs = {};
+var debugEnviron;
+exports.debuglog = function(set) {
+  if (isUndefined(debugEnviron))
+    debugEnviron = process.env.NODE_DEBUG || '';
+  set = set.toUpperCase();
+  if (!debugs[set]) {
+    if (new RegExp('\\b' + set + '\\b', 'i').test(debugEnviron)) {
+      var pid = process.pid;
+      debugs[set] = function() {
+        var msg = exports.format.apply(exports, arguments);
+        console.error('%s %d: %s', set, pid, msg);
+      };
+    } else {
+      debugs[set] = function() {};
+    }
+  }
+  return debugs[set];
+};
+
+
+/**
+ * Echos the value of a value. Trys to print the value out
+ * in the best way possible given the different types.
+ *
+ * @param {Object} obj The object to print out.
+ * @param {Object} opts Optional options object that alters the output.
+ */
+/* legacy: obj, showHidden, depth, colors*/
+function inspect(obj, opts) {
+  // default options
+  var ctx = {
+    seen: [],
+    stylize: stylizeNoColor
+  };
+  // legacy...
+  if (arguments.length >= 3) ctx.depth = arguments[2];
+  if (arguments.length >= 4) ctx.colors = arguments[3];
+  if (isBoolean(opts)) {
+    // legacy...
+    ctx.showHidden = opts;
+  } else if (opts) {
+    // got an "options" object
+    exports._extend(ctx, opts);
+  }
+  // set default options
+  if (isUndefined(ctx.showHidden)) ctx.showHidden = false;
+  if (isUndefined(ctx.depth)) ctx.depth = 2;
+  if (isUndefined(ctx.colors)) ctx.colors = false;
+  if (isUndefined(ctx.customInspect)) ctx.customInspect = true;
+  if (ctx.colors) ctx.stylize = stylizeWithColor;
+  return formatValue(ctx, obj, ctx.depth);
+}
+exports.inspect = inspect;
+
+
+// http://en.wikipedia.org/wiki/ANSI_escape_code#graphics
+inspect.colors = {
+  'bold' : [1, 22],
+  'italic' : [3, 23],
+  'underline' : [4, 24],
+  'inverse' : [7, 27],
+  'white' : [37, 39],
+  'grey' : [90, 39],
+  'black' : [30, 39],
+  'blue' : [34, 39],
+  'cyan' : [36, 39],
+  'green' : [32, 39],
+  'magenta' : [35, 39],
+  'red' : [31, 39],
+  'yellow' : [33, 39]
+};
+
+// Don't use 'blue' not visible on cmd.exe
+inspect.styles = {
+  'special': 'cyan',
+  'number': 'yellow',
+  'boolean': 'yellow',
+  'undefined': 'grey',
+  'null': 'bold',
+  'string': 'green',
+  'date': 'magenta',
+  // "name": intentionally not styling
+  'regexp': 'red'
+};
+
+
+function stylizeWithColor(str, styleType) {
+  var style = inspect.styles[styleType];
+
+  if (style) {
+    return '\u001b[' + inspect.colors[style][0] + 'm' + str +
+           '\u001b[' + inspect.colors[style][1] + 'm';
+  } else {
+    return str;
+  }
+}
+
+
+function stylizeNoColor(str, styleType) {
+  return str;
+}
+
+
+function arrayToHash(array) {
+  var hash = {};
+
+  array.forEach(function(val, idx) {
+    hash[val] = true;
+  });
+
+  return hash;
+}
+
+
+function formatValue(ctx, value, recurseTimes) {
+  // Provide a hook for user-specified inspect functions.
+  // Check that value is an object with an inspect function on it
+  if (ctx.customInspect &&
+      value &&
+      isFunction(value.inspect) &&
+      // Filter out the util module, it's inspect function is special
+      value.inspect !== exports.inspect &&
+      // Also filter out any prototype objects using the circular check.
+      !(value.constructor && value.constructor.prototype === value)) {
+    var ret = value.inspect(recurseTimes, ctx);
+    if (!isString(ret)) {
+      ret = formatValue(ctx, ret, recurseTimes);
+    }
+    return ret;
+  }
+
+  // Primitive types cannot have properties
+  var primitive = formatPrimitive(ctx, value);
+  if (primitive) {
+    return primitive;
+  }
+
+  // Look up the keys of the object.
+  var keys = Object.keys(value);
+  var visibleKeys = arrayToHash(keys);
+
+  if (ctx.showHidden) {
+    keys = Object.getOwnPropertyNames(value);
+  }
+
+  // IE doesn't make error fields non-enumerable
+  // http://msdn.microsoft.com/en-us/library/ie/dww52sbt(v=vs.94).aspx
+  if (isError(value)
+      && (keys.indexOf('message') >= 0 || keys.indexOf('description') >= 0)) {
+    return formatError(value);
+  }
+
+  // Some type of object without properties can be shortcutted.
+  if (keys.length === 0) {
+    if (isFunction(value)) {
+      var name = value.name ? ': ' + value.name : '';
+      return ctx.stylize('[Function' + name + ']', 'special');
+    }
+    if (isRegExp(value)) {
+      return ctx.stylize(RegExp.prototype.toString.call(value), 'regexp');
+    }
+    if (isDate(value)) {
+      return ctx.stylize(Date.prototype.toString.call(value), 'date');
+    }
+    if (isError(value)) {
+      return formatError(value);
+    }
+  }
+
+  var base = '', array = false, braces = ['{', '}'];
+
+  // Make Array say that they are Array
+  if (isArray(value)) {
+    array = true;
+    braces = ['[', ']'];
+  }
+
+  // Make functions say that they are functions
+  if (isFunction(value)) {
+    var n = value.name ? ': ' + value.name : '';
+    base = ' [Function' + n + ']';
+  }
+
+  // Make RegExps say that they are RegExps
+  if (isRegExp(value)) {
+    base = ' ' + RegExp.prototype.toString.call(value);
+  }
+
+  // Make dates with properties first say the date
+  if (isDate(value)) {
+    base = ' ' + Date.prototype.toUTCString.call(value);
+  }
+
+  // Make error with message first say the error
+  if (isError(value)) {
+    base = ' ' + formatError(value);
+  }
+
+  if (keys.length === 0 && (!array || value.length == 0)) {
+    return braces[0] + base + braces[1];
+  }
+
+  if (recurseTimes < 0) {
+    if (isRegExp(value)) {
+      return ctx.stylize(RegExp.prototype.toString.call(value), 'regexp');
+    } else {
+      return ctx.stylize('[Object]', 'special');
+    }
+  }
+
+  ctx.seen.push(value);
+
+  var output;
+  if (array) {
+    output = formatArray(ctx, value, recurseTimes, visibleKeys, keys);
+  } else {
+    output = keys.map(function(key) {
+      return formatProperty(ctx, value, recurseTimes, visibleKeys, key, array);
+    });
+  }
+
+  ctx.seen.pop();
+
+  return reduceToSingleString(output, base, braces);
+}
+
+
+function formatPrimitive(ctx, value) {
+  if (isUndefined(value))
+    return ctx.stylize('undefined', 'undefined');
+  if (isString(value)) {
+    var simple = '\'' + JSON.stringify(value).replace(/^"|"$/g, '')
+                                             .replace(/'/g, "\\'")
+                                             .replace(/\\"/g, '"') + '\'';
+    return ctx.stylize(simple, 'string');
+  }
+  if (isNumber(value))
+    return ctx.stylize('' + value, 'number');
+  if (isBoolean(value))
+    return ctx.stylize('' + value, 'boolean');
+  // For some reason typeof null is "object", so special case here.
+  if (isNull(value))
+    return ctx.stylize('null', 'null');
+}
+
+
+function formatError(value) {
+  return '[' + Error.prototype.toString.call(value) + ']';
+}
+
+
+function formatArray(ctx, value, recurseTimes, visibleKeys, keys) {
+  var output = [];
+  for (var i = 0, l = value.length; i < l; ++i) {
+    if (hasOwnProperty(value, String(i))) {
+      output.push(formatProperty(ctx, value, recurseTimes, visibleKeys,
+          String(i), true));
+    } else {
+      output.push('');
+    }
+  }
+  keys.forEach(function(key) {
+    if (!key.match(/^\d+$/)) {
+      output.push(formatProperty(ctx, value, recurseTimes, visibleKeys,
+          key, true));
+    }
+  });
+  return output;
+}
+
+
+function formatProperty(ctx, value, recurseTimes, visibleKeys, key, array) {
+  var name, str, desc;
+  desc = Object.getOwnPropertyDescriptor(value, key) || { value: value[key] };
+  if (desc.get) {
+    if (desc.set) {
+      str = ctx.stylize('[Getter/Setter]', 'special');
+    } else {
+      str = ctx.stylize('[Getter]', 'special');
+    }
+  } else {
+    if (desc.set) {
+      str = ctx.stylize('[Setter]', 'special');
+    }
+  }
+  if (!hasOwnProperty(visibleKeys, key)) {
+    name = '[' + key + ']';
+  }
+  if (!str) {
+    if (ctx.seen.indexOf(desc.value) < 0) {
+      if (isNull(recurseTimes)) {
+        str = formatValue(ctx, desc.value, null);
+      } else {
+        str = formatValue(ctx, desc.value, recurseTimes - 1);
+      }
+      if (str.indexOf('\n') > -1) {
+        if (array) {
+          str = str.split('\n').map(function(line) {
+            return '  ' + line;
+          }).join('\n').substr(2);
+        } else {
+          str = '\n' + str.split('\n').map(function(line) {
+            return '   ' + line;
+          }).join('\n');
+        }
+      }
+    } else {
+      str = ctx.stylize('[Circular]', 'special');
+    }
+  }
+  if (isUndefined(name)) {
+    if (array && key.match(/^\d+$/)) {
+      return str;
+    }
+    name = JSON.stringify('' + key);
+    if (name.match(/^"([a-zA-Z_][a-zA-Z_0-9]*)"$/)) {
+      name = name.substr(1, name.length - 2);
+      name = ctx.stylize(name, 'name');
+    } else {
+      name = name.replace(/'/g, "\\'")
+                 .replace(/\\"/g, '"')
+                 .replace(/(^"|"$)/g, "'");
+      name = ctx.stylize(name, 'string');
+    }
+  }
+
+  return name + ': ' + str;
+}
+
+
+function reduceToSingleString(output, base, braces) {
+  var numLinesEst = 0;
+  var length = output.reduce(function(prev, cur) {
+    numLinesEst++;
+    if (cur.indexOf('\n') >= 0) numLinesEst++;
+    return prev + cur.replace(/\u001b\[\d\d?m/g, '').length + 1;
+  }, 0);
+
+  if (length > 60) {
+    return braces[0] +
+           (base === '' ? '' : base + '\n ') +
+           ' ' +
+           output.join(',\n  ') +
+           ' ' +
+           braces[1];
+  }
+
+  return braces[0] + base + ' ' + output.join(', ') + ' ' + braces[1];
+}
+
+
+// NOTE: These type checking functions intentionally don't use `instanceof`
+// because it is fragile and can be easily faked with `Object.create()`.
+function isArray(ar) {
+  return Array.isArray(ar);
+}
+exports.isArray = isArray;
+
+function isBoolean(arg) {
+  return typeof arg === 'boolean';
+}
+exports.isBoolean = isBoolean;
+
+function isNull(arg) {
+  return arg === null;
+}
+exports.isNull = isNull;
+
+function isNullOrUndefined(arg) {
+  return arg == null;
+}
+exports.isNullOrUndefined = isNullOrUndefined;
+
+function isNumber(arg) {
+  return typeof arg === 'number';
+}
+exports.isNumber = isNumber;
+
+function isString(arg) {
+  return typeof arg === 'string';
+}
+exports.isString = isString;
+
+function isSymbol(arg) {
+  return typeof arg === 'symbol';
+}
+exports.isSymbol = isSymbol;
+
+function isUndefined(arg) {
+  return arg === void 0;
+}
+exports.isUndefined = isUndefined;
+
+function isRegExp(re) {
+  return isObject(re) && objectToString(re) === '[object RegExp]';
+}
+exports.isRegExp = isRegExp;
+
+function isObject(arg) {
+  return typeof arg === 'object' && arg !== null;
+}
+exports.isObject = isObject;
+
+function isDate(d) {
+  return isObject(d) && objectToString(d) === '[object Date]';
+}
+exports.isDate = isDate;
+
+function isError(e) {
+  return isObject(e) &&
+      (objectToString(e) === '[object Error]' || e instanceof Error);
+}
+exports.isError = isError;
+
+function isFunction(arg) {
+  return typeof arg === 'function';
+}
+exports.isFunction = isFunction;
+
+function isPrimitive(arg) {
+  return arg === null ||
+         typeof arg === 'boolean' ||
+         typeof arg === 'number' ||
+         typeof arg === 'string' ||
+         typeof arg === 'symbol' ||  // ES6 symbol
+         typeof arg === 'undefined';
+}
+exports.isPrimitive = isPrimitive;
+
+exports.isBuffer = require('./support/isBuffer');
+
+function objectToString(o) {
+  return Object.prototype.toString.call(o);
+}
+
+
+function pad(n) {
+  return n < 10 ? '0' + n.toString(10) : n.toString(10);
+}
+
+
+var months = ['Jan', 'Feb', 'Mar', 'Apr', 'May', 'Jun', 'Jul', 'Aug', 'Sep',
+              'Oct', 'Nov', 'Dec'];
+
+// 26 Feb 16:19:34
+function timestamp() {
+  var d = new Date();
+  var time = [pad(d.getHours()),
+              pad(d.getMinutes()),
+              pad(d.getSeconds())].join(':');
+  return [d.getDate(), months[d.getMonth()], time].join(' ');
+}
+
+
+// log is just a thin wrapper to console.log that prepends a timestamp
+exports.log = function() {
+  console.log('%s - %s', timestamp(), exports.format.apply(exports, arguments));
+};
+
+
+/**
+ * Inherit the prototype methods from one constructor into another.
+ *
+ * The Function.prototype.inherits from lang.js rewritten as a standalone
+ * function (not on Function.prototype). NOTE: If this file is to be loaded
+ * during bootstrapping this function needs to be rewritten using some native
+ * functions as prototype setup using normal JavaScript does not work as
+ * expected during bootstrapping (see mirror.js in r114903).
+ *
+ * @param {function} ctor Constructor function which needs to inherit the
+ *     prototype.
+ * @param {function} superCtor Constructor function to inherit prototype from.
+ */
+exports.inherits = require('inherits');
+
+exports._extend = function(origin, add) {
+  // Don't do anything if add isn't an object
+  if (!add || !isObject(add)) return origin;
+
+  var keys = Object.keys(add);
+  var i = keys.length;
+  while (i--) {
+    origin[keys[i]] = add[keys[i]];
+  }
+  return origin;
+};
+
+function hasOwnProperty(obj, prop) {
+  return Object.prototype.hasOwnProperty.call(obj, prop);
+}
+
+}).call(this,require('_process'),typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{"./support/isBuffer":27,"_process":24,"inherits":26}],29:[function(require,module,exports){
+// Returns a wrapper function that returns a wrapped callback
+// The wrapper function should do some stuff, and return a
+// presumably different callback function.
+// This makes sure that own properties are retained, so that
+// decorations and such are not lost along the way.
+module.exports = wrappy
+function wrappy (fn, cb) {
+  if (fn && cb) return wrappy(fn)(cb)
+
+  if (typeof fn !== 'function')
+    throw new TypeError('need wrapper function')
+
+  Object.keys(fn).forEach(function (k) {
+    wrapper[k] = fn[k]
+  })
+
+  return wrapper
+
+  function wrapper() {
+    var args = new Array(arguments.length)
+    for (var i = 0; i < args.length; i++) {
+      args[i] = arguments[i]
+    }
+    var ret = fn.apply(this, args)
+    var cb = args[args.length-1]
+    if (typeof ret === 'function' && ret !== cb) {
+      Object.keys(cb).forEach(function (k) {
+        ret[k] = cb[k]
+      })
+    }
+    return ret
+  }
+}
+
+},{}]},{},[7])(7)
+});
\ No newline at end of file
diff --git a/assets/javascripts/workers/search.b8dbb3d2.min.js b/assets/javascripts/workers/search.b8dbb3d2.min.js
new file mode 100644
index 00000000..c8a1ec8d
--- /dev/null
+++ b/assets/javascripts/workers/search.b8dbb3d2.min.js
@@ -0,0 +1,42 @@
+"use strict";(()=>{var xe=Object.create;var U=Object.defineProperty,ve=Object.defineProperties,Se=Object.getOwnPropertyDescriptor,Te=Object.getOwnPropertyDescriptors,Qe=Object.getOwnPropertyNames,Y=Object.getOwnPropertySymbols,Ee=Object.getPrototypeOf,X=Object.prototype.hasOwnProperty,be=Object.prototype.propertyIsEnumerable;var Z=Math.pow,J=(t,e,r)=>e in t?U(t,e,{enumerable:!0,configurable:!0,writable:!0,value:r}):t[e]=r,A=(t,e)=>{for(var r in e||(e={}))X.call(e,r)&&J(t,r,e[r]);if(Y)for(var r of Y(e))be.call(e,r)&&J(t,r,e[r]);return t},G=(t,e)=>ve(t,Te(e));var Le=(t,e)=>()=>(e||t((e={exports:{}}).exports,e),e.exports);var we=(t,e,r,n)=>{if(e&&typeof e=="object"||typeof e=="function")for(let i of Qe(e))!X.call(t,i)&&i!==r&&U(t,i,{get:()=>e[i],enumerable:!(n=Se(e,i))||n.enumerable});return t};var Pe=(t,e,r)=>(r=t!=null?xe(Ee(t)):{},we(e||!t||!t.__esModule?U(r,"default",{value:t,enumerable:!0}):r,t));var B=(t,e,r)=>new Promise((n,i)=>{var s=u=>{try{a(r.next(u))}catch(c){i(c)}},o=u=>{try{a(r.throw(u))}catch(c){i(c)}},a=u=>u.done?n(u.value):Promise.resolve(u.value).then(s,o);a((r=r.apply(t,e)).next())});var te=Le((K,ee)=>{/**
+ * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9
+ * Copyright (C) 2020 Oliver Nightingale
+ * @license MIT
+ */(function(){var t=function(e){var r=new t.Builder;return r.pipeline.add(t.trimmer,t.stopWordFilter,t.stemmer),r.searchPipeline.add(t.stemmer),e.call(r,r),r.build()};t.version="2.3.9";/*!
+ * lunr.utils
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.utils={},t.utils.warn=function(e){return function(r){e.console&&console.warn&&console.warn(r)}}(this),t.utils.asString=function(e){return e==null?"":e.toString()},t.utils.clone=function(e){if(e==null)return e;for(var r=Object.create(null),n=Object.keys(e),i=0;i<n.length;i++){var s=n[i],o=e[s];if(Array.isArray(o)){r[s]=o.slice();continue}if(typeof o=="string"||typeof o=="number"||typeof o=="boolean"){r[s]=o;continue}throw new TypeError("clone is not deep and does not support nested objects")}return r},t.FieldRef=function(e,r,n){this.docRef=e,this.fieldName=r,this._stringValue=n},t.FieldRef.joiner="/",t.FieldRef.fromString=function(e){var r=e.indexOf(t.FieldRef.joiner);if(r===-1)throw"malformed field ref string";var n=e.slice(0,r),i=e.slice(r+1);return new t.FieldRef(i,n,e)},t.FieldRef.prototype.toString=function(){return this._stringValue==null&&(this._stringValue=this.fieldName+t.FieldRef.joiner+this.docRef),this._stringValue};/*!
+ * lunr.Set
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.Set=function(e){if(this.elements=Object.create(null),e){this.length=e.length;for(var r=0;r<this.length;r++)this.elements[e[r]]=!0}else this.length=0},t.Set.complete={intersect:function(e){return e},union:function(){return this},contains:function(){return!0}},t.Set.empty={intersect:function(){return this},union:function(e){return e},contains:function(){return!1}},t.Set.prototype.contains=function(e){return!!this.elements[e]},t.Set.prototype.intersect=function(e){var r,n,i,s=[];if(e===t.Set.complete)return this;if(e===t.Set.empty)return e;this.length<e.length?(r=this,n=e):(r=e,n=this),i=Object.keys(r.elements);for(var o=0;o<i.length;o++){var a=i[o];a in n.elements&&s.push(a)}return new t.Set(s)},t.Set.prototype.union=function(e){return e===t.Set.complete?t.Set.complete:e===t.Set.empty?this:new t.Set(Object.keys(this.elements).concat(Object.keys(e.elements)))},t.idf=function(e,r){var n=0;for(var i in e)i!="_index"&&(n+=Object.keys(e[i]).length);var s=(r-n+.5)/(n+.5);return Math.log(1+Math.abs(s))},t.Token=function(e,r){this.str=e||"",this.metadata=r||{}},t.Token.prototype.toString=function(){return this.str},t.Token.prototype.update=function(e){return this.str=e(this.str,this.metadata),this},t.Token.prototype.clone=function(e){return e=e||function(r){return r},new t.Token(e(this.str,this.metadata),this.metadata)};/*!
+ * lunr.tokenizer
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.tokenizer=function(e,r){if(e==null||e==null)return[];if(Array.isArray(e))return e.map(function(g){return new t.Token(t.utils.asString(g).toLowerCase(),t.utils.clone(r))});for(var n=e.toString().toLowerCase(),i=n.length,s=[],o=0,a=0;o<=i;o++){var u=n.charAt(o),c=o-a;if(u.match(t.tokenizer.separator)||o==i){if(c>0){var f=t.utils.clone(r)||{};f.position=[a,c],f.index=s.length,s.push(new t.Token(n.slice(a,o),f))}a=o+1}}return s},t.tokenizer.separator=/[\s\-]+/;/*!
+ * lunr.Pipeline
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.Pipeline=function(){this._stack=[]},t.Pipeline.registeredFunctions=Object.create(null),t.Pipeline.registerFunction=function(e,r){r in this.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+r),e.label=r,t.Pipeline.registeredFunctions[e.label]=e},t.Pipeline.warnIfFunctionNotRegistered=function(e){var r=e.label&&e.label in this.registeredFunctions;r||t.utils.warn(`Function is not registered with pipeline. This may cause problems when serialising the index.
+`,e)},t.Pipeline.load=function(e){var r=new t.Pipeline;return e.forEach(function(n){var i=t.Pipeline.registeredFunctions[n];if(i)r.add(i);else throw new Error("Cannot load unregistered function: "+n)}),r},t.Pipeline.prototype.add=function(){var e=Array.prototype.slice.call(arguments);e.forEach(function(r){t.Pipeline.warnIfFunctionNotRegistered(r),this._stack.push(r)},this)},t.Pipeline.prototype.after=function(e,r){t.Pipeline.warnIfFunctionNotRegistered(r);var n=this._stack.indexOf(e);if(n==-1)throw new Error("Cannot find existingFn");n=n+1,this._stack.splice(n,0,r)},t.Pipeline.prototype.before=function(e,r){t.Pipeline.warnIfFunctionNotRegistered(r);var n=this._stack.indexOf(e);if(n==-1)throw new Error("Cannot find existingFn");this._stack.splice(n,0,r)},t.Pipeline.prototype.remove=function(e){var r=this._stack.indexOf(e);r!=-1&&this._stack.splice(r,1)},t.Pipeline.prototype.run=function(e){for(var r=this._stack.length,n=0;n<r;n++){for(var i=this._stack[n],s=[],o=0;o<e.length;o++){var a=i(e[o],o,e);if(!(a==null||a===""))if(Array.isArray(a))for(var u=0;u<a.length;u++)s.push(a[u]);else s.push(a)}e=s}return e},t.Pipeline.prototype.runString=function(e,r){var n=new t.Token(e,r);return this.run([n]).map(function(i){return i.toString()})},t.Pipeline.prototype.reset=function(){this._stack=[]},t.Pipeline.prototype.toJSON=function(){return this._stack.map(function(e){return t.Pipeline.warnIfFunctionNotRegistered(e),e.label})};/*!
+ * lunr.Vector
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.Vector=function(e){this._magnitude=0,this.elements=e||[]},t.Vector.prototype.positionForIndex=function(e){if(this.elements.length==0)return 0;for(var r=0,n=this.elements.length/2,i=n-r,s=Math.floor(i/2),o=this.elements[s*2];i>1&&(o<e&&(r=s),o>e&&(n=s),o!=e);)i=n-r,s=r+Math.floor(i/2),o=this.elements[s*2];if(o==e||o>e)return s*2;if(o<e)return(s+1)*2},t.Vector.prototype.insert=function(e,r){this.upsert(e,r,function(){throw"duplicate index"})},t.Vector.prototype.upsert=function(e,r,n){this._magnitude=0;var i=this.positionForIndex(e);this.elements[i]==e?this.elements[i+1]=n(this.elements[i+1],r):this.elements.splice(i,0,e,r)},t.Vector.prototype.magnitude=function(){if(this._magnitude)return this._magnitude;for(var e=0,r=this.elements.length,n=1;n<r;n+=2){var i=this.elements[n];e+=i*i}return this._magnitude=Math.sqrt(e)},t.Vector.prototype.dot=function(e){for(var r=0,n=this.elements,i=e.elements,s=n.length,o=i.length,a=0,u=0,c=0,f=0;c<s&&f<o;)a=n[c],u=i[f],a<u?c+=2:a>u?f+=2:a==u&&(r+=n[c+1]*i[f+1],c+=2,f+=2);return r},t.Vector.prototype.similarity=function(e){return this.dot(e)/this.magnitude()||0},t.Vector.prototype.toArray=function(){for(var e=new Array(this.elements.length/2),r=1,n=0;r<this.elements.length;r+=2,n++)e[n]=this.elements[r];return e},t.Vector.prototype.toJSON=function(){return this.elements};/*!
+ * lunr.stemmer
+ * Copyright (C) 2020 Oliver Nightingale
+ * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt
+ */t.stemmer=function(){var e={ational:"ate",tional:"tion",enci:"ence",anci:"ance",izer:"ize",bli:"ble",alli:"al",entli:"ent",eli:"e",ousli:"ous",ization:"ize",ation:"ate",ator:"ate",alism:"al",iveness:"ive",fulness:"ful",ousness:"ous",aliti:"al",iviti:"ive",biliti:"ble",logi:"log"},r={icate:"ic",ative:"",alize:"al",iciti:"ic",ical:"ic",ful:"",ness:""},n="[^aeiou]",i="[aeiouy]",s=n+"[^aeiouy]*",o=i+"[aeiou]*",a="^("+s+")?"+o+s,u="^("+s+")?"+o+s+"("+o+")?$",c="^("+s+")?"+o+s+o+s,f="^("+s+")?"+i,g=new RegExp(a),l=new RegExp(c),m=new RegExp(u),x=new RegExp(f),v=/^(.+?)(ss|i)es$/,d=/^(.+?)([^s])s$/,y=/^(.+?)eed$/,b=/^(.+?)(ed|ing)$/,E=/.$/,w=/(at|bl|iz)$/,R=new RegExp("([^aeiouylsz])\\1$"),j=new RegExp("^"+s+i+"[^aeiouwxy]$"),_=/^(.+?[^aeiou])y$/,D=/^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/,N=/^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/,C=/^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/,V=/^(.+?)(s|t)(ion)$/,P=/^(.+?)e$/,z=/ll$/,$=new RegExp("^"+s+i+"[^aeiouwxy]$"),M=function(h){var S,k,L,p,T,O,F;if(h.length<3)return h;if(L=h.substr(0,1),L=="y"&&(h=L.toUpperCase()+h.substr(1)),p=v,T=d,p.test(h)?h=h.replace(p,"$1$2"):T.test(h)&&(h=h.replace(T,"$1$2")),p=y,T=b,p.test(h)){var Q=p.exec(h);p=g,p.test(Q[1])&&(p=E,h=h.replace(p,""))}else if(T.test(h)){var Q=T.exec(h);S=Q[1],T=x,T.test(S)&&(h=S,T=w,O=R,F=j,T.test(h)?h=h+"e":O.test(h)?(p=E,h=h.replace(p,"")):F.test(h)&&(h=h+"e"))}if(p=_,p.test(h)){var Q=p.exec(h);S=Q[1],h=S+"i"}if(p=D,p.test(h)){var Q=p.exec(h);S=Q[1],k=Q[2],p=g,p.test(S)&&(h=S+e[k])}if(p=N,p.test(h)){var Q=p.exec(h);S=Q[1],k=Q[2],p=g,p.test(S)&&(h=S+r[k])}if(p=C,T=V,p.test(h)){var Q=p.exec(h);S=Q[1],p=l,p.test(S)&&(h=S)}else if(T.test(h)){var Q=T.exec(h);S=Q[1]+Q[2],T=l,T.test(S)&&(h=S)}if(p=P,p.test(h)){var Q=p.exec(h);S=Q[1],p=l,T=m,O=$,(p.test(S)||T.test(S)&&!O.test(S))&&(h=S)}return p=z,T=l,p.test(h)&&T.test(h)&&(p=E,h=h.replace(p,"")),L=="y"&&(h=L.toLowerCase()+h.substr(1)),h};return function(I){return I.update(M)}}(),t.Pipeline.registerFunction(t.stemmer,"stemmer");/*!
+ * lunr.stopWordFilter
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.generateStopWordFilter=function(e){var r=e.reduce(function(n,i){return n[i]=i,n},{});return function(n){if(n&&r[n.toString()]!==n.toString())return n}},t.stopWordFilter=t.generateStopWordFilter(["a","able","about","across","after","all","almost","also","am","among","an","and","any","are","as","at","be","because","been","but","by","can","cannot","could","dear","did","do","does","either","else","ever","every","for","from","get","got","had","has","have","he","her","hers","him","his","how","however","i","if","in","into","is","it","its","just","least","let","like","likely","may","me","might","most","must","my","neither","no","nor","not","of","off","often","on","only","or","other","our","own","rather","said","say","says","she","should","since","so","some","than","that","the","their","them","then","there","these","they","this","tis","to","too","twas","us","wants","was","we","were","what","when","where","which","while","who","whom","why","will","with","would","yet","you","your"]),t.Pipeline.registerFunction(t.stopWordFilter,"stopWordFilter");/*!
+ * lunr.trimmer
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.trimmer=function(e){return e.update(function(r){return r.replace(/^\W+/,"").replace(/\W+$/,"")})},t.Pipeline.registerFunction(t.trimmer,"trimmer");/*!
+ * lunr.TokenSet
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.TokenSet=function(){this.final=!1,this.edges={},this.id=t.TokenSet._nextId,t.TokenSet._nextId+=1},t.TokenSet._nextId=1,t.TokenSet.fromArray=function(e){for(var r=new t.TokenSet.Builder,n=0,i=e.length;n<i;n++)r.insert(e[n]);return r.finish(),r.root},t.TokenSet.fromClause=function(e){return"editDistance"in e?t.TokenSet.fromFuzzyString(e.term,e.editDistance):t.TokenSet.fromString(e.term)},t.TokenSet.fromFuzzyString=function(e,r){for(var n=new t.TokenSet,i=[{node:n,editsRemaining:r,str:e}];i.length;){var s=i.pop();if(s.str.length>0){var o=s.str.charAt(0),a;o in s.node.edges?a=s.node.edges[o]:(a=new t.TokenSet,s.node.edges[o]=a),s.str.length==1&&(a.final=!0),i.push({node:a,editsRemaining:s.editsRemaining,str:s.str.slice(1)})}if(s.editsRemaining!=0){if("*"in s.node.edges)var u=s.node.edges["*"];else{var u=new t.TokenSet;s.node.edges["*"]=u}if(s.str.length==0&&(u.final=!0),i.push({node:u,editsRemaining:s.editsRemaining-1,str:s.str}),s.str.length>1&&i.push({node:s.node,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)}),s.str.length==1&&(s.node.final=!0),s.str.length>=1){if("*"in s.node.edges)var c=s.node.edges["*"];else{var c=new t.TokenSet;s.node.edges["*"]=c}s.str.length==1&&(c.final=!0),i.push({node:c,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)})}if(s.str.length>1){var f=s.str.charAt(0),g=s.str.charAt(1),l;g in s.node.edges?l=s.node.edges[g]:(l=new t.TokenSet,s.node.edges[g]=l),s.str.length==1&&(l.final=!0),i.push({node:l,editsRemaining:s.editsRemaining-1,str:f+s.str.slice(2)})}}}return n},t.TokenSet.fromString=function(e){for(var r=new t.TokenSet,n=r,i=0,s=e.length;i<s;i++){var o=e[i],a=i==s-1;if(o=="*")r.edges[o]=r,r.final=a;else{var u=new t.TokenSet;u.final=a,r.edges[o]=u,r=u}}return n},t.TokenSet.prototype.toArray=function(){for(var e=[],r=[{prefix:"",node:this}];r.length;){var n=r.pop(),i=Object.keys(n.node.edges),s=i.length;n.node.final&&(n.prefix.charAt(0),e.push(n.prefix));for(var o=0;o<s;o++){var a=i[o];r.push({prefix:n.prefix.concat(a),node:n.node.edges[a]})}}return e},t.TokenSet.prototype.toString=function(){if(this._str)return this._str;for(var e=this.final?"1":"0",r=Object.keys(this.edges).sort(),n=r.length,i=0;i<n;i++){var s=r[i],o=this.edges[s];e=e+s+o.id}return e},t.TokenSet.prototype.intersect=function(e){for(var r=new t.TokenSet,n=void 0,i=[{qNode:e,output:r,node:this}];i.length;){n=i.pop();for(var s=Object.keys(n.qNode.edges),o=s.length,a=Object.keys(n.node.edges),u=a.length,c=0;c<o;c++)for(var f=s[c],g=0;g<u;g++){var l=a[g];if(l==f||f=="*"){var m=n.node.edges[l],x=n.qNode.edges[f],v=m.final&&x.final,d=void 0;l in n.output.edges?(d=n.output.edges[l],d.final=d.final||v):(d=new t.TokenSet,d.final=v,n.output.edges[l]=d),i.push({qNode:x,output:d,node:m})}}}return r},t.TokenSet.Builder=function(){this.previousWord="",this.root=new t.TokenSet,this.uncheckedNodes=[],this.minimizedNodes={}},t.TokenSet.Builder.prototype.insert=function(e){var r,n=0;if(e<this.previousWord)throw new Error("Out of order word insertion");for(var i=0;i<e.length&&i<this.previousWord.length&&e[i]==this.previousWord[i];i++)n++;this.minimize(n),this.uncheckedNodes.length==0?r=this.root:r=this.uncheckedNodes[this.uncheckedNodes.length-1].child;for(var i=n;i<e.length;i++){var s=new t.TokenSet,o=e[i];r.edges[o]=s,this.uncheckedNodes.push({parent:r,char:o,child:s}),r=s}r.final=!0,this.previousWord=e},t.TokenSet.Builder.prototype.finish=function(){this.minimize(0)},t.TokenSet.Builder.prototype.minimize=function(e){for(var r=this.uncheckedNodes.length-1;r>=e;r--){var n=this.uncheckedNodes[r],i=n.child.toString();i in this.minimizedNodes?n.parent.edges[n.char]=this.minimizedNodes[i]:(n.child._str=i,this.minimizedNodes[i]=n.child),this.uncheckedNodes.pop()}};/*!
+ * lunr.Index
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.Index=function(e){this.invertedIndex=e.invertedIndex,this.fieldVectors=e.fieldVectors,this.tokenSet=e.tokenSet,this.fields=e.fields,this.pipeline=e.pipeline},t.Index.prototype.search=function(e){return this.query(function(r){var n=new t.QueryParser(e,r);n.parse()})},t.Index.prototype.query=function(e){for(var r=new t.Query(this.fields),n=Object.create(null),i=Object.create(null),s=Object.create(null),o=Object.create(null),a=Object.create(null),u=0;u<this.fields.length;u++)i[this.fields[u]]=new t.Vector;e.call(r,r);for(var u=0;u<r.clauses.length;u++){var c=r.clauses[u],f=null,g=t.Set.empty;c.usePipeline?f=this.pipeline.runString(c.term,{fields:c.fields}):f=[c.term];for(var l=0;l<f.length;l++){var m=f[l];c.term=m;var x=t.TokenSet.fromClause(c),v=this.tokenSet.intersect(x).toArray();if(v.length===0&&c.presence===t.Query.presence.REQUIRED){for(var d=0;d<c.fields.length;d++){var y=c.fields[d];o[y]=t.Set.empty}break}for(var b=0;b<v.length;b++)for(var E=v[b],w=this.invertedIndex[E],R=w._index,d=0;d<c.fields.length;d++){var y=c.fields[d],j=w[y],_=Object.keys(j),D=E+"/"+y,N=new t.Set(_);if(c.presence==t.Query.presence.REQUIRED&&(g=g.union(N),o[y]===void 0&&(o[y]=t.Set.complete)),c.presence==t.Query.presence.PROHIBITED){a[y]===void 0&&(a[y]=t.Set.empty),a[y]=a[y].union(N);continue}if(i[y].upsert(R,c.boost,function(ye,me){return ye+me}),!s[D]){for(var C=0;C<_.length;C++){var V=_[C],P=new t.FieldRef(V,y),z=j[V],$;($=n[P])===void 0?n[P]=new t.MatchData(E,y,z):$.add(E,y,z)}s[D]=!0}}}if(c.presence===t.Query.presence.REQUIRED)for(var d=0;d<c.fields.length;d++){var y=c.fields[d];o[y]=o[y].intersect(g)}}for(var M=t.Set.complete,I=t.Set.empty,u=0;u<this.fields.length;u++){var y=this.fields[u];o[y]&&(M=M.intersect(o[y])),a[y]&&(I=I.union(a[y]))}var h=Object.keys(n),S=[],k=Object.create(null);if(r.isNegated()){h=Object.keys(this.fieldVectors);for(var u=0;u<h.length;u++){var P=h[u],L=t.FieldRef.fromString(P);n[P]=new t.MatchData}}for(var u=0;u<h.length;u++){var L=t.FieldRef.fromString(h[u]),p=L.docRef;if(M.contains(p)&&!I.contains(p)){var T=this.fieldVectors[L],O=i[L.fieldName].similarity(T),F;if((F=k[p])!==void 0)F.score+=O,F.matchData.combine(n[L]);else{var Q={ref:p,score:O,matchData:n[L]};k[p]=Q,S.push(Q)}}}return S.sort(function(pe,ge){return ge.score-pe.score})},t.Index.prototype.toJSON=function(){var e=Object.keys(this.invertedIndex).sort().map(function(n){return[n,this.invertedIndex[n]]},this),r=Object.keys(this.fieldVectors).map(function(n){return[n,this.fieldVectors[n].toJSON()]},this);return{version:t.version,fields:this.fields,fieldVectors:r,invertedIndex:e,pipeline:this.pipeline.toJSON()}},t.Index.load=function(e){var r={},n={},i=e.fieldVectors,s=Object.create(null),o=e.invertedIndex,a=new t.TokenSet.Builder,u=t.Pipeline.load(e.pipeline);e.version!=t.version&&t.utils.warn("Version mismatch when loading serialised index. Current version of lunr '"+t.version+"' does not match serialized index '"+e.version+"'");for(var c=0;c<i.length;c++){var f=i[c],g=f[0],l=f[1];n[g]=new t.Vector(l)}for(var c=0;c<o.length;c++){var f=o[c],m=f[0],x=f[1];a.insert(m),s[m]=x}return a.finish(),r.fields=e.fields,r.fieldVectors=n,r.invertedIndex=s,r.tokenSet=a.root,r.pipeline=u,new t.Index(r)};/*!
+ * lunr.Builder
+ * Copyright (C) 2020 Oliver Nightingale
+ */t.Builder=function(){this._ref="id",this._fields=Object.create(null),this._documents=Object.create(null),this.invertedIndex=Object.create(null),this.fieldTermFrequencies={},this.fieldLengths={},this.tokenizer=t.tokenizer,this.pipeline=new t.Pipeline,this.searchPipeline=new t.Pipeline,this.documentCount=0,this._b=.75,this._k1=1.2,this.termIndex=0,this.metadataWhitelist=[]},t.Builder.prototype.ref=function(e){this._ref=e},t.Builder.prototype.field=function(e,r){if(/\//.test(e))throw new RangeError("Field '"+e+"' contains illegal character '/'");this._fields[e]=r||{}},t.Builder.prototype.b=function(e){e<0?this._b=0:e>1?this._b=1:this._b=e},t.Builder.prototype.k1=function(e){this._k1=e},t.Builder.prototype.add=function(e,r){var n=e[this._ref],i=Object.keys(this._fields);this._documents[n]=r||{},this.documentCount+=1;for(var s=0;s<i.length;s++){var o=i[s],a=this._fields[o].extractor,u=a?a(e):e[o],c=this.tokenizer(u,{fields:[o]}),f=this.pipeline.run(c),g=new t.FieldRef(n,o),l=Object.create(null);this.fieldTermFrequencies[g]=l,this.fieldLengths[g]=0,this.fieldLengths[g]+=f.length;for(var m=0;m<f.length;m++){var x=f[m];if(l[x]==null&&(l[x]=0),l[x]+=1,this.invertedIndex[x]==null){var v=Object.create(null);v._index=this.termIndex,this.termIndex+=1;for(var d=0;d<i.length;d++)v[i[d]]=Object.create(null);this.invertedIndex[x]=v}this.invertedIndex[x][o][n]==null&&(this.invertedIndex[x][o][n]=Object.create(null));for(var y=0;y<this.metadataWhitelist.length;y++){var b=this.metadataWhitelist[y],E=x.metadata[b];this.invertedIndex[x][o][n][b]==null&&(this.invertedIndex[x][o][n][b]=[]),this.invertedIndex[x][o][n][b].push(E)}}}},t.Builder.prototype.calculateAverageFieldLengths=function(){for(var e=Object.keys(this.fieldLengths),r=e.length,n={},i={},s=0;s<r;s++){var o=t.FieldRef.fromString(e[s]),a=o.fieldName;i[a]||(i[a]=0),i[a]+=1,n[a]||(n[a]=0),n[a]+=this.fieldLengths[o]}for(var u=Object.keys(this._fields),s=0;s<u.length;s++){var c=u[s];n[c]=n[c]/i[c]}this.averageFieldLength=n},t.Builder.prototype.createFieldVectors=function(){for(var e={},r=Object.keys(this.fieldTermFrequencies),n=r.length,i=Object.create(null),s=0;s<n;s++){for(var o=t.FieldRef.fromString(r[s]),a=o.fieldName,u=this.fieldLengths[o],c=new t.Vector,f=this.fieldTermFrequencies[o],g=Object.keys(f),l=g.length,m=this._fields[a].boost||1,x=this._documents[o.docRef].boost||1,v=0;v<l;v++){var d=g[v],y=f[d],b=this.invertedIndex[d]._index,E,w,R;i[d]===void 0?(E=t.idf(this.invertedIndex[d],this.documentCount),i[d]=E):E=i[d],w=E*((this._k1+1)*y)/(this._k1*(1-this._b+this._b*(u/this.averageFieldLength[a]))+y),w*=m,w*=x,R=Math.round(w*1e3)/1e3,c.insert(b,R)}e[o]=c}this.fieldVectors=e},t.Builder.prototype.createTokenSet=function(){this.tokenSet=t.TokenSet.fromArray(Object.keys(this.invertedIndex).sort())},t.Builder.prototype.build=function(){return this.calculateAverageFieldLengths(),this.createFieldVectors(),this.createTokenSet(),new t.Index({invertedIndex:this.invertedIndex,fieldVectors:this.fieldVectors,tokenSet:this.tokenSet,fields:Object.keys(this._fields),pipeline:this.searchPipeline})},t.Builder.prototype.use=function(e){var r=Array.prototype.slice.call(arguments,1);r.unshift(this),e.apply(this,r)},t.MatchData=function(e,r,n){for(var i=Object.create(null),s=Object.keys(n||{}),o=0;o<s.length;o++){var a=s[o];i[a]=n[a].slice()}this.metadata=Object.create(null),e!==void 0&&(this.metadata[e]=Object.create(null),this.metadata[e][r]=i)},t.MatchData.prototype.combine=function(e){for(var r=Object.keys(e.metadata),n=0;n<r.length;n++){var i=r[n],s=Object.keys(e.metadata[i]);this.metadata[i]==null&&(this.metadata[i]=Object.create(null));for(var o=0;o<s.length;o++){var a=s[o],u=Object.keys(e.metadata[i][a]);this.metadata[i][a]==null&&(this.metadata[i][a]=Object.create(null));for(var c=0;c<u.length;c++){var f=u[c];this.metadata[i][a][f]==null?this.metadata[i][a][f]=e.metadata[i][a][f]:this.metadata[i][a][f]=this.metadata[i][a][f].concat(e.metadata[i][a][f])}}}},t.MatchData.prototype.add=function(e,r,n){if(!(e in this.metadata)){this.metadata[e]=Object.create(null),this.metadata[e][r]=n;return}if(!(r in this.metadata[e])){this.metadata[e][r]=n;return}for(var i=Object.keys(n),s=0;s<i.length;s++){var o=i[s];o in this.metadata[e][r]?this.metadata[e][r][o]=this.metadata[e][r][o].concat(n[o]):this.metadata[e][r][o]=n[o]}},t.Query=function(e){this.clauses=[],this.allFields=e},t.Query.wildcard=new String("*"),t.Query.wildcard.NONE=0,t.Query.wildcard.LEADING=1,t.Query.wildcard.TRAILING=2,t.Query.presence={OPTIONAL:1,REQUIRED:2,PROHIBITED:3},t.Query.prototype.clause=function(e){return"fields"in e||(e.fields=this.allFields),"boost"in e||(e.boost=1),"usePipeline"in e||(e.usePipeline=!0),"wildcard"in 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+//# sourceMappingURL=search.b8dbb3d2.min.js.map
+
diff --git a/assets/javascripts/workers/search.b8dbb3d2.min.js.map b/assets/javascripts/workers/search.b8dbb3d2.min.js.map
new file mode 100644
index 00000000..7ef0846c
--- /dev/null
+++ b/assets/javascripts/workers/search.b8dbb3d2.min.js.map
@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["node_modules/lunr/lunr.js", "src/templates/assets/javascripts/integrations/search/worker/main/index.ts", "src/templates/assets/javascripts/browser/element/_/index.ts", "src/templates/assets/javascripts/polyfills/index.ts", "src/templates/assets/javascripts/integrations/search/config/index.ts", "src/templates/assets/javascripts/integrations/search/internal/_/index.ts", "src/templates/assets/javascripts/integrations/search/internal/extract/index.ts", "src/templates/assets/javascripts/integrations/search/internal/highlight/index.ts", "src/templates/assets/javascripts/integrations/search/internal/tokenize/index.ts", "src/templates/assets/javascripts/integrations/search/query/transform/index.ts", "src/templates/assets/javascripts/integrations/search/query/_/index.ts", "src/templates/assets/javascripts/integrations/search/query/segment/index.ts", "src/templates/assets/javascripts/integrations/search/_/index.ts"],
+  "sourcesContent": ["/**\n * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9\n * Copyright (C) 2020 Oliver Nightingale\n * @license MIT\n */\n\n;(function(){\n\n/**\n * A convenience function for configuring and constructing\n * a new lunr Index.\n *\n * A lunr.Builder instance is created and the pipeline setup\n * with a trimmer, stop word filter and stemmer.\n *\n * This builder object is yielded to the configuration function\n * that is passed as a parameter, allowing the list of fields\n * and other builder parameters to be customised.\n *\n * All documents _must_ be added within the passed config function.\n *\n * @example\n * var idx = lunr(function () {\n *   this.field('title')\n *   this.field('body')\n *   this.ref('id')\n *\n *   documents.forEach(function (doc) {\n *     this.add(doc)\n *   }, this)\n * })\n *\n * @see {@link lunr.Builder}\n * @see {@link lunr.Pipeline}\n * @see {@link lunr.trimmer}\n * @see {@link lunr.stopWordFilter}\n * @see {@link lunr.stemmer}\n * @namespace {function} lunr\n */\nvar lunr = function (config) {\n  var builder = new lunr.Builder\n\n  builder.pipeline.add(\n    lunr.trimmer,\n    lunr.stopWordFilter,\n    lunr.stemmer\n  )\n\n  builder.searchPipeline.add(\n    lunr.stemmer\n  )\n\n  config.call(builder, builder)\n  return builder.build()\n}\n\nlunr.version = \"2.3.9\"\n/*!\n * lunr.utils\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A namespace containing utils for the rest of the lunr library\n * @namespace lunr.utils\n */\nlunr.utils = {}\n\n/**\n * Print a warning message to the console.\n *\n * @param {String} message The message to be printed.\n * @memberOf lunr.utils\n * @function\n */\nlunr.utils.warn = (function (global) {\n  /* eslint-disable no-console */\n  return function (message) {\n    if (global.console && console.warn) {\n      console.warn(message)\n    }\n  }\n  /* eslint-enable no-console */\n})(this)\n\n/**\n * Convert an object to a string.\n *\n * In the case of `null` and `undefined` the function returns\n * the empty string, in all other cases the result of calling\n * `toString` on the passed object is returned.\n *\n * @param {Any} obj The object to convert to a string.\n * @return {String} string representation of the passed object.\n * @memberOf lunr.utils\n */\nlunr.utils.asString = function (obj) {\n  if (obj === void 0 || obj === null) {\n    return \"\"\n  } else {\n    return obj.toString()\n  }\n}\n\n/**\n * Clones an object.\n *\n * Will create a copy of an existing object such that any mutations\n * on the copy cannot affect the original.\n *\n * Only shallow objects are supported, passing a nested object to this\n * function will cause a TypeError.\n *\n * Objects with primitives, and arrays of primitives are supported.\n *\n * @param {Object} obj The object to clone.\n * @return {Object} a clone of the passed object.\n * @throws {TypeError} when a nested object is passed.\n * @memberOf Utils\n */\nlunr.utils.clone = function (obj) {\n  if (obj === null || obj === undefined) {\n    return obj\n  }\n\n  var clone = Object.create(null),\n      keys = Object.keys(obj)\n\n  for (var i = 0; i < keys.length; i++) {\n    var key = keys[i],\n        val = obj[key]\n\n    if (Array.isArray(val)) {\n      clone[key] = val.slice()\n      continue\n    }\n\n    if (typeof val === 'string' ||\n        typeof val === 'number' ||\n        typeof val === 'boolean') {\n      clone[key] = val\n      continue\n    }\n\n    throw new TypeError(\"clone is not deep and does not support nested objects\")\n  }\n\n  return clone\n}\nlunr.FieldRef = function (docRef, fieldName, stringValue) {\n  this.docRef = docRef\n  this.fieldName = fieldName\n  this._stringValue = stringValue\n}\n\nlunr.FieldRef.joiner = \"/\"\n\nlunr.FieldRef.fromString = function (s) {\n  var n = s.indexOf(lunr.FieldRef.joiner)\n\n  if (n === -1) {\n    throw \"malformed field ref string\"\n  }\n\n  var fieldRef = s.slice(0, n),\n      docRef = s.slice(n + 1)\n\n  return new lunr.FieldRef (docRef, fieldRef, s)\n}\n\nlunr.FieldRef.prototype.toString = function () {\n  if (this._stringValue == undefined) {\n    this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef\n  }\n\n  return this._stringValue\n}\n/*!\n * lunr.Set\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A lunr set.\n *\n * @constructor\n */\nlunr.Set = function (elements) {\n  this.elements = Object.create(null)\n\n  if (elements) {\n    this.length = elements.length\n\n    for (var i = 0; i < this.length; i++) {\n      this.elements[elements[i]] = true\n    }\n  } else {\n    this.length = 0\n  }\n}\n\n/**\n * A complete set that contains all elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.complete = {\n  intersect: function (other) {\n    return other\n  },\n\n  union: function () {\n    return this\n  },\n\n  contains: function () {\n    return true\n  }\n}\n\n/**\n * An empty set that contains no elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.empty = {\n  intersect: function () {\n    return this\n  },\n\n  union: function (other) {\n    return other\n  },\n\n  contains: function () {\n    return false\n  }\n}\n\n/**\n * Returns true if this set contains the specified object.\n *\n * @param {object} object - Object whose presence in this set is to be tested.\n * @returns {boolean} - True if this set contains the specified object.\n */\nlunr.Set.prototype.contains = function (object) {\n  return !!this.elements[object]\n}\n\n/**\n * Returns a new set containing only the elements that are present in both\n * this set and the specified set.\n *\n * @param {lunr.Set} other - set to intersect with this set.\n * @returns {lunr.Set} a new set that is the intersection of this and the specified set.\n */\n\nlunr.Set.prototype.intersect = function (other) {\n  var a, b, elements, intersection = []\n\n  if (other === lunr.Set.complete) {\n    return this\n  }\n\n  if (other === lunr.Set.empty) {\n    return other\n  }\n\n  if (this.length < other.length) {\n    a = this\n    b = other\n  } else {\n    a = other\n    b = this\n  }\n\n  elements = Object.keys(a.elements)\n\n  for (var i = 0; i < elements.length; i++) {\n    var element = elements[i]\n    if (element in b.elements) {\n      intersection.push(element)\n    }\n  }\n\n  return new lunr.Set (intersection)\n}\n\n/**\n * Returns a new set combining the elements of this and the specified set.\n *\n * @param {lunr.Set} other - set to union with this set.\n * @return {lunr.Set} a new set that is the union of this and the specified set.\n */\n\nlunr.Set.prototype.union = function (other) {\n  if (other === lunr.Set.complete) {\n    return lunr.Set.complete\n  }\n\n  if (other === lunr.Set.empty) {\n    return this\n  }\n\n  return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements)))\n}\n/**\n * A function to calculate the inverse document frequency for\n * a posting. This is shared between the builder and the index\n *\n * @private\n * @param {object} posting - The posting for a given term\n * @param {number} documentCount - The total number of documents.\n */\nlunr.idf = function (posting, documentCount) {\n  var documentsWithTerm = 0\n\n  for (var fieldName in posting) {\n    if (fieldName == '_index') continue // Ignore the term index, its not a field\n    documentsWithTerm += Object.keys(posting[fieldName]).length\n  }\n\n  var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5)\n\n  return Math.log(1 + Math.abs(x))\n}\n\n/**\n * A token wraps a string representation of a token\n * as it is passed through the text processing pipeline.\n *\n * @constructor\n * @param {string} [str=''] - The string token being wrapped.\n * @param {object} [metadata={}] - Metadata associated with this token.\n */\nlunr.Token = function (str, metadata) {\n  this.str = str || \"\"\n  this.metadata = metadata || {}\n}\n\n/**\n * Returns the token string that is being wrapped by this object.\n *\n * @returns {string}\n */\nlunr.Token.prototype.toString = function () {\n  return this.str\n}\n\n/**\n * A token update function is used when updating or optionally\n * when cloning a token.\n *\n * @callback lunr.Token~updateFunction\n * @param {string} str - The string representation of the token.\n * @param {Object} metadata - All metadata associated with this token.\n */\n\n/**\n * Applies the given function to the wrapped string token.\n *\n * @example\n * token.update(function (str, metadata) {\n *   return str.toUpperCase()\n * })\n *\n * @param {lunr.Token~updateFunction} fn - A function to apply to the token string.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.update = function (fn) {\n  this.str = fn(this.str, this.metadata)\n  return this\n}\n\n/**\n * Creates a clone of this token. Optionally a function can be\n * applied to the cloned token.\n *\n * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.clone = function (fn) {\n  fn = fn || function (s) { return s }\n  return new lunr.Token (fn(this.str, this.metadata), this.metadata)\n}\n/*!\n * lunr.tokenizer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A function for splitting a string into tokens ready to be inserted into\n * the search index. Uses `lunr.tokenizer.separator` to split strings, change\n * the value of this property to change how strings are split into tokens.\n *\n * This tokenizer will convert its parameter to a string by calling `toString` and\n * then will split this string on the character in `lunr.tokenizer.separator`.\n * Arrays will have their elements converted to strings and wrapped in a lunr.Token.\n *\n * Optional metadata can be passed to the tokenizer, this metadata will be cloned and\n * added as metadata to every token that is created from the object to be tokenized.\n *\n * @static\n * @param {?(string|object|object[])} obj - The object to convert into tokens\n * @param {?object} metadata - Optional metadata to associate with every token\n * @returns {lunr.Token[]}\n * @see {@link lunr.Pipeline}\n */\nlunr.tokenizer = function (obj, metadata) {\n  if (obj == null || obj == undefined) {\n    return []\n  }\n\n  if (Array.isArray(obj)) {\n    return obj.map(function (t) {\n      return new lunr.Token(\n        lunr.utils.asString(t).toLowerCase(),\n        lunr.utils.clone(metadata)\n      )\n    })\n  }\n\n  var str = obj.toString().toLowerCase(),\n      len = str.length,\n      tokens = []\n\n  for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) {\n    var char = str.charAt(sliceEnd),\n        sliceLength = sliceEnd - sliceStart\n\n    if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) {\n\n      if (sliceLength > 0) {\n        var tokenMetadata = lunr.utils.clone(metadata) || {}\n        tokenMetadata[\"position\"] = [sliceStart, sliceLength]\n        tokenMetadata[\"index\"] = tokens.length\n\n        tokens.push(\n          new lunr.Token (\n            str.slice(sliceStart, sliceEnd),\n            tokenMetadata\n          )\n        )\n      }\n\n      sliceStart = sliceEnd + 1\n    }\n\n  }\n\n  return tokens\n}\n\n/**\n * The separator used to split a string into tokens. Override this property to change the behaviour of\n * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens.\n *\n * @static\n * @see lunr.tokenizer\n */\nlunr.tokenizer.separator = /[\\s\\-]+/\n/*!\n * lunr.Pipeline\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Pipelines maintain an ordered list of functions to be applied to all\n * tokens in documents entering the search index and queries being ran against\n * the index.\n *\n * An instance of lunr.Index created with the lunr shortcut will contain a\n * pipeline with a stop word filter and an English language stemmer. Extra\n * functions can be added before or after either of these functions or these\n * default functions can be removed.\n *\n * When run the pipeline will call each function in turn, passing a token, the\n * index of that token in the original list of all tokens and finally a list of\n * all the original tokens.\n *\n * The output of functions in the pipeline will be passed to the next function\n * in the pipeline. To exclude a token from entering the index the function\n * should return undefined, the rest of the pipeline will not be called with\n * this token.\n *\n * For serialisation of pipelines to work, all functions used in an instance of\n * a pipeline should be registered with lunr.Pipeline. Registered functions can\n * then be loaded. If trying to load a serialised pipeline that uses functions\n * that are not registered an error will be thrown.\n *\n * If not planning on serialising the pipeline then registering pipeline functions\n * is not necessary.\n *\n * @constructor\n */\nlunr.Pipeline = function () {\n  this._stack = []\n}\n\nlunr.Pipeline.registeredFunctions = Object.create(null)\n\n/**\n * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token\n * string as well as all known metadata. A pipeline function can mutate the token string\n * or mutate (or add) metadata for a given token.\n *\n * A pipeline function can indicate that the passed token should be discarded by returning\n * null, undefined or an empty string. This token will not be passed to any downstream pipeline\n * functions and will not be added to the index.\n *\n * Multiple tokens can be returned by returning an array of tokens. Each token will be passed\n * to any downstream pipeline functions and all will returned tokens will be added to the index.\n *\n * Any number of pipeline functions may be chained together using a lunr.Pipeline.\n *\n * @interface lunr.PipelineFunction\n * @param {lunr.Token} token - A token from the document being processed.\n * @param {number} i - The index of this token in the complete list of tokens for this document/field.\n * @param {lunr.Token[]} tokens - All tokens for this document/field.\n * @returns {(?lunr.Token|lunr.Token[])}\n */\n\n/**\n * Register a function with the pipeline.\n *\n * Functions that are used in the pipeline should be registered if the pipeline\n * needs to be serialised, or a serialised pipeline needs to be loaded.\n *\n * Registering a function does not add it to a pipeline, functions must still be\n * added to instances of the pipeline for them to be used when running a pipeline.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @param {String} label - The label to register this function with\n */\nlunr.Pipeline.registerFunction = function (fn, label) {\n  if (label in this.registeredFunctions) {\n    lunr.utils.warn('Overwriting existing registered function: ' + label)\n  }\n\n  fn.label = label\n  lunr.Pipeline.registeredFunctions[fn.label] = fn\n}\n\n/**\n * Warns if the function is not registered as a Pipeline function.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @private\n */\nlunr.Pipeline.warnIfFunctionNotRegistered = function (fn) {\n  var isRegistered = fn.label && (fn.label in this.registeredFunctions)\n\n  if (!isRegistered) {\n    lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\\n', fn)\n  }\n}\n\n/**\n * Loads a previously serialised pipeline.\n *\n * All functions to be loaded must already be registered with lunr.Pipeline.\n * If any function from the serialised data has not been registered then an\n * error will be thrown.\n *\n * @param {Object} serialised - The serialised pipeline to load.\n * @returns {lunr.Pipeline}\n */\nlunr.Pipeline.load = function (serialised) {\n  var pipeline = new lunr.Pipeline\n\n  serialised.forEach(function (fnName) {\n    var fn = lunr.Pipeline.registeredFunctions[fnName]\n\n    if (fn) {\n      pipeline.add(fn)\n    } else {\n      throw new Error('Cannot load unregistered function: ' + fnName)\n    }\n  })\n\n  return pipeline\n}\n\n/**\n * Adds new functions to the end of the pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline.\n */\nlunr.Pipeline.prototype.add = function () {\n  var fns = Array.prototype.slice.call(arguments)\n\n  fns.forEach(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n    this._stack.push(fn)\n  }, this)\n}\n\n/**\n * Adds a single function after a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.after = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  pos = pos + 1\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Adds a single function before a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.before = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Removes a function from the pipeline.\n *\n * @param {lunr.PipelineFunction} fn The function to remove from the pipeline.\n */\nlunr.Pipeline.prototype.remove = function (fn) {\n  var pos = this._stack.indexOf(fn)\n  if (pos == -1) {\n    return\n  }\n\n  this._stack.splice(pos, 1)\n}\n\n/**\n * Runs the current list of functions that make up the pipeline against the\n * passed tokens.\n *\n * @param {Array} tokens The tokens to run through the pipeline.\n * @returns {Array}\n */\nlunr.Pipeline.prototype.run = function (tokens) {\n  var stackLength = this._stack.length\n\n  for (var i = 0; i < stackLength; i++) {\n    var fn = this._stack[i]\n    var memo = []\n\n    for (var j = 0; j < tokens.length; j++) {\n      var result = fn(tokens[j], j, tokens)\n\n      if (result === null || result === void 0 || result === '') continue\n\n      if (Array.isArray(result)) {\n        for (var k = 0; k < result.length; k++) {\n          memo.push(result[k])\n        }\n      } else {\n        memo.push(result)\n      }\n    }\n\n    tokens = memo\n  }\n\n  return tokens\n}\n\n/**\n * Convenience method for passing a string through a pipeline and getting\n * strings out. This method takes care of wrapping the passed string in a\n * token and mapping the resulting tokens back to strings.\n *\n * @param {string} str - The string to pass through the pipeline.\n * @param {?object} metadata - Optional metadata to associate with the token\n * passed to the pipeline.\n * @returns {string[]}\n */\nlunr.Pipeline.prototype.runString = function (str, metadata) {\n  var token = new lunr.Token (str, metadata)\n\n  return this.run([token]).map(function (t) {\n    return t.toString()\n  })\n}\n\n/**\n * Resets the pipeline by removing any existing processors.\n *\n */\nlunr.Pipeline.prototype.reset = function () {\n  this._stack = []\n}\n\n/**\n * Returns a representation of the pipeline ready for serialisation.\n *\n * Logs a warning if the function has not been registered.\n *\n * @returns {Array}\n */\nlunr.Pipeline.prototype.toJSON = function () {\n  return this._stack.map(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n\n    return fn.label\n  })\n}\n/*!\n * lunr.Vector\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A vector is used to construct the vector space of documents and queries. These\n * vectors support operations to determine the similarity between two documents or\n * a document and a query.\n *\n * Normally no parameters are required for initializing a vector, but in the case of\n * loading a previously dumped vector the raw elements can be provided to the constructor.\n *\n * For performance reasons vectors are implemented with a flat array, where an elements\n * index is immediately followed by its value. E.g. [index, value, index, value]. This\n * allows the underlying array to be as sparse as possible and still offer decent\n * performance when being used for vector calculations.\n *\n * @constructor\n * @param {Number[]} [elements] - The flat list of element index and element value pairs.\n */\nlunr.Vector = function (elements) {\n  this._magnitude = 0\n  this.elements = elements || []\n}\n\n\n/**\n * Calculates the position within the vector to insert a given index.\n *\n * This is used internally by insert and upsert. If there are duplicate indexes then\n * the position is returned as if the value for that index were to be updated, but it\n * is the callers responsibility to check whether there is a duplicate at that index\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @returns {Number}\n */\nlunr.Vector.prototype.positionForIndex = function (index) {\n  // For an empty vector the tuple can be inserted at the beginning\n  if (this.elements.length == 0) {\n    return 0\n  }\n\n  var start = 0,\n      end = this.elements.length / 2,\n      sliceLength = end - start,\n      pivotPoint = Math.floor(sliceLength / 2),\n      pivotIndex = this.elements[pivotPoint * 2]\n\n  while (sliceLength > 1) {\n    if (pivotIndex < index) {\n      start = pivotPoint\n    }\n\n    if (pivotIndex > index) {\n      end = pivotPoint\n    }\n\n    if (pivotIndex == index) {\n      break\n    }\n\n    sliceLength = end - start\n    pivotPoint = start + Math.floor(sliceLength / 2)\n    pivotIndex = this.elements[pivotPoint * 2]\n  }\n\n  if (pivotIndex == index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex > index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex < index) {\n    return (pivotPoint + 1) * 2\n  }\n}\n\n/**\n * Inserts an element at an index within the vector.\n *\n * Does not allow duplicates, will throw an error if there is already an entry\n * for this index.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n */\nlunr.Vector.prototype.insert = function (insertIdx, val) {\n  this.upsert(insertIdx, val, function () {\n    throw \"duplicate index\"\n  })\n}\n\n/**\n * Inserts or updates an existing index within the vector.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n * @param {function} fn - A function that is called for updates, the existing value and the\n * requested value are passed as arguments\n */\nlunr.Vector.prototype.upsert = function (insertIdx, val, fn) {\n  this._magnitude = 0\n  var position = this.positionForIndex(insertIdx)\n\n  if (this.elements[position] == insertIdx) {\n    this.elements[position + 1] = fn(this.elements[position + 1], val)\n  } else {\n    this.elements.splice(position, 0, insertIdx, val)\n  }\n}\n\n/**\n * Calculates the magnitude of this vector.\n *\n * @returns {Number}\n */\nlunr.Vector.prototype.magnitude = function () {\n  if (this._magnitude) return this._magnitude\n\n  var sumOfSquares = 0,\n      elementsLength = this.elements.length\n\n  for (var i = 1; i < elementsLength; i += 2) {\n    var val = this.elements[i]\n    sumOfSquares += val * val\n  }\n\n  return this._magnitude = Math.sqrt(sumOfSquares)\n}\n\n/**\n * Calculates the dot product of this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The vector to compute the dot product with.\n * @returns {Number}\n */\nlunr.Vector.prototype.dot = function (otherVector) {\n  var dotProduct = 0,\n      a = this.elements, b = otherVector.elements,\n      aLen = a.length, bLen = b.length,\n      aVal = 0, bVal = 0,\n      i = 0, j = 0\n\n  while (i < aLen && j < bLen) {\n    aVal = a[i], bVal = b[j]\n    if (aVal < bVal) {\n      i += 2\n    } else if (aVal > bVal) {\n      j += 2\n    } else if (aVal == bVal) {\n      dotProduct += a[i + 1] * b[j + 1]\n      i += 2\n      j += 2\n    }\n  }\n\n  return dotProduct\n}\n\n/**\n * Calculates the similarity between this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The other vector to calculate the\n * similarity with.\n * @returns {Number}\n */\nlunr.Vector.prototype.similarity = function (otherVector) {\n  return this.dot(otherVector) / this.magnitude() || 0\n}\n\n/**\n * Converts the vector to an array of the elements within the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toArray = function () {\n  var output = new Array (this.elements.length / 2)\n\n  for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) {\n    output[j] = this.elements[i]\n  }\n\n  return output\n}\n\n/**\n * A JSON serializable representation of the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toJSON = function () {\n  return this.elements\n}\n/* eslint-disable */\n/*!\n * lunr.stemmer\n * Copyright (C) 2020 Oliver Nightingale\n * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt\n */\n\n/**\n * lunr.stemmer is an english language stemmer, this is a JavaScript\n * implementation of the PorterStemmer taken from http://tartarus.org/~martin\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token - The string to stem\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n * @function\n */\nlunr.stemmer = (function(){\n  var step2list = {\n      \"ational\" : \"ate\",\n      \"tional\" : \"tion\",\n      \"enci\" : \"ence\",\n      \"anci\" : \"ance\",\n      \"izer\" : \"ize\",\n      \"bli\" : \"ble\",\n      \"alli\" : \"al\",\n      \"entli\" : \"ent\",\n      \"eli\" : \"e\",\n      \"ousli\" : \"ous\",\n      \"ization\" : \"ize\",\n      \"ation\" : \"ate\",\n      \"ator\" : \"ate\",\n      \"alism\" : \"al\",\n      \"iveness\" : \"ive\",\n      \"fulness\" : \"ful\",\n      \"ousness\" : \"ous\",\n      \"aliti\" : \"al\",\n      \"iviti\" : \"ive\",\n      \"biliti\" : \"ble\",\n      \"logi\" : \"log\"\n    },\n\n    step3list = {\n      \"icate\" : \"ic\",\n      \"ative\" : \"\",\n      \"alize\" : \"al\",\n      \"iciti\" : \"ic\",\n      \"ical\" : \"ic\",\n      \"ful\" : \"\",\n      \"ness\" : \"\"\n    },\n\n    c = \"[^aeiou]\",          // consonant\n    v = \"[aeiouy]\",          // vowel\n    C = c + \"[^aeiouy]*\",    // consonant sequence\n    V = v + \"[aeiou]*\",      // vowel sequence\n\n    mgr0 = \"^(\" + C + \")?\" + V + C,               // [C]VC... is m>0\n    meq1 = \"^(\" + C + \")?\" + V + C + \"(\" + V + \")?$\",  // [C]VC[V] is m=1\n    mgr1 = \"^(\" + C + \")?\" + V + C + V + C,       // [C]VCVC... is m>1\n    s_v = \"^(\" + C + \")?\" + v;                   // vowel in stem\n\n  var re_mgr0 = new RegExp(mgr0);\n  var re_mgr1 = new RegExp(mgr1);\n  var re_meq1 = new RegExp(meq1);\n  var re_s_v = new RegExp(s_v);\n\n  var re_1a = /^(.+?)(ss|i)es$/;\n  var re2_1a = /^(.+?)([^s])s$/;\n  var re_1b = /^(.+?)eed$/;\n  var re2_1b = /^(.+?)(ed|ing)$/;\n  var re_1b_2 = /.$/;\n  var re2_1b_2 = /(at|bl|iz)$/;\n  var re3_1b_2 = new RegExp(\"([^aeiouylsz])\\\\1$\");\n  var re4_1b_2 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var re_1c = /^(.+?[^aeiou])y$/;\n  var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;\n\n  var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;\n\n  var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;\n  var re2_4 = /^(.+?)(s|t)(ion)$/;\n\n  var re_5 = /^(.+?)e$/;\n  var re_5_1 = /ll$/;\n  var re3_5 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var porterStemmer = function porterStemmer(w) {\n    var stem,\n      suffix,\n      firstch,\n      re,\n      re2,\n      re3,\n      re4;\n\n    if (w.length < 3) { return w; }\n\n    firstch = w.substr(0,1);\n    if (firstch == \"y\") {\n      w = firstch.toUpperCase() + w.substr(1);\n    }\n\n    // Step 1a\n    re = re_1a\n    re2 = re2_1a;\n\n    if (re.test(w)) { w = w.replace(re,\"$1$2\"); }\n    else if (re2.test(w)) { w = w.replace(re2,\"$1$2\"); }\n\n    // Step 1b\n    re = re_1b;\n    re2 = re2_1b;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      re = re_mgr0;\n      if (re.test(fp[1])) {\n        re = re_1b_2;\n        w = w.replace(re,\"\");\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1];\n      re2 = re_s_v;\n      if (re2.test(stem)) {\n        w = stem;\n        re2 = re2_1b_2;\n        re3 = re3_1b_2;\n        re4 = re4_1b_2;\n        if (re2.test(w)) { w = w + \"e\"; }\n        else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,\"\"); }\n        else if (re4.test(w)) { w = w + \"e\"; }\n      }\n    }\n\n    // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say)\n    re = re_1c;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      w = stem + \"i\";\n    }\n\n    // Step 2\n    re = re_2;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step2list[suffix];\n      }\n    }\n\n    // Step 3\n    re = re_3;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step3list[suffix];\n      }\n    }\n\n    // Step 4\n    re = re_4;\n    re2 = re2_4;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      if (re.test(stem)) {\n        w = stem;\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1] + fp[2];\n      re2 = re_mgr1;\n      if (re2.test(stem)) {\n        w = stem;\n      }\n    }\n\n    // Step 5\n    re = re_5;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      re2 = re_meq1;\n      re3 = re3_5;\n      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) {\n        w = stem;\n      }\n    }\n\n    re = re_5_1;\n    re2 = re_mgr1;\n    if (re.test(w) && re2.test(w)) {\n      re = re_1b_2;\n      w = w.replace(re,\"\");\n    }\n\n    // and turn initial Y back to y\n\n    if (firstch == \"y\") {\n      w = firstch.toLowerCase() + w.substr(1);\n    }\n\n    return w;\n  };\n\n  return function (token) {\n    return token.update(porterStemmer);\n  }\n})();\n\nlunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer')\n/*!\n * lunr.stopWordFilter\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.generateStopWordFilter builds a stopWordFilter function from the provided\n * list of stop words.\n *\n * The built in lunr.stopWordFilter is built using this generator and can be used\n * to generate custom stopWordFilters for applications or non English languages.\n *\n * @function\n * @param {Array} token The token to pass through the filter\n * @returns {lunr.PipelineFunction}\n * @see lunr.Pipeline\n * @see lunr.stopWordFilter\n */\nlunr.generateStopWordFilter = function (stopWords) {\n  var words = stopWords.reduce(function (memo, stopWord) {\n    memo[stopWord] = stopWord\n    return memo\n  }, {})\n\n  return function (token) {\n    if (token && words[token.toString()] !== token.toString()) return token\n  }\n}\n\n/**\n * lunr.stopWordFilter is an English language stop word list filter, any words\n * contained in the list will not be passed through the filter.\n *\n * This is intended to be used in the Pipeline. If the token does not pass the\n * filter then undefined will be returned.\n *\n * @function\n * @implements {lunr.PipelineFunction}\n * @params {lunr.Token} token - A token to check for being a stop word.\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n */\nlunr.stopWordFilter = lunr.generateStopWordFilter([\n  'a',\n  'able',\n  'about',\n  'across',\n  'after',\n  'all',\n  'almost',\n  'also',\n  'am',\n  'among',\n  'an',\n  'and',\n  'any',\n  'are',\n  'as',\n  'at',\n  'be',\n  'because',\n  'been',\n  'but',\n  'by',\n  'can',\n  'cannot',\n  'could',\n  'dear',\n  'did',\n  'do',\n  'does',\n  'either',\n  'else',\n  'ever',\n  'every',\n  'for',\n  'from',\n  'get',\n  'got',\n  'had',\n  'has',\n  'have',\n  'he',\n  'her',\n  'hers',\n  'him',\n  'his',\n  'how',\n  'however',\n  'i',\n  'if',\n  'in',\n  'into',\n  'is',\n  'it',\n  'its',\n  'just',\n  'least',\n  'let',\n  'like',\n  'likely',\n  'may',\n  'me',\n  'might',\n  'most',\n  'must',\n  'my',\n  'neither',\n  'no',\n  'nor',\n  'not',\n  'of',\n  'off',\n  'often',\n  'on',\n  'only',\n  'or',\n  'other',\n  'our',\n  'own',\n  'rather',\n  'said',\n  'say',\n  'says',\n  'she',\n  'should',\n  'since',\n  'so',\n  'some',\n  'than',\n  'that',\n  'the',\n  'their',\n  'them',\n  'then',\n  'there',\n  'these',\n  'they',\n  'this',\n  'tis',\n  'to',\n  'too',\n  'twas',\n  'us',\n  'wants',\n  'was',\n  'we',\n  'were',\n  'what',\n  'when',\n  'where',\n  'which',\n  'while',\n  'who',\n  'whom',\n  'why',\n  'will',\n  'with',\n  'would',\n  'yet',\n  'you',\n  'your'\n])\n\nlunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter')\n/*!\n * lunr.trimmer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.trimmer is a pipeline function for trimming non word\n * characters from the beginning and end of tokens before they\n * enter the index.\n *\n * This implementation may not work correctly for non latin\n * characters and should either be removed or adapted for use\n * with languages with non-latin characters.\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token The token to pass through the filter\n * @returns {lunr.Token}\n * @see lunr.Pipeline\n */\nlunr.trimmer = function (token) {\n  return token.update(function (s) {\n    return s.replace(/^\\W+/, '').replace(/\\W+$/, '')\n  })\n}\n\nlunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer')\n/*!\n * lunr.TokenSet\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A token set is used to store the unique list of all tokens\n * within an index. Token sets are also used to represent an\n * incoming query to the index, this query token set and index\n * token set are then intersected to find which tokens to look\n * up in the inverted index.\n *\n * A token set can hold multiple tokens, as in the case of the\n * index token set, or it can hold a single token as in the\n * case of a simple query token set.\n *\n * Additionally token sets are used to perform wildcard matching.\n * Leading, contained and trailing wildcards are supported, and\n * from this edit distance matching can also be provided.\n *\n * Token sets are implemented as a minimal finite state automata,\n * where both common prefixes and suffixes are shared between tokens.\n * This helps to reduce the space used for storing the token set.\n *\n * @constructor\n */\nlunr.TokenSet = function () {\n  this.final = false\n  this.edges = {}\n  this.id = lunr.TokenSet._nextId\n  lunr.TokenSet._nextId += 1\n}\n\n/**\n * Keeps track of the next, auto increment, identifier to assign\n * to a new tokenSet.\n *\n * TokenSets require a unique identifier to be correctly minimised.\n *\n * @private\n */\nlunr.TokenSet._nextId = 1\n\n/**\n * Creates a TokenSet instance from the given sorted array of words.\n *\n * @param {String[]} arr - A sorted array of strings to create the set from.\n * @returns {lunr.TokenSet}\n * @throws Will throw an error if the input array is not sorted.\n */\nlunr.TokenSet.fromArray = function (arr) {\n  var builder = new lunr.TokenSet.Builder\n\n  for (var i = 0, len = arr.length; i < len; i++) {\n    builder.insert(arr[i])\n  }\n\n  builder.finish()\n  return builder.root\n}\n\n/**\n * Creates a token set from a query clause.\n *\n * @private\n * @param {Object} clause - A single clause from lunr.Query.\n * @param {string} clause.term - The query clause term.\n * @param {number} [clause.editDistance] - The optional edit distance for the term.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromClause = function (clause) {\n  if ('editDistance' in clause) {\n    return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance)\n  } else {\n    return lunr.TokenSet.fromString(clause.term)\n  }\n}\n\n/**\n * Creates a token set representing a single string with a specified\n * edit distance.\n *\n * Insertions, deletions, substitutions and transpositions are each\n * treated as an edit distance of 1.\n *\n * Increasing the allowed edit distance will have a dramatic impact\n * on the performance of both creating and intersecting these TokenSets.\n * It is advised to keep the edit distance less than 3.\n *\n * @param {string} str - The string to create the token set from.\n * @param {number} editDistance - The allowed edit distance to match.\n * @returns {lunr.Vector}\n */\nlunr.TokenSet.fromFuzzyString = function (str, editDistance) {\n  var root = new lunr.TokenSet\n\n  var stack = [{\n    node: root,\n    editsRemaining: editDistance,\n    str: str\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop()\n\n    // no edit\n    if (frame.str.length > 0) {\n      var char = frame.str.charAt(0),\n          noEditNode\n\n      if (char in frame.node.edges) {\n        noEditNode = frame.node.edges[char]\n      } else {\n        noEditNode = new lunr.TokenSet\n        frame.node.edges[char] = noEditNode\n      }\n\n      if (frame.str.length == 1) {\n        noEditNode.final = true\n      }\n\n      stack.push({\n        node: noEditNode,\n        editsRemaining: frame.editsRemaining,\n        str: frame.str.slice(1)\n      })\n    }\n\n    if (frame.editsRemaining == 0) {\n      continue\n    }\n\n    // insertion\n    if (\"*\" in frame.node.edges) {\n      var insertionNode = frame.node.edges[\"*\"]\n    } else {\n      var insertionNode = new lunr.TokenSet\n      frame.node.edges[\"*\"] = insertionNode\n    }\n\n    if (frame.str.length == 0) {\n      insertionNode.final = true\n    }\n\n    stack.push({\n      node: insertionNode,\n      editsRemaining: frame.editsRemaining - 1,\n      str: frame.str\n    })\n\n    // deletion\n    // can only do a deletion if we have enough edits remaining\n    // and if there are characters left to delete in the string\n    if (frame.str.length > 1) {\n      stack.push({\n        node: frame.node,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // deletion\n    // just removing the last character from the str\n    if (frame.str.length == 1) {\n      frame.node.final = true\n    }\n\n    // substitution\n    // can only do a substitution if we have enough edits remaining\n    // and if there are characters left to substitute\n    if (frame.str.length >= 1) {\n      if (\"*\" in frame.node.edges) {\n        var substitutionNode = frame.node.edges[\"*\"]\n      } else {\n        var substitutionNode = new lunr.TokenSet\n        frame.node.edges[\"*\"] = substitutionNode\n      }\n\n      if (frame.str.length == 1) {\n        substitutionNode.final = true\n      }\n\n      stack.push({\n        node: substitutionNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // transposition\n    // can only do a transposition if there are edits remaining\n    // and there are enough characters to transpose\n    if (frame.str.length > 1) {\n      var charA = frame.str.charAt(0),\n          charB = frame.str.charAt(1),\n          transposeNode\n\n      if (charB in frame.node.edges) {\n        transposeNode = frame.node.edges[charB]\n      } else {\n        transposeNode = new lunr.TokenSet\n        frame.node.edges[charB] = transposeNode\n      }\n\n      if (frame.str.length == 1) {\n        transposeNode.final = true\n      }\n\n      stack.push({\n        node: transposeNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: charA + frame.str.slice(2)\n      })\n    }\n  }\n\n  return root\n}\n\n/**\n * Creates a TokenSet from a string.\n *\n * The string may contain one or more wildcard characters (*)\n * that will allow wildcard matching when intersecting with\n * another TokenSet.\n *\n * @param {string} str - The string to create a TokenSet from.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromString = function (str) {\n  var node = new lunr.TokenSet,\n      root = node\n\n  /*\n   * Iterates through all characters within the passed string\n   * appending a node for each character.\n   *\n   * When a wildcard character is found then a self\n   * referencing edge is introduced to continually match\n   * any number of any characters.\n   */\n  for (var i = 0, len = str.length; i < len; i++) {\n    var char = str[i],\n        final = (i == len - 1)\n\n    if (char == \"*\") {\n      node.edges[char] = node\n      node.final = final\n\n    } else {\n      var next = new lunr.TokenSet\n      next.final = final\n\n      node.edges[char] = next\n      node = next\n    }\n  }\n\n  return root\n}\n\n/**\n * Converts this TokenSet into an array of strings\n * contained within the TokenSet.\n *\n * This is not intended to be used on a TokenSet that\n * contains wildcards, in these cases the results are\n * undefined and are likely to cause an infinite loop.\n *\n * @returns {string[]}\n */\nlunr.TokenSet.prototype.toArray = function () {\n  var words = []\n\n  var stack = [{\n    prefix: \"\",\n    node: this\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop(),\n        edges = Object.keys(frame.node.edges),\n        len = edges.length\n\n    if (frame.node.final) {\n      /* In Safari, at this point the prefix is sometimes corrupted, see:\n       * https://github.com/olivernn/lunr.js/issues/279 Calling any\n       * String.prototype method forces Safari to \"cast\" this string to what\n       * it's supposed to be, fixing the bug. */\n      frame.prefix.charAt(0)\n      words.push(frame.prefix)\n    }\n\n    for (var i = 0; i < len; i++) {\n      var edge = edges[i]\n\n      stack.push({\n        prefix: frame.prefix.concat(edge),\n        node: frame.node.edges[edge]\n      })\n    }\n  }\n\n  return words\n}\n\n/**\n * Generates a string representation of a TokenSet.\n *\n * This is intended to allow TokenSets to be used as keys\n * in objects, largely to aid the construction and minimisation\n * of a TokenSet. As such it is not designed to be a human\n * friendly representation of the TokenSet.\n *\n * @returns {string}\n */\nlunr.TokenSet.prototype.toString = function () {\n  // NOTE: Using Object.keys here as this.edges is very likely\n  // to enter 'hash-mode' with many keys being added\n  //\n  // avoiding a for-in loop here as it leads to the function\n  // being de-optimised (at least in V8). From some simple\n  // benchmarks the performance is comparable, but allowing\n  // V8 to optimize may mean easy performance wins in the future.\n\n  if (this._str) {\n    return this._str\n  }\n\n  var str = this.final ? '1' : '0',\n      labels = Object.keys(this.edges).sort(),\n      len = labels.length\n\n  for (var i = 0; i < len; i++) {\n    var label = labels[i],\n        node = this.edges[label]\n\n    str = str + label + node.id\n  }\n\n  return str\n}\n\n/**\n * Returns a new TokenSet that is the intersection of\n * this TokenSet and the passed TokenSet.\n *\n * This intersection will take into account any wildcards\n * contained within the TokenSet.\n *\n * @param {lunr.TokenSet} b - An other TokenSet to intersect with.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.prototype.intersect = function (b) {\n  var output = new lunr.TokenSet,\n      frame = undefined\n\n  var stack = [{\n    qNode: b,\n    output: output,\n    node: this\n  }]\n\n  while (stack.length) {\n    frame = stack.pop()\n\n    // NOTE: As with the #toString method, we are using\n    // Object.keys and a for loop instead of a for-in loop\n    // as both of these objects enter 'hash' mode, causing\n    // the function to be de-optimised in V8\n    var qEdges = Object.keys(frame.qNode.edges),\n        qLen = qEdges.length,\n        nEdges = Object.keys(frame.node.edges),\n        nLen = nEdges.length\n\n    for (var q = 0; q < qLen; q++) {\n      var qEdge = qEdges[q]\n\n      for (var n = 0; n < nLen; n++) {\n        var nEdge = nEdges[n]\n\n        if (nEdge == qEdge || qEdge == '*') {\n          var node = frame.node.edges[nEdge],\n              qNode = frame.qNode.edges[qEdge],\n              final = node.final && qNode.final,\n              next = undefined\n\n          if (nEdge in frame.output.edges) {\n            // an edge already exists for this character\n            // no need to create a new node, just set the finality\n            // bit unless this node is already final\n            next = frame.output.edges[nEdge]\n            next.final = next.final || final\n\n          } else {\n            // no edge exists yet, must create one\n            // set the finality bit and insert it\n            // into the output\n            next = new lunr.TokenSet\n            next.final = final\n            frame.output.edges[nEdge] = next\n          }\n\n          stack.push({\n            qNode: qNode,\n            output: next,\n            node: node\n          })\n        }\n      }\n    }\n  }\n\n  return output\n}\nlunr.TokenSet.Builder = function () {\n  this.previousWord = \"\"\n  this.root = new lunr.TokenSet\n  this.uncheckedNodes = []\n  this.minimizedNodes = {}\n}\n\nlunr.TokenSet.Builder.prototype.insert = function (word) {\n  var node,\n      commonPrefix = 0\n\n  if (word < this.previousWord) {\n    throw new Error (\"Out of order word insertion\")\n  }\n\n  for (var i = 0; i < word.length && i < this.previousWord.length; i++) {\n    if (word[i] != this.previousWord[i]) break\n    commonPrefix++\n  }\n\n  this.minimize(commonPrefix)\n\n  if (this.uncheckedNodes.length == 0) {\n    node = this.root\n  } else {\n    node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child\n  }\n\n  for (var i = commonPrefix; i < word.length; i++) {\n    var nextNode = new lunr.TokenSet,\n        char = word[i]\n\n    node.edges[char] = nextNode\n\n    this.uncheckedNodes.push({\n      parent: node,\n      char: char,\n      child: nextNode\n    })\n\n    node = nextNode\n  }\n\n  node.final = true\n  this.previousWord = word\n}\n\nlunr.TokenSet.Builder.prototype.finish = function () {\n  this.minimize(0)\n}\n\nlunr.TokenSet.Builder.prototype.minimize = function (downTo) {\n  for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) {\n    var node = this.uncheckedNodes[i],\n        childKey = node.child.toString()\n\n    if (childKey in this.minimizedNodes) {\n      node.parent.edges[node.char] = this.minimizedNodes[childKey]\n    } else {\n      // Cache the key for this node since\n      // we know it can't change anymore\n      node.child._str = childKey\n\n      this.minimizedNodes[childKey] = node.child\n    }\n\n    this.uncheckedNodes.pop()\n  }\n}\n/*!\n * lunr.Index\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * An index contains the built index of all documents and provides a query interface\n * to the index.\n *\n * Usually instances of lunr.Index will not be created using this constructor, instead\n * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be\n * used to load previously built and serialized indexes.\n *\n * @constructor\n * @param {Object} attrs - The attributes of the built search index.\n * @param {Object} attrs.invertedIndex - An index of term/field to document reference.\n * @param {Object<string, lunr.Vector>} attrs.fieldVectors - Field vectors\n * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens.\n * @param {string[]} attrs.fields - The names of indexed document fields.\n * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms.\n */\nlunr.Index = function (attrs) {\n  this.invertedIndex = attrs.invertedIndex\n  this.fieldVectors = attrs.fieldVectors\n  this.tokenSet = attrs.tokenSet\n  this.fields = attrs.fields\n  this.pipeline = attrs.pipeline\n}\n\n/**\n * A result contains details of a document matching a search query.\n * @typedef {Object} lunr.Index~Result\n * @property {string} ref - The reference of the document this result represents.\n * @property {number} score - A number between 0 and 1 representing how similar this document is to the query.\n * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match.\n */\n\n/**\n * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple\n * query language which itself is parsed into an instance of lunr.Query.\n *\n * For programmatically building queries it is advised to directly use lunr.Query, the query language\n * is best used for human entered text rather than program generated text.\n *\n * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported\n * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello'\n * or 'world', though those that contain both will rank higher in the results.\n *\n * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can\n * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding\n * wildcards will increase the number of documents that will be found but can also have a negative\n * impact on query performance, especially with wildcards at the beginning of a term.\n *\n * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term\n * hello in the title field will match this query. Using a field not present in the index will lead\n * to an error being thrown.\n *\n * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term\n * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported\n * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2.\n * Avoid large values for edit distance to improve query performance.\n *\n * Each term also supports a presence modifier. By default a term's presence in document is optional, however\n * this can be changed to either required or prohibited. For a term's presence to be required in a document the\n * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and\n * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not\n * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'.\n *\n * To escape special characters the backslash character '\\' can be used, this allows searches to include\n * characters that would normally be considered modifiers, e.g. `foo\\~2` will search for a term \"foo~2\" instead\n * of attempting to apply a boost of 2 to the search term \"foo\".\n *\n * @typedef {string} lunr.Index~QueryString\n * @example <caption>Simple single term query</caption>\n * hello\n * @example <caption>Multiple term query</caption>\n * hello world\n * @example <caption>term scoped to a field</caption>\n * title:hello\n * @example <caption>term with a boost of 10</caption>\n * hello^10\n * @example <caption>term with an edit distance of 2</caption>\n * hello~2\n * @example <caption>terms with presence modifiers</caption>\n * -foo +bar baz\n */\n\n/**\n * Performs a search against the index using lunr query syntax.\n *\n * Results will be returned sorted by their score, the most relevant results\n * will be returned first.  For details on how the score is calculated, please see\n * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}.\n *\n * For more programmatic querying use lunr.Index#query.\n *\n * @param {lunr.Index~QueryString} queryString - A string containing a lunr query.\n * @throws {lunr.QueryParseError} If the passed query string cannot be parsed.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.search = function (queryString) {\n  return this.query(function (query) {\n    var parser = new lunr.QueryParser(queryString, query)\n    parser.parse()\n  })\n}\n\n/**\n * A query builder callback provides a query object to be used to express\n * the query to perform on the index.\n *\n * @callback lunr.Index~queryBuilder\n * @param {lunr.Query} query - The query object to build up.\n * @this lunr.Query\n */\n\n/**\n * Performs a query against the index using the yielded lunr.Query object.\n *\n * If performing programmatic queries against the index, this method is preferred\n * over lunr.Index#search so as to avoid the additional query parsing overhead.\n *\n * A query object is yielded to the supplied function which should be used to\n * express the query to be run against the index.\n *\n * Note that although this function takes a callback parameter it is _not_ an\n * asynchronous operation, the callback is just yielded a query object to be\n * customized.\n *\n * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.query = function (fn) {\n  // for each query clause\n  // * process terms\n  // * expand terms from token set\n  // * find matching documents and metadata\n  // * get document vectors\n  // * score documents\n\n  var query = new lunr.Query(this.fields),\n      matchingFields = Object.create(null),\n      queryVectors = Object.create(null),\n      termFieldCache = Object.create(null),\n      requiredMatches = Object.create(null),\n      prohibitedMatches = Object.create(null)\n\n  /*\n   * To support field level boosts a query vector is created per\n   * field. An empty vector is eagerly created to support negated\n   * queries.\n   */\n  for (var i = 0; i < this.fields.length; i++) {\n    queryVectors[this.fields[i]] = new lunr.Vector\n  }\n\n  fn.call(query, query)\n\n  for (var i = 0; i < query.clauses.length; i++) {\n    /*\n     * Unless the pipeline has been disabled for this term, which is\n     * the case for terms with wildcards, we need to pass the clause\n     * term through the search pipeline. A pipeline returns an array\n     * of processed terms. Pipeline functions may expand the passed\n     * term, which means we may end up performing multiple index lookups\n     * for a single query term.\n     */\n    var clause = query.clauses[i],\n        terms = null,\n        clauseMatches = lunr.Set.empty\n\n    if (clause.usePipeline) {\n      terms = this.pipeline.runString(clause.term, {\n        fields: clause.fields\n      })\n    } else {\n      terms = [clause.term]\n    }\n\n    for (var m = 0; m < terms.length; m++) {\n      var term = terms[m]\n\n      /*\n       * Each term returned from the pipeline needs to use the same query\n       * clause object, e.g. the same boost and or edit distance. The\n       * simplest way to do this is to re-use the clause object but mutate\n       * its term property.\n       */\n      clause.term = term\n\n      /*\n       * From the term in the clause we create a token set which will then\n       * be used to intersect the indexes token set to get a list of terms\n       * to lookup in the inverted index\n       */\n      var termTokenSet = lunr.TokenSet.fromClause(clause),\n          expandedTerms = this.tokenSet.intersect(termTokenSet).toArray()\n\n      /*\n       * If a term marked as required does not exist in the tokenSet it is\n       * impossible for the search to return any matches. We set all the field\n       * scoped required matches set to empty and stop examining any further\n       * clauses.\n       */\n      if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) {\n        for (var k = 0; k < clause.fields.length; k++) {\n          var field = clause.fields[k]\n          requiredMatches[field] = lunr.Set.empty\n        }\n\n        break\n      }\n\n      for (var j = 0; j < expandedTerms.length; j++) {\n        /*\n         * For each term get the posting and termIndex, this is required for\n         * building the query vector.\n         */\n        var expandedTerm = expandedTerms[j],\n            posting = this.invertedIndex[expandedTerm],\n            termIndex = posting._index\n\n        for (var k = 0; k < clause.fields.length; k++) {\n          /*\n           * For each field that this query term is scoped by (by default\n           * all fields are in scope) we need to get all the document refs\n           * that have this term in that field.\n           *\n           * The posting is the entry in the invertedIndex for the matching\n           * term from above.\n           */\n          var field = clause.fields[k],\n              fieldPosting = posting[field],\n              matchingDocumentRefs = Object.keys(fieldPosting),\n              termField = expandedTerm + \"/\" + field,\n              matchingDocumentsSet = new lunr.Set(matchingDocumentRefs)\n\n          /*\n           * if the presence of this term is required ensure that the matching\n           * documents are added to the set of required matches for this clause.\n           *\n           */\n          if (clause.presence == lunr.Query.presence.REQUIRED) {\n            clauseMatches = clauseMatches.union(matchingDocumentsSet)\n\n            if (requiredMatches[field] === undefined) {\n              requiredMatches[field] = lunr.Set.complete\n            }\n          }\n\n          /*\n           * if the presence of this term is prohibited ensure that the matching\n           * documents are added to the set of prohibited matches for this field,\n           * creating that set if it does not yet exist.\n           */\n          if (clause.presence == lunr.Query.presence.PROHIBITED) {\n            if (prohibitedMatches[field] === undefined) {\n              prohibitedMatches[field] = lunr.Set.empty\n            }\n\n            prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet)\n\n            /*\n             * Prohibited matches should not be part of the query vector used for\n             * similarity scoring and no metadata should be extracted so we continue\n             * to the next field\n             */\n            continue\n          }\n\n          /*\n           * The query field vector is populated using the termIndex found for\n           * the term and a unit value with the appropriate boost applied.\n           * Using upsert because there could already be an entry in the vector\n           * for the term we are working with. In that case we just add the scores\n           * together.\n           */\n          queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b })\n\n          /**\n           * If we've already seen this term, field combo then we've already collected\n           * the matching documents and metadata, no need to go through all that again\n           */\n          if (termFieldCache[termField]) {\n            continue\n          }\n\n          for (var l = 0; l < matchingDocumentRefs.length; l++) {\n            /*\n             * All metadata for this term/field/document triple\n             * are then extracted and collected into an instance\n             * of lunr.MatchData ready to be returned in the query\n             * results\n             */\n            var matchingDocumentRef = matchingDocumentRefs[l],\n                matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field),\n                metadata = fieldPosting[matchingDocumentRef],\n                fieldMatch\n\n            if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) {\n              matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata)\n            } else {\n              fieldMatch.add(expandedTerm, field, metadata)\n            }\n\n          }\n\n          termFieldCache[termField] = true\n        }\n      }\n    }\n\n    /**\n     * If the presence was required we need to update the requiredMatches field sets.\n     * We do this after all fields for the term have collected their matches because\n     * the clause terms presence is required in _any_ of the fields not _all_ of the\n     * fields.\n     */\n    if (clause.presence === lunr.Query.presence.REQUIRED) {\n      for (var k = 0; k < clause.fields.length; k++) {\n        var field = clause.fields[k]\n        requiredMatches[field] = requiredMatches[field].intersect(clauseMatches)\n      }\n    }\n  }\n\n  /**\n   * Need to combine the field scoped required and prohibited\n   * matching documents into a global set of required and prohibited\n   * matches\n   */\n  var allRequiredMatches = lunr.Set.complete,\n      allProhibitedMatches = lunr.Set.empty\n\n  for (var i = 0; i < this.fields.length; i++) {\n    var field = this.fields[i]\n\n    if (requiredMatches[field]) {\n      allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field])\n    }\n\n    if (prohibitedMatches[field]) {\n      allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field])\n    }\n  }\n\n  var matchingFieldRefs = Object.keys(matchingFields),\n      results = [],\n      matches = Object.create(null)\n\n  /*\n   * If the query is negated (contains only prohibited terms)\n   * we need to get _all_ fieldRefs currently existing in the\n   * index. This is only done when we know that the query is\n   * entirely prohibited terms to avoid any cost of getting all\n   * fieldRefs unnecessarily.\n   *\n   * Additionally, blank MatchData must be created to correctly\n   * populate the results.\n   */\n  if (query.isNegated()) {\n    matchingFieldRefs = Object.keys(this.fieldVectors)\n\n    for (var i = 0; i < matchingFieldRefs.length; i++) {\n      var matchingFieldRef = matchingFieldRefs[i]\n      var fieldRef = lunr.FieldRef.fromString(matchingFieldRef)\n      matchingFields[matchingFieldRef] = new lunr.MatchData\n    }\n  }\n\n  for (var i = 0; i < matchingFieldRefs.length; i++) {\n    /*\n     * Currently we have document fields that match the query, but we\n     * need to return documents. The matchData and scores are combined\n     * from multiple fields belonging to the same document.\n     *\n     * Scores are calculated by field, using the query vectors created\n     * above, and combined into a final document score using addition.\n     */\n    var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]),\n        docRef = fieldRef.docRef\n\n    if (!allRequiredMatches.contains(docRef)) {\n      continue\n    }\n\n    if (allProhibitedMatches.contains(docRef)) {\n      continue\n    }\n\n    var fieldVector = this.fieldVectors[fieldRef],\n        score = queryVectors[fieldRef.fieldName].similarity(fieldVector),\n        docMatch\n\n    if ((docMatch = matches[docRef]) !== undefined) {\n      docMatch.score += score\n      docMatch.matchData.combine(matchingFields[fieldRef])\n    } else {\n      var match = {\n        ref: docRef,\n        score: score,\n        matchData: matchingFields[fieldRef]\n      }\n      matches[docRef] = match\n      results.push(match)\n    }\n  }\n\n  /*\n   * Sort the results objects by score, highest first.\n   */\n  return results.sort(function (a, b) {\n    return b.score - a.score\n  })\n}\n\n/**\n * Prepares the index for JSON serialization.\n *\n * The schema for this JSON blob will be described in a\n * separate JSON schema file.\n *\n * @returns {Object}\n */\nlunr.Index.prototype.toJSON = function () {\n  var invertedIndex = Object.keys(this.invertedIndex)\n    .sort()\n    .map(function (term) {\n      return [term, this.invertedIndex[term]]\n    }, this)\n\n  var fieldVectors = Object.keys(this.fieldVectors)\n    .map(function (ref) {\n      return [ref, this.fieldVectors[ref].toJSON()]\n    }, this)\n\n  return {\n    version: lunr.version,\n    fields: this.fields,\n    fieldVectors: fieldVectors,\n    invertedIndex: invertedIndex,\n    pipeline: this.pipeline.toJSON()\n  }\n}\n\n/**\n * Loads a previously serialized lunr.Index\n *\n * @param {Object} serializedIndex - A previously serialized lunr.Index\n * @returns {lunr.Index}\n */\nlunr.Index.load = function (serializedIndex) {\n  var attrs = {},\n      fieldVectors = {},\n      serializedVectors = serializedIndex.fieldVectors,\n      invertedIndex = Object.create(null),\n      serializedInvertedIndex = serializedIndex.invertedIndex,\n      tokenSetBuilder = new lunr.TokenSet.Builder,\n      pipeline = lunr.Pipeline.load(serializedIndex.pipeline)\n\n  if (serializedIndex.version != lunr.version) {\n    lunr.utils.warn(\"Version mismatch when loading serialised index. Current version of lunr '\" + lunr.version + \"' does not match serialized index '\" + serializedIndex.version + \"'\")\n  }\n\n  for (var i = 0; i < serializedVectors.length; i++) {\n    var tuple = serializedVectors[i],\n        ref = tuple[0],\n        elements = tuple[1]\n\n    fieldVectors[ref] = new lunr.Vector(elements)\n  }\n\n  for (var i = 0; i < serializedInvertedIndex.length; i++) {\n    var tuple = serializedInvertedIndex[i],\n        term = tuple[0],\n        posting = tuple[1]\n\n    tokenSetBuilder.insert(term)\n    invertedIndex[term] = posting\n  }\n\n  tokenSetBuilder.finish()\n\n  attrs.fields = serializedIndex.fields\n\n  attrs.fieldVectors = fieldVectors\n  attrs.invertedIndex = invertedIndex\n  attrs.tokenSet = tokenSetBuilder.root\n  attrs.pipeline = pipeline\n\n  return new lunr.Index(attrs)\n}\n/*!\n * lunr.Builder\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Builder performs indexing on a set of documents and\n * returns instances of lunr.Index ready for querying.\n *\n * All configuration of the index is done via the builder, the\n * fields to index, the document reference, the text processing\n * pipeline and document scoring parameters are all set on the\n * builder before indexing.\n *\n * @constructor\n * @property {string} _ref - Internal reference to the document reference field.\n * @property {string[]} _fields - Internal reference to the document fields to index.\n * @property {object} invertedIndex - The inverted index maps terms to document fields.\n * @property {object} documentTermFrequencies - Keeps track of document term frequencies.\n * @property {object} documentLengths - Keeps track of the length of documents added to the index.\n * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing.\n * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing.\n * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index.\n * @property {number} documentCount - Keeps track of the total number of documents indexed.\n * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75.\n * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2.\n * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space.\n * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index.\n */\nlunr.Builder = function () {\n  this._ref = \"id\"\n  this._fields = Object.create(null)\n  this._documents = Object.create(null)\n  this.invertedIndex = Object.create(null)\n  this.fieldTermFrequencies = {}\n  this.fieldLengths = {}\n  this.tokenizer = lunr.tokenizer\n  this.pipeline = new lunr.Pipeline\n  this.searchPipeline = new lunr.Pipeline\n  this.documentCount = 0\n  this._b = 0.75\n  this._k1 = 1.2\n  this.termIndex = 0\n  this.metadataWhitelist = []\n}\n\n/**\n * Sets the document field used as the document reference. Every document must have this field.\n * The type of this field in the document should be a string, if it is not a string it will be\n * coerced into a string by calling toString.\n *\n * The default ref is 'id'.\n *\n * The ref should _not_ be changed during indexing, it should be set before any documents are\n * added to the index. Changing it during indexing can lead to inconsistent results.\n *\n * @param {string} ref - The name of the reference field in the document.\n */\nlunr.Builder.prototype.ref = function (ref) {\n  this._ref = ref\n}\n\n/**\n * A function that is used to extract a field from a document.\n *\n * Lunr expects a field to be at the top level of a document, if however the field\n * is deeply nested within a document an extractor function can be used to extract\n * the right field for indexing.\n *\n * @callback fieldExtractor\n * @param {object} doc - The document being added to the index.\n * @returns {?(string|object|object[])} obj - The object that will be indexed for this field.\n * @example <caption>Extracting a nested field</caption>\n * function (doc) { return doc.nested.field }\n */\n\n/**\n * Adds a field to the list of document fields that will be indexed. Every document being\n * indexed should have this field. Null values for this field in indexed documents will\n * not cause errors but will limit the chance of that document being retrieved by searches.\n *\n * All fields should be added before adding documents to the index. Adding fields after\n * a document has been indexed will have no effect on already indexed documents.\n *\n * Fields can be boosted at build time. This allows terms within that field to have more\n * importance when ranking search results. Use a field boost to specify that matches within\n * one field are more important than other fields.\n *\n * @param {string} fieldName - The name of a field to index in all documents.\n * @param {object} attributes - Optional attributes associated with this field.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this field.\n * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document.\n * @throws {RangeError} fieldName cannot contain unsupported characters '/'\n */\nlunr.Builder.prototype.field = function (fieldName, attributes) {\n  if (/\\//.test(fieldName)) {\n    throw new RangeError (\"Field '\" + fieldName + \"' contains illegal character '/'\")\n  }\n\n  this._fields[fieldName] = attributes || {}\n}\n\n/**\n * A parameter to tune the amount of field length normalisation that is applied when\n * calculating relevance scores. A value of 0 will completely disable any normalisation\n * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b\n * will be clamped to the range 0 - 1.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.b = function (number) {\n  if (number < 0) {\n    this._b = 0\n  } else if (number > 1) {\n    this._b = 1\n  } else {\n    this._b = number\n  }\n}\n\n/**\n * A parameter that controls the speed at which a rise in term frequency results in term\n * frequency saturation. The default value is 1.2. Setting this to a higher value will give\n * slower saturation levels, a lower value will result in quicker saturation.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.k1 = function (number) {\n  this._k1 = number\n}\n\n/**\n * Adds a document to the index.\n *\n * Before adding fields to the index the index should have been fully setup, with the document\n * ref and all fields to index already having been specified.\n *\n * The document must have a field name as specified by the ref (by default this is 'id') and\n * it should have all fields defined for indexing, though null or undefined values will not\n * cause errors.\n *\n * Entire documents can be boosted at build time. Applying a boost to a document indicates that\n * this document should rank higher in search results than other documents.\n *\n * @param {object} doc - The document to add to the index.\n * @param {object} attributes - Optional attributes associated with this document.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this document.\n */\nlunr.Builder.prototype.add = function (doc, attributes) {\n  var docRef = doc[this._ref],\n      fields = Object.keys(this._fields)\n\n  this._documents[docRef] = attributes || {}\n  this.documentCount += 1\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i],\n        extractor = this._fields[fieldName].extractor,\n        field = extractor ? extractor(doc) : doc[fieldName],\n        tokens = this.tokenizer(field, {\n          fields: [fieldName]\n        }),\n        terms = this.pipeline.run(tokens),\n        fieldRef = new lunr.FieldRef (docRef, fieldName),\n        fieldTerms = Object.create(null)\n\n    this.fieldTermFrequencies[fieldRef] = fieldTerms\n    this.fieldLengths[fieldRef] = 0\n\n    // store the length of this field for this document\n    this.fieldLengths[fieldRef] += terms.length\n\n    // calculate term frequencies for this field\n    for (var j = 0; j < terms.length; j++) {\n      var term = terms[j]\n\n      if (fieldTerms[term] == undefined) {\n        fieldTerms[term] = 0\n      }\n\n      fieldTerms[term] += 1\n\n      // add to inverted index\n      // create an initial posting if one doesn't exist\n      if (this.invertedIndex[term] == undefined) {\n        var posting = Object.create(null)\n        posting[\"_index\"] = this.termIndex\n        this.termIndex += 1\n\n        for (var k = 0; k < fields.length; k++) {\n          posting[fields[k]] = Object.create(null)\n        }\n\n        this.invertedIndex[term] = posting\n      }\n\n      // add an entry for this term/fieldName/docRef to the invertedIndex\n      if (this.invertedIndex[term][fieldName][docRef] == undefined) {\n        this.invertedIndex[term][fieldName][docRef] = Object.create(null)\n      }\n\n      // store all whitelisted metadata about this token in the\n      // inverted index\n      for (var l = 0; l < this.metadataWhitelist.length; l++) {\n        var metadataKey = this.metadataWhitelist[l],\n            metadata = term.metadata[metadataKey]\n\n        if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) {\n          this.invertedIndex[term][fieldName][docRef][metadataKey] = []\n        }\n\n        this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata)\n      }\n    }\n\n  }\n}\n\n/**\n * Calculates the average document length for this index\n *\n * @private\n */\nlunr.Builder.prototype.calculateAverageFieldLengths = function () {\n\n  var fieldRefs = Object.keys(this.fieldLengths),\n      numberOfFields = fieldRefs.length,\n      accumulator = {},\n      documentsWithField = {}\n\n  for (var i = 0; i < numberOfFields; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        field = fieldRef.fieldName\n\n    documentsWithField[field] || (documentsWithField[field] = 0)\n    documentsWithField[field] += 1\n\n    accumulator[field] || (accumulator[field] = 0)\n    accumulator[field] += this.fieldLengths[fieldRef]\n  }\n\n  var fields = Object.keys(this._fields)\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i]\n    accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName]\n  }\n\n  this.averageFieldLength = accumulator\n}\n\n/**\n * Builds a vector space model of every document using lunr.Vector\n *\n * @private\n */\nlunr.Builder.prototype.createFieldVectors = function () {\n  var fieldVectors = {},\n      fieldRefs = Object.keys(this.fieldTermFrequencies),\n      fieldRefsLength = fieldRefs.length,\n      termIdfCache = Object.create(null)\n\n  for (var i = 0; i < fieldRefsLength; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        fieldName = fieldRef.fieldName,\n        fieldLength = this.fieldLengths[fieldRef],\n        fieldVector = new lunr.Vector,\n        termFrequencies = this.fieldTermFrequencies[fieldRef],\n        terms = Object.keys(termFrequencies),\n        termsLength = terms.length\n\n\n    var fieldBoost = this._fields[fieldName].boost || 1,\n        docBoost = this._documents[fieldRef.docRef].boost || 1\n\n    for (var j = 0; j < termsLength; j++) {\n      var term = terms[j],\n          tf = termFrequencies[term],\n          termIndex = this.invertedIndex[term]._index,\n          idf, score, scoreWithPrecision\n\n      if (termIdfCache[term] === undefined) {\n        idf = lunr.idf(this.invertedIndex[term], this.documentCount)\n        termIdfCache[term] = idf\n      } else {\n        idf = termIdfCache[term]\n      }\n\n      score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf)\n      score *= fieldBoost\n      score *= docBoost\n      scoreWithPrecision = Math.round(score * 1000) / 1000\n      // Converts 1.23456789 to 1.234.\n      // Reducing the precision so that the vectors take up less\n      // space when serialised. Doing it now so that they behave\n      // the same before and after serialisation. Also, this is\n      // the fastest approach to reducing a number's precision in\n      // JavaScript.\n\n      fieldVector.insert(termIndex, scoreWithPrecision)\n    }\n\n    fieldVectors[fieldRef] = fieldVector\n  }\n\n  this.fieldVectors = fieldVectors\n}\n\n/**\n * Creates a token set of all tokens in the index using lunr.TokenSet\n *\n * @private\n */\nlunr.Builder.prototype.createTokenSet = function () {\n  this.tokenSet = lunr.TokenSet.fromArray(\n    Object.keys(this.invertedIndex).sort()\n  )\n}\n\n/**\n * Builds the index, creating an instance of lunr.Index.\n *\n * This completes the indexing process and should only be called\n * once all documents have been added to the index.\n *\n * @returns {lunr.Index}\n */\nlunr.Builder.prototype.build = function () {\n  this.calculateAverageFieldLengths()\n  this.createFieldVectors()\n  this.createTokenSet()\n\n  return new lunr.Index({\n    invertedIndex: this.invertedIndex,\n    fieldVectors: this.fieldVectors,\n    tokenSet: this.tokenSet,\n    fields: Object.keys(this._fields),\n    pipeline: this.searchPipeline\n  })\n}\n\n/**\n * Applies a plugin to the index builder.\n *\n * A plugin is a function that is called with the index builder as its context.\n * Plugins can be used to customise or extend the behaviour of the index\n * in some way. A plugin is just a function, that encapsulated the custom\n * behaviour that should be applied when building the index.\n *\n * The plugin function will be called with the index builder as its argument, additional\n * arguments can also be passed when calling use. The function will be called\n * with the index builder as its context.\n *\n * @param {Function} plugin The plugin to apply.\n */\nlunr.Builder.prototype.use = function (fn) {\n  var args = Array.prototype.slice.call(arguments, 1)\n  args.unshift(this)\n  fn.apply(this, args)\n}\n/**\n * Contains and collects metadata about a matching document.\n * A single instance of lunr.MatchData is returned as part of every\n * lunr.Index~Result.\n *\n * @constructor\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n * @property {object} metadata - A cloned collection of metadata associated with this document.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData = function (term, field, metadata) {\n  var clonedMetadata = Object.create(null),\n      metadataKeys = Object.keys(metadata || {})\n\n  // Cloning the metadata to prevent the original\n  // being mutated during match data combination.\n  // Metadata is kept in an array within the inverted\n  // index so cloning the data can be done with\n  // Array#slice\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n    clonedMetadata[key] = metadata[key].slice()\n  }\n\n  this.metadata = Object.create(null)\n\n  if (term !== undefined) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = clonedMetadata\n  }\n}\n\n/**\n * An instance of lunr.MatchData will be created for every term that matches a\n * document. However only one instance is required in a lunr.Index~Result. This\n * method combines metadata from another instance of lunr.MatchData with this\n * objects metadata.\n *\n * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData.prototype.combine = function (otherMatchData) {\n  var terms = Object.keys(otherMatchData.metadata)\n\n  for (var i = 0; i < terms.length; i++) {\n    var term = terms[i],\n        fields = Object.keys(otherMatchData.metadata[term])\n\n    if (this.metadata[term] == undefined) {\n      this.metadata[term] = Object.create(null)\n    }\n\n    for (var j = 0; j < fields.length; j++) {\n      var field = fields[j],\n          keys = Object.keys(otherMatchData.metadata[term][field])\n\n      if (this.metadata[term][field] == undefined) {\n        this.metadata[term][field] = Object.create(null)\n      }\n\n      for (var k = 0; k < keys.length; k++) {\n        var key = keys[k]\n\n        if (this.metadata[term][field][key] == undefined) {\n          this.metadata[term][field][key] = otherMatchData.metadata[term][field][key]\n        } else {\n          this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key])\n        }\n\n      }\n    }\n  }\n}\n\n/**\n * Add metadata for a term/field pair to this instance of match data.\n *\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n */\nlunr.MatchData.prototype.add = function (term, field, metadata) {\n  if (!(term in this.metadata)) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  if (!(field in this.metadata[term])) {\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  var metadataKeys = Object.keys(metadata)\n\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n\n    if (key in this.metadata[term][field]) {\n      this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key])\n    } else {\n      this.metadata[term][field][key] = metadata[key]\n    }\n  }\n}\n/**\n * A lunr.Query provides a programmatic way of defining queries to be performed\n * against a {@link lunr.Index}.\n *\n * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method\n * so the query object is pre-initialized with the right index fields.\n *\n * @constructor\n * @property {lunr.Query~Clause[]} clauses - An array of query clauses.\n * @property {string[]} allFields - An array of all available fields in a lunr.Index.\n */\nlunr.Query = function (allFields) {\n  this.clauses = []\n  this.allFields = allFields\n}\n\n/**\n * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause.\n *\n * This allows wildcards to be added to the beginning and end of a term without having to manually do any string\n * concatenation.\n *\n * The wildcard constants can be bitwise combined to select both leading and trailing wildcards.\n *\n * @constant\n * @default\n * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour\n * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists\n * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with trailing wildcard</caption>\n * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING })\n * @example <caption>query term with leading and trailing wildcard</caption>\n * query.term('foo', {\n *   wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING\n * })\n */\n\nlunr.Query.wildcard = new String (\"*\")\nlunr.Query.wildcard.NONE = 0\nlunr.Query.wildcard.LEADING = 1\nlunr.Query.wildcard.TRAILING = 2\n\n/**\n * Constants for indicating what kind of presence a term must have in matching documents.\n *\n * @constant\n * @enum {number}\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with required presence</caption>\n * query.term('foo', { presence: lunr.Query.presence.REQUIRED })\n */\nlunr.Query.presence = {\n  /**\n   * Term's presence in a document is optional, this is the default value.\n   */\n  OPTIONAL: 1,\n\n  /**\n   * Term's presence in a document is required, documents that do not contain\n   * this term will not be returned.\n   */\n  REQUIRED: 2,\n\n  /**\n   * Term's presence in a document is prohibited, documents that do contain\n   * this term will not be returned.\n   */\n  PROHIBITED: 3\n}\n\n/**\n * A single clause in a {@link lunr.Query} contains a term and details on how to\n * match that term against a {@link lunr.Index}.\n *\n * @typedef {Object} lunr.Query~Clause\n * @property {string[]} fields - The fields in an index this clause should be matched against.\n * @property {number} [boost=1] - Any boost that should be applied when matching this clause.\n * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be.\n * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline.\n * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended.\n * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents.\n */\n\n/**\n * Adds a {@link lunr.Query~Clause} to this query.\n *\n * Unless the clause contains the fields to be matched all fields will be matched. In addition\n * a default boost of 1 is applied to the clause.\n *\n * @param {lunr.Query~Clause} clause - The clause to add to this query.\n * @see lunr.Query~Clause\n * @returns {lunr.Query}\n */\nlunr.Query.prototype.clause = function (clause) {\n  if (!('fields' in clause)) {\n    clause.fields = this.allFields\n  }\n\n  if (!('boost' in clause)) {\n    clause.boost = 1\n  }\n\n  if (!('usePipeline' in clause)) {\n    clause.usePipeline = true\n  }\n\n  if (!('wildcard' in clause)) {\n    clause.wildcard = lunr.Query.wildcard.NONE\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) {\n    clause.term = \"*\" + clause.term\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) {\n    clause.term = \"\" + clause.term + \"*\"\n  }\n\n  if (!('presence' in clause)) {\n    clause.presence = lunr.Query.presence.OPTIONAL\n  }\n\n  this.clauses.push(clause)\n\n  return this\n}\n\n/**\n * A negated query is one in which every clause has a presence of\n * prohibited. These queries require some special processing to return\n * the expected results.\n *\n * @returns boolean\n */\nlunr.Query.prototype.isNegated = function () {\n  for (var i = 0; i < this.clauses.length; i++) {\n    if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) {\n      return false\n    }\n  }\n\n  return true\n}\n\n/**\n * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause}\n * to the list of clauses that make up this query.\n *\n * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion\n * to a token or token-like string should be done before calling this method.\n *\n * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an\n * array, each term in the array will share the same options.\n *\n * @param {object|object[]} term - The term(s) to add to the query.\n * @param {object} [options] - Any additional properties to add to the query clause.\n * @returns {lunr.Query}\n * @see lunr.Query#clause\n * @see lunr.Query~Clause\n * @example <caption>adding a single term to a query</caption>\n * query.term(\"foo\")\n * @example <caption>adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard</caption>\n * query.term(\"foo\", {\n *   fields: [\"title\"],\n *   boost: 10,\n *   wildcard: lunr.Query.wildcard.TRAILING\n * })\n * @example <caption>using lunr.tokenizer to convert a string to tokens before using them as terms</caption>\n * query.term(lunr.tokenizer(\"foo bar\"))\n */\nlunr.Query.prototype.term = function (term, options) {\n  if (Array.isArray(term)) {\n    term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this)\n    return this\n  }\n\n  var clause = options || {}\n  clause.term = term.toString()\n\n  this.clause(clause)\n\n  return this\n}\nlunr.QueryParseError = function (message, start, end) {\n  this.name = \"QueryParseError\"\n  this.message = message\n  this.start = start\n  this.end = end\n}\n\nlunr.QueryParseError.prototype = new Error\nlunr.QueryLexer = function (str) {\n  this.lexemes = []\n  this.str = str\n  this.length = str.length\n  this.pos = 0\n  this.start = 0\n  this.escapeCharPositions = []\n}\n\nlunr.QueryLexer.prototype.run = function () {\n  var state = lunr.QueryLexer.lexText\n\n  while (state) {\n    state = state(this)\n  }\n}\n\nlunr.QueryLexer.prototype.sliceString = function () {\n  var subSlices = [],\n      sliceStart = this.start,\n      sliceEnd = this.pos\n\n  for (var i = 0; i < this.escapeCharPositions.length; i++) {\n    sliceEnd = this.escapeCharPositions[i]\n    subSlices.push(this.str.slice(sliceStart, sliceEnd))\n    sliceStart = sliceEnd + 1\n  }\n\n  subSlices.push(this.str.slice(sliceStart, this.pos))\n  this.escapeCharPositions.length = 0\n\n  return subSlices.join('')\n}\n\nlunr.QueryLexer.prototype.emit = function (type) {\n  this.lexemes.push({\n    type: type,\n    str: this.sliceString(),\n    start: this.start,\n    end: this.pos\n  })\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.escapeCharacter = function () {\n  this.escapeCharPositions.push(this.pos - 1)\n  this.pos += 1\n}\n\nlunr.QueryLexer.prototype.next = function () {\n  if (this.pos >= this.length) {\n    return lunr.QueryLexer.EOS\n  }\n\n  var char = this.str.charAt(this.pos)\n  this.pos += 1\n  return char\n}\n\nlunr.QueryLexer.prototype.width = function () {\n  return this.pos - this.start\n}\n\nlunr.QueryLexer.prototype.ignore = function () {\n  if (this.start == this.pos) {\n    this.pos += 1\n  }\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.backup = function () {\n  this.pos -= 1\n}\n\nlunr.QueryLexer.prototype.acceptDigitRun = function () {\n  var char, charCode\n\n  do {\n    char = this.next()\n    charCode = char.charCodeAt(0)\n  } while (charCode > 47 && charCode < 58)\n\n  if (char != lunr.QueryLexer.EOS) {\n    this.backup()\n  }\n}\n\nlunr.QueryLexer.prototype.more = function () {\n  return this.pos < this.length\n}\n\nlunr.QueryLexer.EOS = 'EOS'\nlunr.QueryLexer.FIELD = 'FIELD'\nlunr.QueryLexer.TERM = 'TERM'\nlunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE'\nlunr.QueryLexer.BOOST = 'BOOST'\nlunr.QueryLexer.PRESENCE = 'PRESENCE'\n\nlunr.QueryLexer.lexField = function (lexer) {\n  lexer.backup()\n  lexer.emit(lunr.QueryLexer.FIELD)\n  lexer.ignore()\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexTerm = function (lexer) {\n  if (lexer.width() > 1) {\n    lexer.backup()\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n\n  lexer.ignore()\n\n  if (lexer.more()) {\n    return lunr.QueryLexer.lexText\n  }\n}\n\nlunr.QueryLexer.lexEditDistance = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.EDIT_DISTANCE)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexBoost = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.BOOST)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexEOS = function (lexer) {\n  if (lexer.width() > 0) {\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n}\n\n// This matches the separator used when tokenising fields\n// within a document. These should match otherwise it is\n// not possible to search for some tokens within a document.\n//\n// It is possible for the user to change the separator on the\n// tokenizer so it _might_ clash with any other of the special\n// characters already used within the search string, e.g. :.\n//\n// This means that it is possible to change the separator in\n// such a way that makes some words unsearchable using a search\n// string.\nlunr.QueryLexer.termSeparator = lunr.tokenizer.separator\n\nlunr.QueryLexer.lexText = function (lexer) {\n  while (true) {\n    var char = lexer.next()\n\n    if (char == lunr.QueryLexer.EOS) {\n      return lunr.QueryLexer.lexEOS\n    }\n\n    // Escape character is '\\'\n    if (char.charCodeAt(0) == 92) {\n      lexer.escapeCharacter()\n      continue\n    }\n\n    if (char == \":\") {\n      return lunr.QueryLexer.lexField\n    }\n\n    if (char == \"~\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexEditDistance\n    }\n\n    if (char == \"^\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexBoost\n    }\n\n    // \"+\" indicates term presence is required\n    // checking for length to ensure that only\n    // leading \"+\" are considered\n    if (char == \"+\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    // \"-\" indicates term presence is prohibited\n    // checking for length to ensure that only\n    // leading \"-\" are considered\n    if (char == \"-\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    if (char.match(lunr.QueryLexer.termSeparator)) {\n      return lunr.QueryLexer.lexTerm\n    }\n  }\n}\n\nlunr.QueryParser = function (str, query) {\n  this.lexer = new lunr.QueryLexer (str)\n  this.query = query\n  this.currentClause = {}\n  this.lexemeIdx = 0\n}\n\nlunr.QueryParser.prototype.parse = function () {\n  this.lexer.run()\n  this.lexemes = this.lexer.lexemes\n\n  var state = lunr.QueryParser.parseClause\n\n  while (state) {\n    state = state(this)\n  }\n\n  return this.query\n}\n\nlunr.QueryParser.prototype.peekLexeme = function () {\n  return this.lexemes[this.lexemeIdx]\n}\n\nlunr.QueryParser.prototype.consumeLexeme = function () {\n  var lexeme = this.peekLexeme()\n  this.lexemeIdx += 1\n  return lexeme\n}\n\nlunr.QueryParser.prototype.nextClause = function () {\n  var completedClause = this.currentClause\n  this.query.clause(completedClause)\n  this.currentClause = {}\n}\n\nlunr.QueryParser.parseClause = function (parser) {\n  var lexeme = parser.peekLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.type) {\n    case lunr.QueryLexer.PRESENCE:\n      return lunr.QueryParser.parsePresence\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expected either a field or a term, found \" + lexeme.type\n\n      if (lexeme.str.length >= 1) {\n        errorMessage += \" with value '\" + lexeme.str + \"'\"\n      }\n\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n}\n\nlunr.QueryParser.parsePresence = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.str) {\n    case \"-\":\n      parser.currentClause.presence = lunr.Query.presence.PROHIBITED\n      break\n    case \"+\":\n      parser.currentClause.presence = lunr.Query.presence.REQUIRED\n      break\n    default:\n      var errorMessage = \"unrecognised presence operator'\" + lexeme.str + \"'\"\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term or field, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term or field, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseField = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  if (parser.query.allFields.indexOf(lexeme.str) == -1) {\n    var possibleFields = parser.query.allFields.map(function (f) { return \"'\" + f + \"'\" }).join(', '),\n        errorMessage = \"unrecognised field '\" + lexeme.str + \"', possible fields: \" + possibleFields\n\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.fields = [lexeme.str]\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseTerm = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  parser.currentClause.term = lexeme.str.toLowerCase()\n\n  if (lexeme.str.indexOf(\"*\") != -1) {\n    parser.currentClause.usePipeline = false\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseEditDistance = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var editDistance = parseInt(lexeme.str, 10)\n\n  if (isNaN(editDistance)) {\n    var errorMessage = \"edit distance must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.editDistance = editDistance\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseBoost = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var boost = parseInt(lexeme.str, 10)\n\n  if (isNaN(boost)) {\n    var errorMessage = \"boost must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.boost = boost\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\n  /**\n   * export the module via AMD, CommonJS or as a browser global\n   * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js\n   */\n  ;(function (root, factory) {\n    if (typeof define === 'function' && define.amd) {\n      // AMD. Register as an anonymous module.\n      define(factory)\n    } else if (typeof exports === 'object') {\n      /**\n       * Node. Does not work with strict CommonJS, but\n       * only CommonJS-like enviroments that support module.exports,\n       * like Node.\n       */\n      module.exports = factory()\n    } else {\n      // Browser globals (root is window)\n      root.lunr = factory()\n    }\n  }(this, function () {\n    /**\n     * Just return a value to define the module export.\n     * This example returns an object, but the module\n     * can return a function as the exported value.\n     */\n    return lunr\n  }))\n})();\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport lunr from \"lunr\"\n\nimport { getElement } from \"~/browser/element/_\"\nimport \"~/polyfills\"\n\nimport { Search } from \"../../_\"\nimport { SearchConfig } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Add support for `iframe-worker` shim\n *\n * While `importScripts` is synchronous when executed inside of a web worker,\n * it's not possible to provide a synchronous shim implementation. The cool\n * thing is that awaiting a non-Promise will convert it into a Promise, so\n * extending the type definition to return a `Promise` shouldn't break anything.\n *\n * @see https://bit.ly/2PjDnXi - GitHub comment\n *\n * @param urls - Scripts to load\n *\n * @returns Promise resolving with no result\n */\ndeclare global {\n  function importScripts(...urls: string[]): Promise<void> | void\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nlet index: Search\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch (= import) multi-language support through `lunr-languages`\n *\n * This function automatically imports the stemmers necessary to process the\n * languages which are defined as part of the search configuration.\n *\n * If the worker runs inside of an `iframe` (when using `iframe-worker` as\n * a shim), the base URL for the stemmers to be loaded must be determined by\n * searching for the first `script` element with a `src` attribute, which will\n * contain the contents of this script.\n *\n * @param config - Search configuration\n *\n * @returns Promise resolving with no result\n */\nasync function setupSearchLanguages(\n  config: SearchConfig\n): Promise<void> {\n  let base = \"../lunr\"\n\n  /* Detect `iframe-worker` and fix base URL */\n  if (typeof parent !== \"undefined\" && \"IFrameWorker\" in parent) {\n    const worker = getElement<HTMLScriptElement>(\"script[src]\")!\n    const [path] = worker.src.split(\"/worker\")\n\n    /* Prefix base with path */\n    base = base.replace(\"..\", path)\n  }\n\n  /* Add scripts for languages */\n  const scripts = []\n  for (const lang of config.lang) {\n    switch (lang) {\n\n      /* Add segmenter for Japanese */\n      case \"ja\":\n        scripts.push(`${base}/tinyseg.js`)\n        break\n\n      /* Add segmenter for Hindi and Thai */\n      case \"hi\":\n      case \"th\":\n        scripts.push(`${base}/wordcut.js`)\n        break\n    }\n\n    /* Add language support */\n    if (lang !== \"en\")\n      scripts.push(`${base}/min/lunr.${lang}.min.js`)\n  }\n\n  /* Add multi-language support */\n  if (config.lang.length > 1)\n    scripts.push(`${base}/min/lunr.multi.min.js`)\n\n  /* Load scripts synchronously */\n  if (scripts.length)\n    await importScripts(\n      `${base}/min/lunr.stemmer.support.min.js`,\n      ...scripts\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Message handler\n *\n * @param message - Source message\n *\n * @returns Target message\n */\nexport async function handler(\n  message: SearchMessage\n): Promise<SearchMessage> {\n  switch (message.type) {\n\n    /* Search setup message */\n    case SearchMessageType.SETUP:\n      await setupSearchLanguages(message.data.config)\n      index = new Search(message.data)\n      return {\n        type: SearchMessageType.READY\n      }\n\n    /* Search query message */\n    case SearchMessageType.QUERY:\n      const query = message.data\n      try {\n        return {\n          type: SearchMessageType.RESULT,\n          data: index.search(query)\n        }\n\n      /* Return empty result in case of error */\n      } catch (err) {\n        console.warn(`Invalid query: ${query} \u2013 see https://bit.ly/2s3ChXG`)\n        console.warn(err)\n        return {\n          type: SearchMessageType.RESULT,\n          data: { items: [] }\n        }\n      }\n\n    /* All other messages */\n    default:\n      throw new TypeError(\"Invalid message type\")\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Worker\n * ------------------------------------------------------------------------- */\n\n/* Expose Lunr.js in global scope, or stemmers won't work */\nself.lunr = lunr\n\n/* Handle messages */\naddEventListener(\"message\", async ev => {\n  postMessage(await handler(ev.data))\n})\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search configuration\n */\nexport interface SearchConfig {\n  lang: string[]                       /* Search languages */\n  separator: string                    /* Search separator */\n  pipeline: SearchPipelineFn[]         /* Search pipeline */\n}\n\n/**\n * Search document\n */\nexport interface SearchDocument {\n  location: string                     /* Document location */\n  title: string                        /* Document title */\n  text: string                         /* Document text */\n  tags?: string[]                      /* Document tags */\n  boost?: number                       /* Document boost */\n  parent?: SearchDocument              /* Document parent */\n}\n\n/**\n * Search options\n */\nexport interface SearchOptions {\n  suggest: boolean                     /* Search suggestions */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport interface SearchIndex {\n  config: SearchConfig                 /* Search configuration */\n  docs: SearchDocument[]               /* Search documents */\n  options: SearchOptions               /* Search options */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search pipeline function\n */\ntype SearchPipelineFn =\n  | \"trimmer\"                          /* Trimmer */\n  | \"stopWordFilter\"                   /* Stop word filter */\n  | \"stemmer\"                          /* Stemmer */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document map\n *\n * This function creates a mapping of URLs (including anchors) to the actual\n * articles and sections. It relies on the invariant that the search index is\n * ordered with the main article appearing before all sections with anchors.\n * If this is not the case, the logic music be changed.\n *\n * @param docs - Search documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchDocument[]\n): Map<string, SearchDocument> {\n  const map = new Map<string, SearchDocument>()\n  for (const doc of docs) {\n    const [path] = doc.location.split(\"#\")\n\n    /* Add document article */\n    const article = map.get(path)\n    if (typeof article === \"undefined\") {\n      map.set(path, doc)\n\n      /* Add document section */\n    } else {\n      map.set(doc.location, doc)\n      doc.parent = article\n    }\n  }\n\n  /* Return search document map */\n  return map\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string using the given separator\n *\n * @param input - Input value\n * @param separator - Separator\n * @param fn - Visitor function\n */\nexport function split(\n  input: string, separator: RegExp, fn: VisitorFn\n): void {\n  separator = new RegExp(separator, \"g\")\n\n  /* Split string using separator */\n  let match: RegExpExecArray | null\n  let index = 0\n  do {\n    match = separator.exec(input)\n\n    /* Emit non-empty range */\n    const until = match?.index ?? input.length\n    if (index < until)\n      fn(index, until)\n\n    /* Update last index */\n    if (match) {\n      const [term] = match\n      index = match.index + term.length\n\n      /* Support zero-length lookaheads */\n      if (term.length === 0)\n        separator.lastIndex = match.index + 1\n    }\n  } while (match)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Extraction type\n *\n * This type defines the possible values that are encoded into the first two\n * bits of a section that is part of the blocks of a tokenization table. There\n * are three types of interest: HTML opening and closing tags, as well as the\n * actual text content we need to extract for indexing.\n */\nexport const enum Extract {\n  TAG_OPEN  = 0,                       /* HTML opening tag */\n  TEXT      = 1,                       /* Text content */\n  TAG_CLOSE = 2                        /* HTML closing tag */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param block - Block index\n * @param type - Extraction type\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  block: number, type: Extract, start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string into markup and text sections\n *\n * This function scans a string and divides it up into sections of markup and\n * text. For each section, it invokes the given visitor function with the block\n * index, extraction type, as well as start and end offsets. Using a visitor\n * function (= streaming data) is ideal for minimizing pressure on the GC.\n *\n * @param input - Input value\n * @param fn - Visitor function\n */\nexport function extract(\n  input: string, fn: VisitorFn\n): void {\n\n  let block = 0                        /* Current block */\n  let start = 0                        /* Current start offset */\n  let end = 0                          /* Current end offset */\n\n  /* Split string into sections */\n  for (let stack = 0; end < input.length; end++) {\n\n    /* Opening tag after non-empty section */\n    if (input.charAt(end) === \"<\" && end > start) {\n      fn(block, Extract.TEXT, start, start = end)\n\n    /* Closing tag */\n    } else if (input.charAt(end) === \">\") {\n      if (input.charAt(start + 1) === \"/\") {\n        if (--stack === 0)\n          fn(block++, Extract.TAG_CLOSE, start, end + 1)\n\n      /* Tag is not self-closing */\n      } else if (input.charAt(end - 1) !== \"/\") {\n        if (stack++ === 0)\n          fn(block, Extract.TAG_OPEN, start, end + 1)\n      }\n\n      /* New section */\n      start = end + 1\n    }\n  }\n\n  /* Add trailing section */\n  if (end > start)\n    fn(block, Extract.TEXT, start, end)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Position table\n */\nexport type PositionTable = number[][]\n\n/**\n * Position\n */\nexport type Position = number\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Highlight all occurrences in a string\n *\n * This function receives a field's value (e.g. like `title` or `text`), it's\n * position table that was generated during indexing, and the positions found\n * when executing the query. It then highlights all occurrences, and returns\n * their concatenation. In case of multiple blocks, two are returned.\n *\n * @param input - Input value\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string value\n */\nexport function highlight(\n  input: string, table: PositionTable, positions: Position[], full = false\n): string {\n  return highlightAll([input], table, positions, full).pop()!\n}\n\n/**\n * Highlight all occurrences in a set of strings\n *\n * @param inputs - Input values\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string values\n */\nexport function highlightAll(\n  inputs: string[], table: PositionTable, positions: Position[], full = false\n): string[] {\n\n  /* Map blocks to input values */\n  const mapping = [0]\n  for (let t = 1; t < table.length; t++) {\n    const prev = table[t - 1]\n    const next = table[t]\n\n    /* Check if table points to new block */\n    const p = prev[prev.length - 1] >>> 2 & 0x3FF\n    const q = next[0]               >>> 12\n\n    /* Add block to mapping */\n    mapping.push(+(p > q) + mapping[mapping.length - 1])\n  }\n\n  /* Highlight strings one after another */\n  return inputs.map((input, i) => {\n    let cursor = 0\n\n    /* Map occurrences to blocks */\n    const blocks = new Map<number, number[]>()\n    for (const p of positions.sort((a, b) => a - b)) {\n      const index = p & 0xFFFFF\n      const block = p >>> 20\n      if (mapping[block] !== i)\n        continue\n\n      /* Ensure presence of block group */\n      let group = blocks.get(block)\n      if (typeof group === \"undefined\")\n        blocks.set(block, group = [])\n\n      /* Add index to group */\n      group.push(index)\n    }\n\n    /* Just return string, if no occurrences */\n    if (blocks.size === 0)\n      return input\n\n    /* Compute slices */\n    const slices: string[] = []\n    for (const [block, indexes] of blocks) {\n      const t = table[block]\n\n      /* Extract positions and length */\n      const start  = t[0]            >>> 12\n      const end    = t[t.length - 1] >>> 12\n      const length = t[t.length - 1] >>> 2 & 0x3FF\n\n      /* Add prefix, if full results are desired */\n      if (full && start > cursor)\n        slices.push(input.slice(cursor, start))\n\n      /* Extract and highlight slice */\n      let slice = input.slice(start, end + length)\n      for (const j of indexes.sort((a, b) => b - a)) {\n\n        /* Retrieve offset and length of match */\n        const p = (t[j] >>> 12) - start\n        const q = (t[j] >>> 2 & 0x3FF) + p\n\n        /* Wrap occurrence */\n        slice = [\n          slice.slice(0, p),\n          \"<mark>\",\n          slice.slice(p, q),\n          \"</mark>\",\n          slice.slice(q)\n        ].join(\"\")\n      }\n\n      /* Update cursor */\n      cursor = end + length\n\n      /* Append slice and abort if we have two */\n      if (slices.push(slice) === 2)\n        break\n    }\n\n    /* Add suffix, if full results are desired */\n    if (full && cursor < input.length)\n      slices.push(input.slice(cursor))\n\n    /* Return highlighted slices */\n    return slices.join(\"\")\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../_\"\nimport {\n  Extract,\n  extract\n} from \"../extract\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string or set of strings into tokens\n *\n * This tokenizer supersedes the default tokenizer that is provided by Lunr.js,\n * as it is aware of HTML tags and allows for multi-character splitting.\n *\n * It takes the given inputs, splits each of them into markup and text sections,\n * tokenizes and segments (if necessary) each of them, and then indexes them in\n * a table by using a compact bit representation. Bitwise techniques are used\n * to write and read from the table during indexing and querying.\n *\n * @see https://bit.ly/3W3Xw4J - Search: better, faster, smaller\n *\n * @param input - Input value(s)\n *\n * @returns Tokens\n */\nexport function tokenize(\n  input?: string | string[]\n): lunr.Token[] {\n  const tokens: lunr.Token[] = []\n  if (typeof input === \"undefined\")\n    return tokens\n\n  /* Tokenize strings one after another */\n  const inputs = Array.isArray(input) ? input : [input]\n  for (let i = 0; i < inputs.length; i++) {\n    const table = lunr.tokenizer.table\n    const total = table.length\n\n    /* Split string into sections and tokenize content blocks */\n    extract(inputs[i], (block, type, start, end) => {\n      table[block += total] ||= []\n      switch (type) {\n\n        /* Handle markup */\n        case Extract.TAG_OPEN:\n        case Extract.TAG_CLOSE:\n          table[block].push(\n            start       << 12 |\n            end - start <<  2 |\n            type\n          )\n          break\n\n        /* Handle text content */\n        case Extract.TEXT:\n          const section = inputs[i].slice(start, end)\n          split(section, lunr.tokenizer.separator, (index, until) => {\n\n            /**\n             * Apply segmenter after tokenization. Note that the segmenter will\n             * also split words at word boundaries, which is not what we want,\n             * so we need to check if we can somehow mitigate this behavior.\n             */\n            if (typeof lunr.segmenter !== \"undefined\") {\n              const subsection = section.slice(index, until)\n              if (/^[MHIK]$/.test(lunr.segmenter.ctype_(subsection))) {\n                const segments = lunr.segmenter.segment(subsection)\n                for (let s = 0, l = 0; s < segments.length; s++) {\n\n                  /* Add block to section */\n                  table[block] ||= []\n                  table[block].push(\n                    start + index + l  << 12 |\n                    segments[s].length <<  2 |\n                    type\n                  )\n\n                  /* Add token with position */\n                  tokens.push(new lunr.Token(\n                    segments[s].toLowerCase(), {\n                      position: block << 20 | table[block].length - 1\n                    }\n                  ))\n\n                  /* Keep track of length */\n                  l += segments[s].length\n                }\n                return\n              }\n            }\n\n            /* Add block to section */\n            table[block].push(\n              start + index << 12 |\n              until - index <<  2 |\n              type\n            )\n\n            /* Add token with position */\n            tokens.push(new lunr.Token(\n              section.slice(index, until).toLowerCase(), {\n                position: block << 20 | table[block].length - 1\n              }\n            ))\n          })\n      }\n    })\n  }\n\n  /* Return tokens */\n  return tokens\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param value - String value\n *\n * @returns String term(s)\n */\ntype VisitorFn = (\n  value: string\n) => string | string[]\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Default transformation function\n *\n * 1. Trim excess whitespace from left and right.\n *\n * 2. Search for parts in quotation marks and prepend a `+` modifier to denote\n *    that the resulting document must contain all parts, converting the query\n *    to an `AND` query (as opposed to the default `OR` behavior). While users\n *    may expect parts enclosed in quotation marks to map to span queries, i.e.\n *    for which order is important, Lunr.js doesn't support them, so the best\n *    we can do is to convert the parts to an `AND` query.\n *\n * 3. Replace control characters which are not located at the beginning of the\n *    query or preceded by white space, or are not followed by a non-whitespace\n *    character or are at the end of the query string. Furthermore, filter\n *    unmatched quotation marks.\n *\n * 4. Split the query string at whitespace, then pass each part to the visitor\n *    function for tokenization, and append a wildcard to every resulting term\n *    that is not explicitly marked with a `+`, `-`, `~` or `^` modifier, since\n *    it ensures consistent and stable ranking when multiple terms are entered.\n *    Also, if a fuzzy or boost modifier are given, but no numeric value has\n *    been entered, default to 1 to not induce a query error.\n *\n * @param query - Query value\n * @param fn - Visitor function\n *\n * @returns Transformed query value\n */\nexport function transform(\n  query: string, fn: VisitorFn = term => term\n): string {\n  return query\n\n    /* => 1 */\n    .trim()\n\n    /* => 2 */\n    .split(/\"([^\"]+)\"/g)\n      .map((parts, index) => index & 1\n        ? parts.replace(/^\\b|^(?![^\\x00-\\x7F]|$)|\\s+/g, \" +\")\n        : parts\n      )\n      .join(\"\")\n\n    /* => 3 */\n    .replace(/\"|(?:^|\\s+)[*+\\-:^~]+(?=\\s+|$)/g, \"\")\n\n    /* => 4 */\n    .split(/\\s+/g)\n      .reduce((prev, term) => {\n        const next = fn(term)\n        return [...prev, ...Array.isArray(next) ? next : [next]]\n      }, [] as string[])\n      .map(term => /([~^]$)/.test(term) ? `${term}1` : term)\n      .map(term => /(^[+-]|[~^]\\d+$)/.test(term) ? term : `${term}*`)\n      .join(\" \")\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../../internal\"\nimport { transform } from \"../transform\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query clause\n */\nexport interface SearchQueryClause {\n  presence: lunr.Query.presence        /* Clause presence */\n  term: string                         /* Clause term */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search query terms\n */\nexport type SearchQueryTerms = Record<string, boolean>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Transform search query\n *\n * This function lexes the given search query and applies the transformation\n * function to each term, preserving markup like `+` and `-` modifiers.\n *\n * @param query - Search query\n *\n * @returns Search query\n */\nexport function transformSearchQuery(\n  query: string\n): string {\n\n  /* Split query terms with tokenizer */\n  return transform(query, part => {\n    const terms: string[] = []\n\n    /* Initialize lexer and analyze part */\n    const lexer = new lunr.QueryLexer(part)\n    lexer.run()\n\n    /* Extract and tokenize term from lexeme */\n    for (const { type, str: term, start, end } of lexer.lexemes)\n      switch (type) {\n\n        /* Hack: remove colon - see https://bit.ly/3wD3T3I */\n        case \"FIELD\":\n          if (![\"title\", \"text\", \"tags\"].includes(term))\n            part = [\n              part.slice(0, end),\n              \" \",\n              part.slice(end + 1)\n            ].join(\"\")\n          break\n\n        /* Tokenize term */\n        case \"TERM\":\n          split(term, lunr.tokenizer.separator, (...range) => {\n            terms.push([\n              part.slice(0, start),\n              term.slice(...range),\n              part.slice(end)\n            ].join(\"\"))\n          })\n      }\n\n    /* Return terms */\n    return terms\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Parse a search query for analysis\n *\n * Lunr.js itself has a bug where it doesn't detect or remove wildcards for\n * query clauses, so we must do this here.\n *\n * @see https://bit.ly/3DpTGtz - GitHub issue\n *\n * @param value - Query value\n *\n * @returns Search query clauses\n */\nexport function parseSearchQuery(\n  value: string\n): SearchQueryClause[] {\n  const query  = new lunr.Query([\"title\", \"text\", \"tags\"])\n  const parser = new lunr.QueryParser(value, query)\n\n  /* Parse Search query */\n  parser.parse()\n  for (const clause of query.clauses) {\n    clause.usePipeline = true\n\n    /* Handle leading wildcard */\n    if (clause.term.startsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.LEADING\n      clause.term = clause.term.slice(1)\n    }\n\n    /* Handle trailing wildcard */\n    if (clause.term.endsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.TRAILING\n      clause.term = clause.term.slice(0, -1)\n    }\n  }\n\n  /* Return query clauses */\n  return query.clauses\n}\n\n/**\n * Analyze the search query clauses in regard to the search terms found\n *\n * @param query - Search query clauses\n * @param terms - Search terms\n *\n * @returns Search query terms\n */\nexport function getSearchQueryTerms(\n  query: SearchQueryClause[], terms: string[]\n): SearchQueryTerms {\n  const clauses = new Set<SearchQueryClause>(query)\n\n  /* Match query clauses against terms */\n  const result: SearchQueryTerms = {}\n  for (let t = 0; t < terms.length; t++)\n    for (const clause of clauses)\n      if (terms[t].startsWith(clause.term)) {\n        result[clause.term] = true\n        clauses.delete(clause)\n      }\n\n  /* Annotate unmatched non-stopword query clauses */\n  for (const clause of clauses)\n    if (lunr.stopWordFilter?.(clause.term))\n      result[clause.term] = false\n\n  /* Return query terms */\n  return result\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Segment a search query using the inverted index\n *\n * This function implements a clever approach to text segmentation for Asian\n * languages, as it used the information already available in the search index.\n * The idea is to greedily segment the search query based on the tokens that are\n * already part of the index, as described in the linked issue.\n *\n * @see https://bit.ly/3lwjrk7 - GitHub issue\n *\n * @param query - Query value\n * @param index - Inverted index\n *\n * @returns Segmented query value\n */\nexport function segment(\n  query: string, index: object\n): Iterable<string> {\n  const segments = new Set<string>()\n\n  /* Segment search query */\n  const wordcuts = new Uint16Array(query.length)\n  for (let i = 0; i < query.length; i++)\n    for (let j = i + 1; j < query.length; j++) {\n      const value = query.slice(i, j)\n      if (value in index)\n        wordcuts[i] = j - i\n    }\n\n  /* Compute longest matches with minimum overlap */\n  const stack = [0]\n  for (let s = stack.length; s > 0;) {\n    const p = stack[--s]\n    for (let q = 1; q < wordcuts[p]; q++)\n      if (wordcuts[p + q] > wordcuts[p] - q) {\n        segments.add(query.slice(p, p + q))\n        stack[s++] = p + q\n      }\n\n    /* Continue at end of query string */\n    const q = p + wordcuts[p]\n    if (wordcuts[q] && q < query.length - 1)\n      stack[s++] = q\n\n    /* Add current segment */\n    segments.add(query.slice(p, q))\n  }\n\n  // @todo fix this case in the code block above, this is a hotfix\n  if (segments.has(\"\"))\n    return new Set([query])\n\n  /* Return segmented query value */\n  return segments\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  SearchDocument,\n  SearchIndex,\n  SearchOptions,\n  setupSearchDocumentMap\n} from \"../config\"\nimport {\n  Position,\n  PositionTable,\n  highlight,\n  highlightAll,\n  tokenize\n} from \"../internal\"\nimport {\n  SearchQueryTerms,\n  getSearchQueryTerms,\n  parseSearchQuery,\n  segment,\n  transformSearchQuery\n} from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search item\n */\nexport interface SearchItem\n  extends SearchDocument\n{\n  score: number                        /* Score (relevance) */\n  terms: SearchQueryTerms              /* Search query terms */\n}\n\n/**\n * Search result\n */\nexport interface SearchResult {\n  items: SearchItem[][]                /* Search items */\n  suggest?: string[]                   /* Search suggestions */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create field extractor factory\n *\n * @param table - Position table map\n *\n * @returns Extractor factory\n */\nfunction extractor(table: Map<string, PositionTable>) {\n  return (name: keyof SearchDocument) => {\n    return (doc: SearchDocument) => {\n      if (typeof doc[name] === \"undefined\")\n        return undefined\n\n      /* Compute identifier and initialize table */\n      const id = [doc.location, name].join(\":\")\n      table.set(id, lunr.tokenizer.table = [])\n\n      /* Return field value */\n      return doc[name]\n    }\n  }\n}\n\n/**\n * Compute the difference of two lists of strings\n *\n * @param a - 1st list of strings\n * @param b - 2nd list of strings\n *\n * @returns Difference\n */\nfunction difference(a: string[], b: string[]): string[] {\n  const [x, y] = [new Set(a), new Set(b)]\n  return [\n    ...new Set([...x].filter(value => !y.has(value)))\n  ]\n}\n\n/* ----------------------------------------------------------------------------\n * Class\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport class Search {\n\n  /**\n   * Search document map\n   */\n  protected map: Map<string, SearchDocument>\n\n  /**\n   * Search options\n   */\n  protected options: SearchOptions\n\n  /**\n   * The underlying Lunr.js search index\n   */\n  protected index: lunr.Index\n\n  /**\n   * Internal position table map\n   */\n  protected table: Map<string, PositionTable>\n\n  /**\n   * Create the search integration\n   *\n   * @param data - Search index\n   */\n  public constructor({ config, docs, options }: SearchIndex) {\n    const field = extractor(this.table = new Map())\n\n    /* Set up document map and options */\n    this.map = setupSearchDocumentMap(docs)\n    this.options = options\n\n    /* Set up document index */\n    this.index = lunr(function () {\n      this.metadataWhitelist = [\"position\"]\n      this.b(0)\n\n      /* Set up (multi-)language support */\n      if (config.lang.length === 1 && config.lang[0] !== \"en\") {\n        // @ts-expect-error - namespace indexing not supported\n        this.use(lunr[config.lang[0]])\n      } else if (config.lang.length > 1) {\n        this.use(lunr.multiLanguage(...config.lang))\n      }\n\n      /* Set up custom tokenizer (must be after language setup) */\n      this.tokenizer = tokenize as typeof lunr.tokenizer\n      lunr.tokenizer.separator = new RegExp(config.separator)\n\n      /* Set up custom segmenter, if loaded */\n      lunr.segmenter = \"TinySegmenter\" in lunr\n        ? new lunr.TinySegmenter()\n        : undefined\n\n      /* Compute functions to be removed from the pipeline */\n      const fns = difference([\n        \"trimmer\", \"stopWordFilter\", \"stemmer\"\n      ], config.pipeline)\n\n      /* Remove functions from the pipeline for registered languages */\n      for (const lang of config.lang.map(language => (\n        // @ts-expect-error - namespace indexing not supported\n        language === \"en\" ? lunr : lunr[language]\n      )))\n        for (const fn of fns) {\n          this.pipeline.remove(lang[fn])\n          this.searchPipeline.remove(lang[fn])\n        }\n\n      /* Set up index reference */\n      this.ref(\"location\")\n\n      /* Set up index fields */\n      this.field(\"title\", { boost: 1e3, extractor: field(\"title\") })\n      this.field(\"text\",  { boost: 1e0, extractor: field(\"text\") })\n      this.field(\"tags\",  { boost: 1e6, extractor: field(\"tags\") })\n\n      /* Add documents to index */\n      for (const doc of docs)\n        this.add(doc, { boost: doc.boost })\n    })\n  }\n\n  /**\n   * Search for matching documents\n   *\n   * @param query - Search query\n   *\n   * @returns Search result\n   */\n  public search(query: string): SearchResult {\n\n    // Experimental Chinese segmentation\n    query = query.replace(/\\p{sc=Han}+/gu, value => {\n      return [...segment(value, this.index.invertedIndex)]\n        .join(\"* \")\n    })\n\n    // @todo: move segmenter (above) into transformSearchQuery\n    query = transformSearchQuery(query)\n    if (!query)\n      return { items: [] }\n\n    /* Parse query to extract clauses for analysis */\n    const clauses = parseSearchQuery(query)\n      .filter(clause => (\n        clause.presence !== lunr.Query.presence.PROHIBITED\n      ))\n\n    /* Perform search and post-process results */\n    const groups = this.index.search(query)\n\n      /* Apply post-query boosts based on title and search query terms */\n      .reduce<SearchItem[]>((item, { ref, score, matchData }) => {\n        let doc = this.map.get(ref)\n        if (typeof doc !== \"undefined\") {\n\n          /* Shallow copy document */\n          doc = { ...doc }\n          if (doc.tags)\n            doc.tags = [...doc.tags]\n\n          /* Compute and analyze search query terms */\n          const terms = getSearchQueryTerms(\n            clauses,\n            Object.keys(matchData.metadata)\n          )\n\n          /* Highlight matches in fields */\n          for (const field of this.index.fields) {\n            if (typeof doc[field] === \"undefined\")\n              continue\n\n            /* Collect positions from matches */\n            const positions: Position[] = []\n            for (const match of Object.values(matchData.metadata))\n              if (typeof match[field] !== \"undefined\")\n                positions.push(...match[field].position)\n\n            /* Skip highlighting, if no positions were collected */\n            if (!positions.length)\n              continue\n\n            /* Load table and determine highlighting method */\n            const table = this.table.get([doc.location, field].join(\":\"))!\n            const fn = Array.isArray(doc[field])\n              ? highlightAll\n              : highlight\n\n            // @ts-expect-error - stop moaning, TypeScript!\n            doc[field] = fn(doc[field], table, positions, field !== \"text\")\n          }\n\n          /* Highlight title and text and apply post-query boosts */\n          const boost = +!doc.parent +\n            Object.values(terms)\n              .filter(t => t).length /\n            Object.keys(terms).length\n\n          /* Append item */\n          item.push({\n            ...doc,\n            score: score * (1 + boost ** 2),\n            terms\n          })\n        }\n        return item\n      }, [])\n\n      /* Sort search results again after applying boosts */\n      .sort((a, b) => b.score - a.score)\n\n      /* Group search results by article */\n      .reduce((items, result) => {\n        const doc = this.map.get(result.location)\n        if (typeof doc !== \"undefined\") {\n          const ref = doc.parent\n            ? doc.parent.location\n            : doc.location\n          items.set(ref, [...items.get(ref) || [], result])\n        }\n        return items\n      }, new Map<string, SearchItem[]>())\n\n    /* Ensure that every item set has an article */\n    for (const [ref, items] of groups)\n      if (!items.find(item => item.location === ref)) {\n        const doc = this.map.get(ref)!\n        items.push({ ...doc, score: 0, terms: {} })\n      }\n\n    /* Generate search suggestions, if desired */\n    let suggest: string[] | undefined\n    if (this.options.suggest) {\n      const titles = this.index.query(builder => {\n        for (const clause of clauses)\n          builder.term(clause.term, {\n            fields: [\"title\"],\n            presence: lunr.Query.presence.REQUIRED,\n            wildcard: lunr.Query.wildcard.TRAILING\n          })\n      })\n\n      /* Retrieve suggestions for best match */\n      suggest = titles.length\n        ? Object.keys(titles[0].matchData.metadata)\n        : []\n    }\n\n    /* Return search result */\n    return {\n      items: [...groups.values()],\n      ...typeof suggest !== \"undefined\" && { suggest }\n    }\n  }\n}\n"],
+  "mappings": 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diff --git a/assets/stylesheets/main.3cba04c6.min.css b/assets/stylesheets/main.3cba04c6.min.css
new file mode 100644
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+++ b/assets/stylesheets/main.3cba04c6.min.css
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diff --git a/assets/stylesheets/palette.06af60db.min.css b/assets/stylesheets/palette.06af60db.min.css
new file mode 100644
index 00000000..a640d38a
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+++ b/assets/stylesheets/palette.06af60db.min.css
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+<div class="title">/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/jacobian_test.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>Utility function for testing Jacobian of a factor. </p><dl class="section note"><dt>Note</dt><dd>This function cannot properly evaluate Jacobian of factors that measures errors in a manifold (e.g., BetweenFactor&lt;Pose3&gt;).</dd></dl>
+<p>auto generate_factor(std::mt19937&amp; mt) { std::uniform_real_distribution&lt;&gt; udist(-1.0, 1.0);</p>
+<p>gtsam::Vector3 rel_pose = Eigen::Vector3d(udist(mt), udist(mt), udist(mt)); return gtsam::make_shared&lt;gtsam::BetweenFactor&lt;gtsam::Vector3&gt;&gt;(0, 1, rel_pose, gtsam::noiseModel::Isotropic::Sigma(6, 1.0)); }</p>
+<p>gtsam::Values generate_values(std::mt19937&amp; mt) { std::uniform_real_distribution&lt;&gt; udist(-1.0, 1.0);</p>
+<p>gtsam::Values values; values.insert(0, Eigen::Vector3d(udist(mt), udist(mt), udist(mt))); values.insert(1, Eigen::Vector3d(udist(mt), udist(mt), udist(mt))); return values; }</p>
+<p>int main(int argc, char** argv) { std::mt19937 mt; for (int i = 0; i &lt; 5; i++) { gtsam_points::test_factor_jacobian(mt, generate_factor, generate_values); } return 0; }</p>
+<div class="fragment"><div class="line"><span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><span class="preprocessor">#pragma once</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;gtsam/linear/VectorValues.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keyword">typename</span> GenerateFactor, <span class="keyword">typename</span> GenerateValues&gt;</div>
+<div class="line"><span class="keywordtype">bool</span> test_factor_jacobian(std::mt19937&amp; mt, <span class="keyword">const</span> GenerateFactor&amp; generate_factor, <span class="keyword">const</span> GenerateValues&amp; generate_values) {</div>
+<div class="line">  <span class="keyword">auto</span> factor = generate_factor(mt);</div>
+<div class="line">  gtsam::Values values = generate_values(mt);</div>
+<div class="line"> </div>
+<div class="line">  std::vector&lt;gtsam::Matrix&gt; Hs_a(factor-&gt;keys().size());</div>
+<div class="line">  std::vector&lt;gtsam::Matrix&gt; Hs_d(factor-&gt;keys().size());</div>
+<div class="line">  gtsam::Vector x0 = factor-&gt;unwhitenedError(values, Hs_a);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> eps = 1e-6;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> key = factor-&gt;keys()[i];</div>
+<div class="line">    gtsam::VectorValues delta = values.zeroVectors();</div>
+<div class="line">    <span class="keyword">const</span> <span class="keywordtype">int</span> D = delta[key].size();</div>
+<div class="line"> </div>
+<div class="line">    gtsam::Matrix Hd(x0.size(), D);</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; D; j++) {</div>
+<div class="line">      delta[key].setZero();</div>
+<div class="line">      delta[key][j] = eps;</div>
+<div class="line"> </div>
+<div class="line">      gtsam::Vector xi = factor-&gt;unwhitenedError(values.retract(delta));</div>
+<div class="line">      Hd.col(j) = (xi - x0) / eps;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    Hs_d[i] = Hd;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">bool</span> ok = <span class="keyword">true</span>;</div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line">    ok &amp;= ((Hs_a[i] - Hs_d[i]).array().abs() &lt; 1e-3).all();</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">if</span> (ok) {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;OK (x0=&quot;</span> &lt;&lt; x0.transpose() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  } <span class="keywordflow">else</span> {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Failed (x0=&quot;</span> &lt;&lt; x0.transpose() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line">      std::cout &lt;&lt; <span class="stringliteral">&quot;*** key &quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot; ***&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- Ha ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_a[i] &lt;&lt; std::endl;</div>
+<div class="line">      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- Hd ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_d[i] &lt;&lt; std::endl;</div>
+<div class="line">      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- err ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_a[i] - Hs_d[i] &lt;&lt; std::endl;</div>
+<div class="line">    }</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> ok;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --> </div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Class List</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>gtsam_points</b></td><td class="desc"></td></tr>
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+<tr id="row_0_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html" target="_self">traits&lt; FlatContainer &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html" target="_self">traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_2_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html" target="_self">traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_3_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html" target="_self">traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_4_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html" target="_self">traits&lt; IntensityGradients &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_5_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html" target="_self">traits&lt; DummyFrame &gt;</a></td><td class="desc"></td></tr>
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+<tr id="row_0_0_9_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1has__times__defined.html" target="_self">has_times_defined</a></td><td class="desc"></td></tr>
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+<tr id="row_0_0_18_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1has__intensities__defined_3_01T_00_01std_1_1enable__if__t_3_01boa0184193f80406c00647a7f451279cb6.html" target="_self">has_intensities_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_intensities), const T &amp; &gt;::value &gt; &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_19_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1normal__defined.html" target="_self">normal_defined</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_20_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1normal__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1pol389870aa79ece316bfbc640f982fd446.html" target="_self">normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_21_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html" target="_self">traits&lt; GaussianVoxel &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_22_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html" target="_self">traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_23_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html" target="_self">traits&lt; PointCloud &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_1_" class="arrow" onclick="toggleFolder('0_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><b>internal</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html" target="_self">vector_traits</a></td><td class="desc"></td></tr>
+<tr id="row_0_1_1_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1internal_1_1vector2__traits.html" target="_self">vector2_traits</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_2_" class="arrow" onclick="toggleFolder('0_2_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1FlatContainer.html" target="_self">FlatContainer</a></td><td class="desc">Point container with a flat vector </td></tr>
+<tr id="row_0_2_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html" target="_self">Setting</a></td><td class="desc"><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting </td></tr>
+<tr id="row_0_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_3_" class="arrow" onclick="toggleFolder('0_3_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html" target="_self">IncrementalCovarianceContainer</a></td><td class="desc">Linear container for incremental covariance and normal estimation </td></tr>
+<tr id="row_0_3_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html" target="_self">Setting</a></td><td class="desc"><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting </td></tr>
+<tr id="row_0_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html" target="_self">IncrementalCovarianceVoxelMap</a></td><td class="desc">Incremental voxelmap with online covariance and normal estimation </td></tr>
+<tr id="row_0_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1VoxelInfo.html" target="_self">VoxelInfo</a></td><td class="desc">Voxel meta information </td></tr>
+<tr id="row_0_6_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html" target="_self">IncrementalVoxelMap</a></td><td class="desc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion </td></tr>
+<tr id="row_0_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IntensityKdTree.html" target="_self">IntensityKdTree</a></td><td class="desc"><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> on intensity augmented coordinates. This class concatenates point coordinates (x, y, z) and intensity (i) and finds nearest neighbors on the XYZI space </td></tr>
+<tr id="row_0_8_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html" target="_self">UnsafeKdTree</a></td><td class="desc">"Unsafe" <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> </td></tr>
+<tr id="row_0_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTree.html" target="_self">KdTree</a></td><td class="desc">KdTree-based nearest neighbor search </td></tr>
+<tr id="row_0_10_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTree2.html" target="_self">KdTree2</a></td><td class="desc">KdTree-based nearest neighbor search </td></tr>
+<tr id="row_0_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KnnSetting.html" target="_self">KnnSetting</a></td><td class="desc">K-nearest neighbor search setting </td></tr>
+<tr id="row_0_12_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1identity__transform.html" target="_self">identity_transform</a></td><td class="desc">Identity transformation function. (use std::identity instead in C++20) </td></tr>
+<tr id="row_0_13_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KnnResult.html" target="_self">KnnResult</a></td><td class="desc">K-nearest neighbor search result container </td></tr>
+<tr id="row_0_14_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html" target="_self">NearestNeighborSearch</a></td><td class="desc">Nearest neighbor search interface </td></tr>
+<tr id="row_0_15_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1ProjectionSetting.html" target="_self">ProjectionSetting</a></td><td class="desc">Parameters to control the projection axis search </td></tr>
+<tr id="row_0_16_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html" target="_self">AxisAlignedProjection</a></td><td class="desc">Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance) </td></tr>
+<tr id="row_0_17_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeNode.html" target="_self">KdTreeNode</a></td><td class="desc"><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> node </td></tr>
+<tr id="row_0_18_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html" target="_self">KdTreeBuilder</a></td><td class="desc">Single thread Kd-tree builder </td></tr>
+<tr id="row_0_19_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html" target="_self">KdTreeBuilderOMP</a></td><td class="desc">Kd-tree builder with OpenMP </td></tr>
+<tr id="row_0_20_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1CUDABuffer.html" target="_self">CUDABuffer</a></td><td class="desc">Device buffer for asynchronous data transfer </td></tr>
+<tr id="row_0_21_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html" target="_self">CUDAGraphExec</a></td><td class="desc"></td></tr>
+<tr id="row_0_22_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1CUDAStream.html" target="_self">CUDAStream</a></td><td class="desc"></td></tr>
+<tr id="row_0_23_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1RegisteredMemory.html" target="_self">RegisteredMemory</a></td><td class="desc"></td></tr>
+<tr id="row_0_24_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1GLBufferMap.html" target="_self">GLBufferMap</a></td><td class="desc"></td></tr>
+<tr id="row_0_25_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html" target="_self">NonlinearFactorSetGPU</a></td><td class="desc">This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluation tasks </td></tr>
+<tr id="row_0_26_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html" target="_self">StreamRoundRobin</a></td><td class="desc">Roundrobin for CUDA streams </td></tr>
+<tr id="row_0_27_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_27_" class="arrow" onclick="toggleFolder('0_27_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1TempBufferManager.html" target="_self">TempBufferManager</a></td><td class="desc">Temporary buffer manager </td></tr>
+<tr id="row_0_27_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html" target="_self">Buffer</a></td><td class="desc"></td></tr>
+<tr id="row_0_28_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html" target="_self">StreamTempBufferRoundRobin</a></td><td class="desc">Roundrobin for pairs of CUDA stream and temporary buffer manager </td></tr>
+<tr id="row_0_29_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1BALMFeature.html" target="_self">BALMFeature</a></td><td class="desc">Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021 </td></tr>
+<tr id="row_0_30_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html" target="_self">BundleAdjustmentFactorBase</a></td><td class="desc">Base class of range-based bundle adjustment factors </td></tr>
+<tr id="row_0_31_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html" target="_self">EVMBundleAdjustmentFactorBase</a></td><td class="desc">Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane / edge) </td></tr>
+<tr id="row_0_32_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html" target="_self">PlaneEVMFactor</a></td><td class="desc">Plane EVM factor that minimizes lambda_0 </td></tr>
+<tr id="row_0_33_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html" target="_self">EdgeEVMFactor</a></td><td class="desc">Edge EVM factor that minimizes lambda_0 + lambda_1 </td></tr>
+<tr id="row_0_34_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html" target="_self">LsqBundleAdjustmentFactor</a></td><td class="desc">Bundle adjustment factor based on EVM and EF optimal condition satisfaction </td></tr>
+<tr id="row_0_35_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html" target="_self">IntegratedColorConsistencyFactor_</a></td><td class="desc">Photometric consistency factor between point clouds </td></tr>
+<tr id="row_0_36_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html" target="_self">IntegratedColoredGICPFactor_</a></td><td class="desc">Colored GICP matching cost factor </td></tr>
+<tr id="row_0_37_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html" target="_self">IntegratedCT_GICPFactor_</a></td><td class="desc">Continuous Time ICP with GICP's D2D cost Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 Segal et al., "Generalized-ICP", RSS2005 </td></tr>
+<tr id="row_0_38_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html" target="_self">IntegratedCT_ICPFactor_</a></td><td class="desc">Continuous Time ICP Factor Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 </td></tr>
+<tr id="row_0_39_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html" target="_self">IntegratedGICPFactor_</a></td><td class="desc">Generalized ICP matching cost factor Segal et al., "Generalized-ICP", RSS2005 </td></tr>
+<tr id="row_0_40_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html" target="_self">IntegratedICPFactor_</a></td><td class="desc">Naive point-to-point ICP matching cost factor Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994 </td></tr>
+<tr id="row_0_41_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html" target="_self">IntegratedPointToPlaneICPFactor_</a></td><td class="desc">Point-to-plane ICP factor </td></tr>
+<tr id="row_0_42_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html" target="_self">IntegratedPointToPlaneFactor_</a></td><td class="desc"></td></tr>
+<tr id="row_0_43_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html" target="_self">IntegratedPointToEdgeFactor_</a></td><td class="desc"></td></tr>
+<tr id="row_0_44_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html" target="_self">IntegratedLOAMFactor_</a></td><td class="desc">Scan matching factor based on the combination of point-to-plane and point-to-edge distances </td></tr>
+<tr id="row_0_45_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html" target="_self">IntegratedMatchingCostFactor</a></td><td class="desc">Abstraction of LSQ-based scan matching constraints between point clouds </td></tr>
+<tr id="row_0_46_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html" target="_self">IntegratedVGICPFactor_</a></td><td class="desc">Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021 </td></tr>
+<tr id="row_0_47_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html" target="_self">IntegratedVGICPFactorGPU</a></td><td class="desc">GPU-accelerated Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021 </td></tr>
+<tr id="row_0_48_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntensityGradients.html" target="_self">IntensityGradients</a></td><td class="desc">Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017 </td></tr>
+<tr id="row_0_49_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html" target="_self">LinearDampingFactor</a></td><td class="desc">This factor adds a constant diagonal matrix to the Hessian matrix. It causes a damping effect (like lambda in LM optimization) and helps to fix the gauge freedom </td></tr>
+<tr id="row_0_50_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html" target="_self">NonlinearFactorGPU</a></td><td class="desc">Base class for GPU-based nonlinear factors </td></tr>
+<tr id="row_0_51_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html" target="_self">Pose3CalibFactor</a></td><td class="desc">Factor(xi, xj, Tij) that evaluates (xj_inv * xi) * Tij </td></tr>
+<tr id="row_0_52_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html" target="_self">Pose3InterpolationFactor</a></td><td class="desc">Factor(xi, xj, xk) s.t. xk = Slerp(xi, xj, t) </td></tr>
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+<tr id="row_0_66_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1EasyProfiler.html" target="_self">EasyProfiler</a></td><td class="desc"></td></tr>
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+<tr id="row_0_69_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1Stopwatch.html" target="_self">Stopwatch</a></td><td class="desc">Just a stopwatch </td></tr>
+<tr id="row_0_70_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1Vector3iHash.html" target="_self">Vector3iHash</a></td><td class="desc">Spatial hashing function using boost::hash_combine </td></tr>
+<tr id="row_0_71_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1XORVector3iHash.html" target="_self">XORVector3iHash</a></td><td class="desc">Spatial hashing function Teschner et al., "Optimized Spatial Hashing for Collision Detection of Deformable Objects", VMV2003 </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>nanoflann</b></td><td class="desc"></td></tr>
+<tr id="row_1_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classnanoflann_1_1L2__Simple__Adaptor.html" target="_self">L2_Simple_Adaptor</a></td><td class="desc"></td></tr>
+<tr id="row_1_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html" target="_self">KDTreeSingleIndexAdaptor</a></td><td class="desc"></td></tr>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">balm_feature.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1BALMFeature.html">   14</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1BALMFeature.html">BALMFeature</a> {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">   22</a></span>&#160;  <a class="code" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">BALMFeature</a>(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp; points) {</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    Eigen::Vector3d sum_pts = Eigen::Vector3d::Zero();</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    Eigen::Matrix3d sum_cross = Eigen::Matrix3d::Zero();</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt : points) {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      sum_pts += pt;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      sum_cross += pt * pt.transpose();</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    }</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    num_points = points.size();</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    mean = sum_pts / points.size();</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    cov = (sum_cross - mean * sum_pts.transpose()) / points.size();</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">// TODO: Should use computeDirect()?</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    Eigen::SelfAdjointEigenSolver&lt;Eigen::Matrix3d&gt; eig(cov);</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    eigenvalues = eig.eigenvalues();</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    eigenvectors = eig.eigenvectors();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> k&gt;</div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">   45</a></span>&#160;  Eigen::Matrix&lt;double, 1, 3&gt; <a class="code" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">Ji</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; p_i)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    Eigen::Vector3d u = eigenvectors.col(k);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">return</span> 2.0 / num_points * (p_i - mean).transpose() * u * u.transpose();</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> k&gt;</div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">   55</a></span>&#160;  Eigen::Matrix3d <a class="code" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">Hij</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; p_i, <span class="keyword">const</span> Eigen::Vector3d&amp; p_j, <span class="keywordtype">bool</span> i_equals_j)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> N = num_points;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Matrix3d F_k;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    F_k.row(0) = Fmn&lt;0, k&gt;(p_j);</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    F_k.row(1) = Fmn&lt;1, k&gt;(p_j);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    F_k.row(2) = Fmn&lt;2, k&gt;(p_j);</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; u_k = eigenvectors.col(k);</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; U = eigenvectors;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// TODO: Remove redundant computations (e.g., p_i - mean, U * F_k)</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span> (i_equals_j) {</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t1 = (N - 1) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(N) * u_k * u_k.transpose();</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t2 = u_k * (p_i - mean).transpose() * U * F_k;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t3 = U * F_k * (u_k.transpose() * (p_i - mean));</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      Eigen::Matrix3d H = 2.0 / N * (t1 + t2 + t3);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordflow">return</span> H;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t1 = -1.0 / N * u_k * u_k.transpose();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t2 = u_k * (p_i - mean).transpose() * U * F_k;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> t3 = U * F_k * (u_k.transpose() * (p_i - mean));</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      Eigen::Matrix3d H = 2.0 / N * (t1 + t2 + t3);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keywordflow">return</span> H;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> m, <span class="keywordtype">int</span> n&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">   86</a></span>&#160;  Eigen::Matrix&lt;double, 1, 3&gt; <a class="code" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">Fmn</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; pt)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> constexpr (m == n) {</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordflow">return</span> Eigen::Matrix&lt;double, 1, 3&gt;::Zero();</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> l_m = eigenvalues[m];</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> l_n = eigenvalues[n];</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; u_m = eigenvectors.col(m);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; u_n = eigenvectors.col(n);</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> lhs = (pt - mean).transpose() / (num_points * (l_n - l_m));</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> rhs = u_m * u_n.transpose() + u_n * u_m.transpose();</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordflow">return</span> lhs * rhs;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">int</span> num_points;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  Eigen::Vector3d mean;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  Eigen::Matrix3d cov;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  Eigen::Vector3d eigenvalues;   <span class="comment">// The smaller the first</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  Eigen::Matrix3d eigenvectors;  <span class="comment">//</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;};</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1BALMFeature_html"><div class="ttname"><a href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></div><div class="ttdoc">Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, &quot;BALM: Bundle Adjustme...</div><div class="ttdef"><b>Definition:</b> balm_feature.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1BALMFeature_html_a22808bcc4f29e0570ce9e0a3fea7a230"><div class="ttname"><a href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">gtsam_points::BALMFeature::BALMFeature</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW BALMFeature(const std::vector&lt; Eigen::Vector3d &gt; &amp;points)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> balm_feature.hpp:22</div></div>
+<div class="ttc" id="astructgtsam__points_1_1BALMFeature_html_a8827f6b328dfc1f38ab2746a47e1d0df"><div class="ttname"><a href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">gtsam_points::BALMFeature::Hij</a></div><div class="ttdeci">Eigen::Matrix3d Hij(const Eigen::Vector3d &amp;p_i, const Eigen::Vector3d &amp;p_j, bool i_equals_j) const</div><div class="ttdoc">Second order derivatives.</div><div class="ttdef"><b>Definition:</b> balm_feature.hpp:55</div></div>
+<div class="ttc" id="astructgtsam__points_1_1BALMFeature_html_aca04d466c93a6e745fd64c7cabed76c4"><div class="ttname"><a href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">gtsam_points::BALMFeature::Fmn</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 1, 3 &gt; Fmn(const Eigen::Vector3d &amp;pt) const</div><div class="ttdoc">F^{p_j}_{m, n}.</div><div class="ttdef"><b>Definition:</b> balm_feature.hpp:86</div></div>
+<div class="ttc" id="astructgtsam__points_1_1BALMFeature_html_af796c0dec9ad5a40c150dea7af75c25e"><div class="ttname"><a href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">gtsam_points::BALMFeature::Ji</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 1, 3 &gt; Ji(const Eigen::Vector3d &amp;p_i) const</div><div class="ttdoc">First order derivatives.</div><div class="ttdef"><b>Definition:</b> balm_feature.hpp:45</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">bspline.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/slam/expressions.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;gtsam::Pose3_ bspline(<span class="keyword">const</span> gtsam::Pose3_&amp; pose0, <span class="keyword">const</span> gtsam::Pose3_&amp; pose1, <span class="keyword">const</span> gtsam::Pose3_&amp; pose2, <span class="keyword">const</span> gtsam::Pose3_&amp; pose3, <span class="keyword">const</span> gtsam::Double_&amp; t);</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;gtsam::Pose3_ bspline_se3(<span class="keyword">const</span> gtsam::Pose3_&amp; pose0, <span class="keyword">const</span> gtsam::Pose3_&amp; pose1, <span class="keyword">const</span> gtsam::Pose3_&amp; pose2, <span class="keyword">const</span> gtsam::Pose3_&amp; pose3, <span class="keyword">const</span> gtsam::Double_&amp; t);</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;gtsam::Rot3_ bspline_so3(<span class="keyword">const</span> gtsam::Rot3_&amp; rot0, <span class="keyword">const</span> gtsam::Rot3_&amp; rot1, <span class="keyword">const</span> gtsam::Rot3_&amp; rot2, <span class="keyword">const</span> gtsam::Rot3_&amp; rot3, <span class="keyword">const</span> gtsam::Double_&amp; t);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;gtsam::Vector3_ bspline_trans(<span class="keyword">const</span> gtsam::Vector3_&amp; trans0, <span class="keyword">const</span> gtsam::Vector3_&amp; trans1, <span class="keyword">const</span> gtsam::Vector3_&amp; trans2, <span class="keyword">const</span> gtsam::Vector3_&amp; trans3, <span class="keyword">const</span> gtsam::Double_&amp; t);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;gtsam::Vector3_</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;bspline_angular_vel(<span class="keyword">const</span> gtsam::Rot3_&amp; rot0, <span class="keyword">const</span> gtsam::Rot3_&amp; rot1, <span class="keyword">const</span> gtsam::Rot3_&amp; rot2, <span class="keyword">const</span> gtsam::Rot3_&amp; rot3, <span class="keyword">const</span> gtsam::Double_&amp; t, <span class="keyword">const</span> <span class="keywordtype">double</span> knot_interval);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;gtsam::Vector3_ bspline_linear_vel(</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans0,</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans1,</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans2,</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans3,</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">const</span> gtsam::Double_&amp; t,</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> knot_interval);</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;gtsam::Vector3_ bspline_linear_acc(</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans0,</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans1,</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans2,</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">const</span> gtsam::Vector3_&amp; trans3,</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">const</span> gtsam::Double_&amp; t,</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> knot_interval);</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;gtsam::Vector6_ bspline_imu(</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keyword">const</span> gtsam::Pose3_ pose0,</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">const</span> gtsam::Pose3_ pose1,</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">const</span> gtsam::Pose3_ pose2,</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">const</span> gtsam::Pose3_ pose3,</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">const</span> gtsam::Double_&amp; t,</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> knot_interval,</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">const</span> gtsam::Vector3&amp; g);</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">// Utility functions</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">inline</span> gtsam::Pose3_ bspline(<span class="keyword">const</span> gtsam::Key key1, <span class="keyword">const</span> gtsam::Double_&amp; t) {</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">return</span> bspline(gtsam::Pose3_(key1 - 1), gtsam::Pose3_(key1), gtsam::Pose3_(key1 + 1), gtsam::Pose3_(key1 + 2), t);</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;}</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">inline</span> gtsam::Pose3_ bspline_se3(<span class="keyword">const</span> gtsam::Key key1, <span class="keyword">const</span> gtsam::Double_&amp; t) {</div>
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+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">return</span> bspline_imu(gtsam::Pose3_(key1 - 1), gtsam::Pose3_(key1), gtsam::Pose3_(key1 + 1), gtsam::Pose3_(key1 + 2), t, knot_interval, g);</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;}</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<!-- Generated by Doxygen 1.9.1 -->
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+
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">bundle_adjustment_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Point3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> : <span class="keyword">public</span> gtsam::NonlinearFactor {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;BundleAdjustmentFactorBase&gt;;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a>() {}</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">   25</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">add</a>(<span class="keyword">const</span> gtsam::Point3&amp; pt, <span class="keyword">const</span> gtsam::Key&amp; key) = 0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
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+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">   36</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">set_scale</a>(<span class="keywordtype">double</span> scale) {}</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;};</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></div><div class="ttdoc">Base class of range-based bundle adjustment factors.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html_a9187b4b0e316669299f5159b2d0e652c"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">gtsam_points::BundleAdjustmentFactorBase::add</a></div><div class="ttdeci">virtual void add(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key)=0</div><div class="ttdoc">Assign a point to the factor.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html_a974d47c6ebbec55940f0c0a395c04207"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">gtsam_points::BundleAdjustmentFactorBase::set_scale</a></div><div class="ttdeci">virtual void set_scale(double scale)</div><div class="ttdoc">Set a constant error scale to boost the weight of the constraint.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor.hpp:36</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html_a9c13d94622c19fea0fb0eba59dbb40c4"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">gtsam_points::BundleAdjustmentFactorBase::num_points</a></div><div class="ttdeci">virtual int num_points() const =0</div><div class="ttdoc">Number of points assigned to the factor.</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/bundle__adjustment__factor__evm_8hpp_source.html b/doc_cpp/bundle__adjustment__factor__evm_8hpp_source.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor_evm.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">gtsam_points
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+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">bundle_adjustment_factor_evm.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Point3.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/bundle_adjustment_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">struct </span>BALMFeature;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">   25</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;EVMBundleAdjustmentFactorBase&gt;;</div>
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+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a>();</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> dim()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> 6; }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">   38</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a>(<span class="keyword">const</span> gtsam::Point3&amp; pt, <span class="keyword">const</span> gtsam::Key&amp; key) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">   44</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a>()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> points.size(); }</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">   50</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a>(<span class="keywordtype">double</span> scale) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> k&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">double</span> calc_eigenvalue(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp; transed_points, Eigen::MatrixXd* H = <span class="keyword">nullptr</span>, Eigen::MatrixXd* J = <span class="keyword">nullptr</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  Eigen::MatrixXd calc_pose_derivatives(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp; transed_points) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  gtsam::GaussianFactor::shared_ptr compose_factor(<span class="keyword">const</span> Eigen::MatrixXd&amp; H, <span class="keyword">const</span> Eigen::MatrixXd&amp; J, <span class="keywordtype">double</span> error) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">double</span> error_scale;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  std::vector&lt;gtsam::Key&gt; keys;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  std::vector&lt;gtsam::Point3&gt; points;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  std::unordered_map&lt;gtsam::Key, int&gt; key_index;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;};</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1PlaneEVMFactor.html">   70</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> {</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;PlaneEVMFactor&gt;;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a>();</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// TODO: Add feature parameter extraction method</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EdgeEVMFactor.html">   86</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;EdgeEVMFactor&gt;;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <a class="code" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a>();</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;};</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></div><div class="ttdoc">Base class of range-based bundle adjustment factors.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1EVMBundleAdjustmentFactorBase_html"><div class="ttname"><a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></div><div class="ttdoc">Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane...</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_evm.hpp:25</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1EVMBundleAdjustmentFactorBase_html_ac2a53469dc4324b65a160442ff885790"><div class="ttname"><a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">gtsam_points::EVMBundleAdjustmentFactorBase::num_points</a></div><div class="ttdeci">virtual int num_points() const override</div><div class="ttdoc">Number of points assigned to this factor.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_evm.hpp:44</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1EVMBundleAdjustmentFactorBase_html_aecb557d789977d27601bcba8833c6d3a"><div class="ttname"><a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">gtsam_points::EVMBundleAdjustmentFactorBase::add</a></div><div class="ttdeci">virtual void add(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</div><div class="ttdoc">Assign a point to the factor.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1EVMBundleAdjustmentFactorBase_html_aff4d980cb8732f918182ae8c821af128"><div class="ttname"><a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">gtsam_points::EVMBundleAdjustmentFactorBase::set_scale</a></div><div class="ttdeci">virtual void set_scale(double scale) override</div><div class="ttdoc">Set a constant error scaling factor to boost the weight of the factor.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1EdgeEVMFactor_html"><div class="ttname"><a href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></div><div class="ttdoc">Edge EVM factor that minimizes lambda_0 + lambda_1.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_evm.hpp:86</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1PlaneEVMFactor_html"><div class="ttname"><a href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></div><div class="ttdoc">Plane EVM factor that minimizes lambda_0.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_evm.hpp:70</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/bundle_adjustment_factor_lsq.hpp Source File</title>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
+</div>
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+  <div class="headertitle">
+<div class="title">bundle_adjustment_factor_lsq.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/bundle_adjustment_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;LsqBundleAdjustmentFactor&gt;;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a>();</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> dim()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> 6; }</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; c) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">   32</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">add</a>(<span class="keyword">const</span> gtsam::Point3&amp; pt, <span class="keyword">const</span> gtsam::Key&amp; key) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">   33</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">num_points</a>()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> global_num_points; }</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> update_global_distribution(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">struct </span>FrameDistribution;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  std::unordered_map&lt;gtsam::Key, std::shared_ptr&lt;FrameDistribution&gt;&gt; frame_dists;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">int</span> global_num_points;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">mutable</span> Eigen::Vector3d global_mean;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">mutable</span> Eigen::Matrix3d global_cov;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">mutable</span> Eigen::Vector3d global_normal;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;};</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1BundleAdjustmentFactorBase_html"><div class="ttname"><a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></div><div class="ttdoc">Base class of range-based bundle adjustment factors.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1LsqBundleAdjustmentFactor_html"><div class="ttname"><a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></div><div class="ttdoc">Bundle adjustment factor based on EVM and EF optimal condition satisfaction.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_lsq.hpp:20</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1LsqBundleAdjustmentFactor_html_a4f1141818623f12b0e392094dd8c00fb"><div class="ttname"><a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">gtsam_points::LsqBundleAdjustmentFactor::num_points</a></div><div class="ttdeci">virtual int num_points() const override</div><div class="ttdoc">Number of points assigned to the factor.</div><div class="ttdef"><b>Definition:</b> bundle_adjustment_factor_lsq.hpp:33</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1LsqBundleAdjustmentFactor_html_a9d682131c840972322b9bd4986f2e565"><div class="ttname"><a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">gtsam_points::LsqBundleAdjustmentFactor::add</a></div><div class="ttdeci">virtual void add(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</div><div class="ttdoc">Assign a point to the factor.</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<div class="qindex"><a class="qindex" href="#letter_A">A</a>&#160;|&#160;<a class="qindex" href="#letter_B">B</a>&#160;|&#160;<a class="qindex" href="#letter_C">C</a>&#160;|&#160;<a class="qindex" href="#letter_D">D</a>&#160;|&#160;<a class="qindex" href="#letter_E">E</a>&#160;|&#160;<a class="qindex" href="#letter_F">F</a>&#160;|&#160;<a class="qindex" href="#letter_G">G</a>&#160;|&#160;<a class="qindex" href="#letter_H">H</a>&#160;|&#160;<a class="qindex" href="#letter_I">I</a>&#160;|&#160;<a class="qindex" href="#letter_K">K</a>&#160;|&#160;<a class="qindex" href="#letter_L">L</a>&#160;|&#160;<a class="qindex" href="#letter_N">N</a>&#160;|&#160;<a class="qindex" href="#letter_P">P</a>&#160;|&#160;<a class="qindex" href="#letter_R">R</a>&#160;|&#160;<a class="qindex" href="#letter_S">S</a>&#160;|&#160;<a class="qindex" href="#letter_T">T</a>&#160;|&#160;<a class="qindex" href="#letter_U">U</a>&#160;|&#160;<a class="qindex" href="#letter_V">V</a>&#160;|&#160;<a class="qindex" href="#letter_X">X</a></div>
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+<dt class="alphachar"><a name="letter_A">A</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_B">B</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1BALMFeature.html">BALMFeature</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">TempBufferManager::Buffer</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_C">C</a></dt>
+<dd><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">ContinuousTrajectory</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">CovarianceEstimationParams</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1CUDABuffer.html">CUDABuffer</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1CUDAStream.html">CUDAStream</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_D">D</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_E">E</a></dt>
+<dd><a class="el" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">EasyProfilerCuda</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_F">F</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_G">G</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1GLBufferMap.html">GLBufferMap</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_H">H</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1frame_1_1has__covs__defined.html">has_covs_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__covs__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1a8aa5277f91e13f99795546a4426d373.html">has_covs_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_covs), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__intensities__defined.html">has_intensities_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__intensities__defined_3_01T_00_01std_1_1enable__if__t_3_01boa0184193f80406c00647a7f451279cb6.html">has_intensities_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_intensities), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__normals__defined.html">has_normals_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7feb471e5d3f80024cad64a52f89ccc8.html">has_normals_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_normals), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__points__defined.html">has_points_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1886e1e600e6ff3f0feaa23e47242f594.html">has_points_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_points), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__times__defined.html">has_times_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1has__times__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_b26b7260df01990069d96feb710e4b3a.html">has_times_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_times), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_I">I</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1identity__transform.html">identity_transform</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_K">K</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1KdTree2.html">KdTree2</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode</a> (gtsam_points)</dd><dd><a class="el" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">KDTreeSingleIndexAdaptor</a> (nanoflann)</dd><dd><a class="el" href="structgtsam__points_1_1KnnResult.html">KnnResult</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_L">L</a></dt>
+<dd><a class="el" href="classnanoflann_1_1L2__Simple__Adaptor.html">L2_Simple_Adaptor</a> (nanoflann)</dd><dd><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_N">N</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">NonlinearFactorGPU</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">NonlinearFactorSetGPU</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1normal__defined.html">normal_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1normal__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1pol389870aa79ece316bfbc640f982fd446.html">normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_P">P</a></dt>
+<dd><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_R">R</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1RegisteredMemory.html">RegisteredMemory</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_S">S</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">FlatContainer::Setting</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">GaussianVoxel::Setting</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">IncrementalCovarianceContainer::Setting</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1size__defined.html">size_defined</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1size__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1poly_fea85a5fbab55c7f0ce71ab266200b56.html">size_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::size), const T &amp; &gt;::value &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1Stopwatch.html">Stopwatch</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">StreamRoundRobin</a> (gtsam_points)</dd><dd><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">StreamTempBufferRoundRobin</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_T">T</a></dt>
+<dd><a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits.html">traits</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">traits&lt; DummyFrame &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">traits&lt; FlatContainer &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">traits&lt; GaussianVoxel &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">traits&lt; GaussianVoxelMapCPU &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">traits&lt; IncrementalCovarianceContainer &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">traits&lt; IncrementalCovarianceVoxelMap &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">traits&lt; IntensityGradients &gt;</a> (gtsam_points::frame)</dd><dd><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">traits&lt; PointCloud &gt;</a> (gtsam_points::frame)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_U">U</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a> (gtsam_points)</dd></dl>
+<dl class="classindex odd">
+<dt class="alphachar"><a name="letter_V">V</a></dt>
+<dd><a class="el" href="structgtsam__points_1_1internal_1_1vector2__traits.html">vector2_traits</a> (gtsam_points::internal)</dd><dd><a class="el" href="classgtsam__points_1_1Vector3iHash.html">Vector3iHash</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">vector_traits</a> (gtsam_points::internal)</dd><dd><a class="el" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a> (gtsam_points)</dd><dd><a class="el" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a> (gtsam_points)</dd></dl>
+<dl class="classindex even">
+<dt class="alphachar"><a name="letter_X">X</a></dt>
+<dd><a class="el" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a> (gtsam_points)</dd></dl>
+</div>
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diff --git a/doc_cpp/classgtsam__points_1_1BundleAdjustmentFactorBase-members.html b/doc_cpp/classgtsam__points_1_1BundleAdjustmentFactorBase-members.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1BundleAdjustmentFactorBase-members.html
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+<div class="title">gtsam_points::BundleAdjustmentFactorBase Member List</div>  </div>
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+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">add</a>(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">num_points</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">set_scale</a>(double scale)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~BundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+<script type="text/javascript" src="dynsections.js"></script>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1BundleAdjustmentFactorBase-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::BundleAdjustmentFactorBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Base class of range-based bundle adjustment factors.  
+ <a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="bundle__adjustment__factor_8hpp_source.html">bundle_adjustment_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::BundleAdjustmentFactorBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1BundleAdjustmentFactorBase__inherit__graph.png" border="0" usemap="#agtsam__points_1_1BundleAdjustmentFactorBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1BundleAdjustmentFactorBase_inherit__map" id="agtsam__points_1_1BundleAdjustmentFactorBase_inherit__map">
+<area shape="rect" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="227,57,465,98"/>
+<area shape="rect" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html" title="Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane..." alt="" coords="513,23,780,65"/>
+<area shape="rect" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html" title="Bundle adjustment factor based on EVM and EF optimal condition satisfaction." alt="" coords="517,89,777,130"/>
+<area shape="rect" title=" " alt="" coords="5,64,179,91"/>
+<area shape="rect" href="classgtsam__points_1_1EdgeEVMFactor.html" title="Edge EVM factor that minimizes lambda_0 + lambda_1." alt="" coords="830,5,1049,32"/>
+<area shape="rect" href="classgtsam__points_1_1PlaneEVMFactor.html" title="Plane EVM factor that minimizes lambda_0." alt="" coords="828,56,1051,83"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::BundleAdjustmentFactorBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1BundleAdjustmentFactorBase__coll__graph.png" border="0" usemap="#agtsam__points_1_1BundleAdjustmentFactorBase_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1BundleAdjustmentFactorBase_coll__map" id="agtsam__points_1_1BundleAdjustmentFactorBase_coll__map">
+<area shape="rect" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="5,80,244,121"/>
+<area shape="rect" title=" " alt="" coords="38,5,211,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a309799dcbd28692962b42b762666c538"><td class="memItemLeft" align="right" valign="top"><a id="a309799dcbd28692962b42b762666c538"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a309799dcbd28692962b42b762666c538"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9187b4b0e316669299f5159b2d0e652c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">add</a> (const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key)=0</td></tr>
+<tr class="memdesc:a9187b4b0e316669299f5159b2d0e652c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign a point to the factor.  <a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">More...</a><br /></td></tr>
+<tr class="separator:a9187b4b0e316669299f5159b2d0e652c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c13d94622c19fea0fb0eba59dbb40c4"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">num_points</a> () const =0</td></tr>
+<tr class="memdesc:a9c13d94622c19fea0fb0eba59dbb40c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points assigned to the factor.  <a href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">More...</a><br /></td></tr>
+<tr class="separator:a9c13d94622c19fea0fb0eba59dbb40c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974d47c6ebbec55940f0c0a395c04207"><td class="memItemLeft" align="right" valign="top"><a id="a974d47c6ebbec55940f0c0a395c04207"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">set_scale</a> (double scale)</td></tr>
+<tr class="memdesc:a974d47c6ebbec55940f0c0a395c04207"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a constant error scale to boost the weight of the constraint. <br /></td></tr>
+<tr class="separator:a974d47c6ebbec55940f0c0a395c04207"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Base class of range-based bundle adjustment factors. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9187b4b0e316669299f5159b2d0e652c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9187b4b0e316669299f5159b2d0e652c">&#9670;&nbsp;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::BundleAdjustmentFactorBase::add </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Point3 &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::Key &amp;&#160;</td>
+          <td class="paramname"><em>key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assign a point to the factor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point </td></tr>
+    <tr><td class="paramname">key</td><td>Key of the frame corresponding to the point </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">gtsam_points::LsqBundleAdjustmentFactor</a>, and <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">gtsam_points::EVMBundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<a id="a9c13d94622c19fea0fb0eba59dbb40c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c13d94622c19fea0fb0eba59dbb40c4">&#9670;&nbsp;</a></span>num_points()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual int gtsam_points::BundleAdjustmentFactorBase::num_points </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of points assigned to the factor. </p>
+<dl class="section return"><dt>Returns</dt><dd>Number of points </dd></dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">gtsam_points::LsqBundleAdjustmentFactor</a>, and <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">gtsam_points::EVMBundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="bundle__adjustment__factor_8hpp_source.html">bundle_adjustment_factor.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">CUDABuffer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDABuffer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>CUDABuffer</b>(bool use_pinned_buffer=true) (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a387ce02c73490b2ed301ebef70906b4b">device_buffer</a>()</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>device_buffer</b>() (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">download</a>(CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a75bc27a089226dced447e411d57a0104">download</a>(void *buffer, size_t size, CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>download</b>(T *buffer, size_t size, CUstream_st *stream) (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#aeda4a4376ad00d65c51bd302af23e38f">host_buffer</a>()</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>host_buffer</b>() (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#aa8d36b29450b3771f89c70fba9366f65">resize</a>(size_t size, CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>() const</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#ae2465e08c7ccb03ad039b8c6bbb7d6fc">upload</a>(CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#afe8c0dad752cce15c25f2c6f61730538">upload</a>(size_t size, CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a532d6bc373743eac7cb081a0cd25b03d">upload</a>(const void *buffer, size_t size, CUstream_st *stream)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>upload</b>(const T *buffer, size_t size, CUstream_st *stream) (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~CUDABuffer</b>() (defined in <a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1CUDABuffer.html">CUDABuffer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1CUDABuffer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDABuffer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Device buffer for asynchronous data transfer.  
+ <a href="classgtsam__points_1_1CUDABuffer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cuda__buffer_8hpp_source.html">cuda_buffer.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a4a386181ed6fd9baa6d9982425a491a5"><td class="memItemLeft" align="right" valign="top"><a id="a4a386181ed6fd9baa6d9982425a491a5"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>CUDABuffer</b> (bool use_pinned_buffer=true)</td></tr>
+<tr class="separator:a4a386181ed6fd9baa6d9982425a491a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa8d36b29450b3771f89c70fba9366f65"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#aa8d36b29450b3771f89c70fba9366f65">resize</a> (size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="memdesc:aa8d36b29450b3771f89c70fba9366f65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resize the buffer size. This method only expands the device/host buffers and doesn't shrink them when buffer_size &lt; size.  <a href="classgtsam__points_1_1CUDABuffer.html#aa8d36b29450b3771f89c70fba9366f65">More...</a><br /></td></tr>
+<tr class="separator:aa8d36b29450b3771f89c70fba9366f65"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2465e08c7ccb03ad039b8c6bbb7d6fc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#ae2465e08c7ccb03ad039b8c6bbb7d6fc">upload</a> (CUstream_st *stream)</td></tr>
+<tr class="memdesc:ae2465e08c7ccb03ad039b8c6bbb7d6fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Upload data from the host pinned buffer to the device buffer.  <a href="classgtsam__points_1_1CUDABuffer.html#ae2465e08c7ccb03ad039b8c6bbb7d6fc">More...</a><br /></td></tr>
+<tr class="separator:ae2465e08c7ccb03ad039b8c6bbb7d6fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe8c0dad752cce15c25f2c6f61730538"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#afe8c0dad752cce15c25f2c6f61730538">upload</a> (size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="memdesc:afe8c0dad752cce15c25f2c6f61730538"><td class="mdescLeft">&#160;</td><td class="mdescRight">Upload data from the host pinned buffer to the device buffer.  <a href="classgtsam__points_1_1CUDABuffer.html#afe8c0dad752cce15c25f2c6f61730538">More...</a><br /></td></tr>
+<tr class="separator:afe8c0dad752cce15c25f2c6f61730538"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a532d6bc373743eac7cb081a0cd25b03d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a532d6bc373743eac7cb081a0cd25b03d">upload</a> (const void *buffer, size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="memdesc:a532d6bc373743eac7cb081a0cd25b03d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Upload data to the device buffer. If size &gt; buffer_size, the buffers will be resized before uploading.  <a href="classgtsam__points_1_1CUDABuffer.html#a532d6bc373743eac7cb081a0cd25b03d">More...</a><br /></td></tr>
+<tr class="separator:a532d6bc373743eac7cb081a0cd25b03d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d5e8f79d3956e0398b9fae95aae7aca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">download</a> (CUstream_st *stream)</td></tr>
+<tr class="memdesc:a2d5e8f79d3956e0398b9fae95aae7aca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Download data from the device buffer to the pinned host buffer.  <a href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">More...</a><br /></td></tr>
+<tr class="separator:a2d5e8f79d3956e0398b9fae95aae7aca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75bc27a089226dced447e411d57a0104"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a75bc27a089226dced447e411d57a0104">download</a> (void *buffer, size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="memdesc:a75bc27a089226dced447e411d57a0104"><td class="mdescLeft">&#160;</td><td class="mdescRight">Download data from the device buffer.  <a href="classgtsam__points_1_1CUDABuffer.html#a75bc27a089226dced447e411d57a0104">More...</a><br /></td></tr>
+<tr class="separator:a75bc27a089226dced447e411d57a0104"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9566c1e83375399b4e444326f2023c82"><td class="memItemLeft" align="right" valign="top"><a id="a9566c1e83375399b4e444326f2023c82"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a> () const</td></tr>
+<tr class="memdesc:a9566c1e83375399b4e444326f2023c82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Buffer size. <br /></td></tr>
+<tr class="separator:a9566c1e83375399b4e444326f2023c82"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeda4a4376ad00d65c51bd302af23e38f"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#aeda4a4376ad00d65c51bd302af23e38f">host_buffer</a> ()</td></tr>
+<tr class="memdesc:aeda4a4376ad00d65c51bd302af23e38f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pinned host buffer.  <a href="classgtsam__points_1_1CUDABuffer.html#aeda4a4376ad00d65c51bd302af23e38f">More...</a><br /></td></tr>
+<tr class="separator:aeda4a4376ad00d65c51bd302af23e38f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a387ce02c73490b2ed301ebef70906b4b"><td class="memItemLeft" align="right" valign="top"><a id="a387ce02c73490b2ed301ebef70906b4b"></a>
+void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1CUDABuffer.html#a387ce02c73490b2ed301ebef70906b4b">device_buffer</a> ()</td></tr>
+<tr class="memdesc:a387ce02c73490b2ed301ebef70906b4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pinned device buffer. <br /></td></tr>
+<tr class="separator:a387ce02c73490b2ed301ebef70906b4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af24dea172c310e2af20dd8693adef482"><td class="memTemplParams" colspan="2"><a id="af24dea172c310e2af20dd8693adef482"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:af24dea172c310e2af20dd8693adef482"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>upload</b> (const T *buffer, size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="separator:af24dea172c310e2af20dd8693adef482"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90639b4da91fd18067f63422aa5106ad"><td class="memTemplParams" colspan="2"><a id="a90639b4da91fd18067f63422aa5106ad"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a90639b4da91fd18067f63422aa5106ad"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>download</b> (T *buffer, size_t <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">size</a>, CUstream_st *stream)</td></tr>
+<tr class="separator:a90639b4da91fd18067f63422aa5106ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab53754acf842f10b28b872b4290d80a6"><td class="memTemplParams" colspan="2"><a id="ab53754acf842f10b28b872b4290d80a6"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ab53754acf842f10b28b872b4290d80a6"><td class="memTemplItemLeft" align="right" valign="top">T *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>host_buffer</b> ()</td></tr>
+<tr class="separator:ab53754acf842f10b28b872b4290d80a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c8202445cc01ec2f3bfb4ff1a4eea58"><td class="memTemplParams" colspan="2"><a id="a2c8202445cc01ec2f3bfb4ff1a4eea58"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a2c8202445cc01ec2f3bfb4ff1a4eea58"><td class="memTemplItemLeft" align="right" valign="top">T *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>device_buffer</b> ()</td></tr>
+<tr class="separator:a2c8202445cc01ec2f3bfb4ff1a4eea58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Device buffer for asynchronous data transfer. </p>
+<dl class="section note"><dt>Note</dt><dd>To enable asynchronous upload/download, use_pinned_buffer needs to be true. </dd></dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2d5e8f79d3956e0398b9fae95aae7aca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d5e8f79d3956e0398b9fae95aae7aca">&#9670;&nbsp;</a></span>download() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::download </td>
+          <td>(</td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Download data from the device buffer to the pinned host buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a75bc27a089226dced447e411d57a0104"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75bc27a089226dced447e411d57a0104">&#9670;&nbsp;</a></span>download() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::download </td>
+          <td>(</td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>buffer</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Download data from the device buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer</td><td>Buffer to write the downloaded data </td></tr>
+    <tr><td class="paramname">size</td><td>Buffer size </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aeda4a4376ad00d65c51bd302af23e38f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeda4a4376ad00d65c51bd302af23e38f">&#9670;&nbsp;</a></span>host_buffer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void* gtsam_points::CUDABuffer::host_buffer </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Pinned host buffer. </p>
+<dl class="section note"><dt>Note</dt><dd>If use_pinned_buffer is false, the pinned host buffer will not be allocated, and this method returns nullptr. </dd></dl>
+
+</div>
+</div>
+<a id="aa8d36b29450b3771f89c70fba9366f65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8d36b29450b3771f89c70fba9366f65">&#9670;&nbsp;</a></span>resize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::resize </td>
+          <td>(</td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Resize the buffer size. This method only expands the device/host buffers and doesn't shrink them when buffer_size &lt; size. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">size</td><td>Buffer size </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a532d6bc373743eac7cb081a0cd25b03d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a532d6bc373743eac7cb081a0cd25b03d">&#9670;&nbsp;</a></span>upload() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::upload </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>buffer</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Upload data to the device buffer. If size &gt; buffer_size, the buffers will be resized before uploading. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer</td><td>Input data </td></tr>
+    <tr><td class="paramname">size</td><td>Buffer size </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae2465e08c7ccb03ad039b8c6bbb7d6fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae2465e08c7ccb03ad039b8c6bbb7d6fc">&#9670;&nbsp;</a></span>upload() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::upload </td>
+          <td>(</td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Upload data from the host pinned buffer to the device buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="afe8c0dad752cce15c25f2c6f61730538"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe8c0dad752cce15c25f2c6f61730538">&#9670;&nbsp;</a></span>upload() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::CUDABuffer::upload </td>
+          <td>(</td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Upload data from the host pinned buffer to the device buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">size</td><td>Data size (must be smaller than buffer_size) </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="cuda__buffer_8hpp_source.html">cuda_buffer.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1CUDAGraphExec-members.html b/doc_cpp/classgtsam__points_1_1CUDAGraphExec-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDAGraphExec Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>CUDAGraphExec</b>(CUgraph_st *graph) (defined in <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>CUDAGraphExec</b>(const CUDAGraphExec &amp;)=delete (defined in <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>launch</b>(CUstream_st *stream) (defined in <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(const CUDAGraphExec &amp;)=delete (defined in <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~CUDAGraphExec</b>() (defined in <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">gtsam_points::CUDAGraphExec</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1CUDAGraphExec.html b/doc_cpp/classgtsam__points_1_1CUDAGraphExec.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::CUDAGraphExec Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+});
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1CUDAGraphExec-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDAGraphExec Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a73977e5006c65d216a535c3e45b96d60"><td class="memItemLeft" align="right" valign="top"><a id="a73977e5006c65d216a535c3e45b96d60"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>CUDAGraphExec</b> (CUgraph_st *graph)</td></tr>
+<tr class="separator:a73977e5006c65d216a535c3e45b96d60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17e2b4a47a84c863109596761b3c4901"><td class="memItemLeft" align="right" valign="top"><a id="a17e2b4a47a84c863109596761b3c4901"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>CUDAGraphExec</b> (const <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a> &amp;)=delete</td></tr>
+<tr class="separator:a17e2b4a47a84c863109596761b3c4901"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0021cdd988ca78b7fe0b0abafc3a43ac"><td class="memItemLeft" align="right" valign="top"><a id="a0021cdd988ca78b7fe0b0abafc3a43ac"></a>
+<a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classgtsam__points_1_1CUDAGraphExec.html">CUDAGraphExec</a> &amp;)=delete</td></tr>
+<tr class="separator:a0021cdd988ca78b7fe0b0abafc3a43ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a00025494dc47baca0011f2ca8c131336"><td class="memItemLeft" align="right" valign="top"><a id="a00025494dc47baca0011f2ca8c131336"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>launch</b> (CUstream_st *stream)</td></tr>
+<tr class="separator:a00025494dc47baca0011f2ca8c131336"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="cuda__graph__exec_8hpp_source.html">cuda_graph_exec.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
diff --git a/doc_cpp/classgtsam__points_1_1ContinuousTrajectory-members.html b/doc_cpp/classgtsam__points_1_1ContinuousTrajectory-members.html
new file mode 100644
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">ContinuousTrajectory</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::ContinuousTrajectory Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">ContinuousTrajectory</a>(char symbol, double start_time, double end_time, double knot_interval)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>end_time</b> (defined in <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">fit_knots</a>(const std::vector&lt; double &gt; &amp;stamps, const std::vector&lt; gtsam::Pose3 &gt; &amp;poses, double smoothness, const gtsam::LevenbergMarquardtParams &amp;lm_params) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fit_knots</b>(const std::vector&lt; double &gt; &amp;stamps, const std::vector&lt; gtsam::Pose3 &gt; &amp;poses, double smoothness=1e-3, bool verbose=false) const (defined in <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">imu</a>(double t, const gtsam::Double_ &amp;t_, const Eigen::Vector3d &amp;g=Eigen::Vector3d(0.0, 0.0, 9.80665))</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">imu</a>(const gtsam::Values &amp;values, double t, const Eigen::Vector3d &amp;g=Eigen::Vector3d(0.0, 0.0, 9.80665))</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a21b99f7dcc46e64fb761d0d65600d23b">knot_id</a>(double t) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>knot_interval</b> (defined in <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4df769ab3e929d8495cfe21e1a45ed7f">knot_max_id</a>() const</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4e45cb299a3e448987690b6a87e178b3">knot_stamp</a>(int i) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">pose</a>(double t, const gtsam::Double_ &amp;t_)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">pose</a>(const gtsam::Values &amp;values, double t)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>start_time</b> (defined in <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>symbol</b> (defined in <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1ContinuousTrajectory.html b/doc_cpp/classgtsam__points_1_1ContinuousTrajectory.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: gtsam_points::ContinuousTrajectory Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
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+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html">ContinuousTrajectory</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classgtsam__points_1_1ContinuousTrajectory-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::ContinuousTrajectory Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Continuous trajectory class for offline batch optimization.  
+ <a href="classgtsam__points_1_1ContinuousTrajectory.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="continuous__trajectory_8hpp_source.html">continuous_trajectory.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:adf987399083dd17b883b4b4e05b634d1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">ContinuousTrajectory</a> (char symbol, double start_time, double end_time, double knot_interval)</td></tr>
+<tr class="memdesc:adf987399083dd17b883b4b4e05b634d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a continuous trajectory instance.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">More...</a><br /></td></tr>
+<tr class="separator:adf987399083dd17b883b4b4e05b634d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e45cb299a3e448987690b6a87e178b3"><td class="memItemLeft" align="right" valign="top"><a id="a4e45cb299a3e448987690b6a87e178b3"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4e45cb299a3e448987690b6a87e178b3">knot_stamp</a> (int i) const</td></tr>
+<tr class="memdesc:a4e45cb299a3e448987690b6a87e178b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time of a spline knot. <br /></td></tr>
+<tr class="separator:a4e45cb299a3e448987690b6a87e178b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21b99f7dcc46e64fb761d0d65600d23b"><td class="memItemLeft" align="right" valign="top"><a id="a21b99f7dcc46e64fb761d0d65600d23b"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a21b99f7dcc46e64fb761d0d65600d23b">knot_id</a> (double t) const</td></tr>
+<tr class="memdesc:a21b99f7dcc46e64fb761d0d65600d23b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key knot ID for a given time. <br /></td></tr>
+<tr class="separator:a21b99f7dcc46e64fb761d0d65600d23b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4df769ab3e929d8495cfe21e1a45ed7f"><td class="memItemLeft" align="right" valign="top"><a id="a4df769ab3e929d8495cfe21e1a45ed7f"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4df769ab3e929d8495cfe21e1a45ed7f">knot_max_id</a> () const</td></tr>
+<tr class="memdesc:a4df769ab3e929d8495cfe21e1a45ed7f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of spline knots. <br /></td></tr>
+<tr class="separator:a4df769ab3e929d8495cfe21e1a45ed7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad563bd5f2f0ba84789db1713e32c364b"><td class="memItemLeft" align="right" valign="top">gtsam::Pose3_&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">pose</a> (double t, const gtsam::Double_ &amp;t_)</td></tr>
+<tr class="memdesc:ad563bd5f2f0ba84789db1713e32c364b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an expression of the interpolated time at t.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">More...</a><br /></td></tr>
+<tr class="separator:ad563bd5f2f0ba84789db1713e32c364b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77d33f2b0d3d281f8c0eb07fcc18c0e5"><td class="memItemLeft" align="right" valign="top">gtsam::Pose3&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">pose</a> (const gtsam::Values &amp;values, double t)</td></tr>
+<tr class="memdesc:a77d33f2b0d3d281f8c0eb07fcc18c0e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the interpolated time at t.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">More...</a><br /></td></tr>
+<tr class="separator:a77d33f2b0d3d281f8c0eb07fcc18c0e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c8f9331e385100cd7b3fc4abe2abb16"><td class="memItemLeft" align="right" valign="top">gtsam::Vector6_&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">imu</a> (double t, const gtsam::Double_ &amp;t_, const Eigen::Vector3d &amp;g=Eigen::Vector3d(0.0, 0.0, 9.80665))</td></tr>
+<tr class="memdesc:a5c8f9331e385100cd7b3fc4abe2abb16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an expression of the linear acceleration and angular velocity at t.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">More...</a><br /></td></tr>
+<tr class="separator:a5c8f9331e385100cd7b3fc4abe2abb16"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a383323d30383df793baaab9500d870ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the linear acceleration and angular velocity at t.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">More...</a><br /></td></tr>
+<tr class="separator:a383323d30383df793baaab9500d870ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add4b602e9a51923d08b14ee51c013ea6"><td class="memItemLeft" align="right" valign="top">gtsam::Values&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">fit_knots</a> (const std::vector&lt; double &gt; &amp;stamps, const std::vector&lt; gtsam::Pose3 &gt; &amp;poses, double smoothness, const gtsam::LevenbergMarquardtParams &amp;lm_params) const</td></tr>
+<tr class="memdesc:add4b602e9a51923d08b14ee51c013ea6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Optimize spline knots to fit the interpolated trajectory to a set of poses.  <a href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">More...</a><br /></td></tr>
+<tr class="separator:add4b602e9a51923d08b14ee51c013ea6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1da85279d0f65324e6e30730afe7f68"><td class="memItemLeft" align="right" valign="top"><a id="ac1da85279d0f65324e6e30730afe7f68"></a>
+gtsam::Values&#160;</td><td class="memItemRight" valign="bottom"><b>fit_knots</b> (const std::vector&lt; double &gt; &amp;stamps, const std::vector&lt; gtsam::Pose3 &gt; &amp;poses, double smoothness=1e-3, bool verbose=false) const</td></tr>
+<tr class="separator:ac1da85279d0f65324e6e30730afe7f68"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:aa5f002fefcd1160e6904ee9a6cbb0302"><td class="memItemLeft" align="right" valign="top"><a id="aa5f002fefcd1160e6904ee9a6cbb0302"></a>
+const char&#160;</td><td class="memItemRight" valign="bottom"><b>symbol</b></td></tr>
+<tr class="separator:aa5f002fefcd1160e6904ee9a6cbb0302"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa12941ab77bb5834f3971d72760126fb"><td class="memItemLeft" align="right" valign="top"><a id="aa12941ab77bb5834f3971d72760126fb"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>start_time</b></td></tr>
+<tr class="separator:aa12941ab77bb5834f3971d72760126fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26c0cdc9871728156cfdcf7c7121758e"><td class="memItemLeft" align="right" valign="top"><a id="a26c0cdc9871728156cfdcf7c7121758e"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>end_time</b></td></tr>
+<tr class="separator:a26c0cdc9871728156cfdcf7c7121758e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dc0c027d68a80b59b591a65644dd2aa"><td class="memItemLeft" align="right" valign="top"><a id="a5dc0c027d68a80b59b591a65644dd2aa"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>knot_interval</b></td></tr>
+<tr class="separator:a5dc0c027d68a80b59b591a65644dd2aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Continuous trajectory class for offline batch optimization. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="adf987399083dd17b883b4b4e05b634d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf987399083dd17b883b4b4e05b634d1">&#9670;&nbsp;</a></span>ContinuousTrajectory()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::ContinuousTrajectory::ContinuousTrajectory </td>
+          <td>(</td>
+          <td class="paramtype">char&#160;</td>
+          <td class="paramname"><em>symbol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_time</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>end_time</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>knot_interval</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Construct a continuous trajectory instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">symbol</td><td>Key symbol </td></tr>
+    <tr><td class="paramname">start_time</td><td>Start time of the trajectory </td></tr>
+    <tr><td class="paramname">end_time</td><td>End time of the trajectory </td></tr>
+    <tr><td class="paramname">knot_interval</td><td>Time interval of spline control knots </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="add4b602e9a51923d08b14ee51c013ea6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add4b602e9a51923d08b14ee51c013ea6">&#9670;&nbsp;</a></span>fit_knots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam::Values gtsam_points::ContinuousTrajectory::fit_knots </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
+          <td class="paramname"><em>stamps</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; gtsam::Pose3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>poses</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>smoothness</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::LevenbergMarquardtParams &amp;&#160;</td>
+          <td class="paramname"><em>lm_params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Optimize spline knots to fit the interpolated trajectory to a set of poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">stamps</td><td>Timestamps of target poses </td></tr>
+    <tr><td class="paramname">poses</td><td>Target poses </td></tr>
+    <tr><td class="paramname">smoothness</td><td>Smoothness regularization to prevent underconstrained system (If smoothness &lt;= 0.0, regularization will be disabled) </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Knots of B-spline fitted to the target poses </dd></dl>
+
+</div>
+</div>
+<a id="a383323d30383df793baaab9500d870ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a383323d30383df793baaab9500d870ce">&#9670;&nbsp;</a></span>imu() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam::Vector6 gtsam_points::ContinuousTrajectory::imu </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>t</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>g</em> = <code>Eigen::Vector3d(0.0,&#160;0.0,&#160;9.80665)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Calculate the linear acceleration and angular velocity at t. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Values including knot poses </td></tr>
+    <tr><td class="paramname">t</td><td>Time </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5c8f9331e385100cd7b3fc4abe2abb16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c8f9331e385100cd7b3fc4abe2abb16">&#9670;&nbsp;</a></span>imu() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam::Vector6_ gtsam_points::ContinuousTrajectory::imu </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>t</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::Double_ &amp;&#160;</td>
+          <td class="paramname"><em>t_</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>g</em> = <code>Eigen::Vector3d(0.0,&#160;0.0,&#160;9.80665)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get an expression of the linear acceleration and angular velocity at t. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">t</td><td>Time </td></tr>
+    <tr><td class="paramname">t_</td><td>Expression of t </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a77d33f2b0d3d281f8c0eb07fcc18c0e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77d33f2b0d3d281f8c0eb07fcc18c0e5">&#9670;&nbsp;</a></span>pose() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam::Pose3 gtsam_points::ContinuousTrajectory::pose </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>t</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Calculate the interpolated time at t. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Values including knot poses </td></tr>
+    <tr><td class="paramname">t</td><td>Time </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad563bd5f2f0ba84789db1713e32c364b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad563bd5f2f0ba84789db1713e32c364b">&#9670;&nbsp;</a></span>pose() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam::Pose3_ gtsam_points::ContinuousTrajectory::pose </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>t</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::Double_ &amp;&#160;</td>
+          <td class="paramname"><em>t_</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get an expression of the interpolated time at t. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">t</td><td>Time </td></tr>
+    <tr><td class="paramname">t_</td><td>Expression of t </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="continuous__trajectory_8hpp_source.html">continuous_trajectory.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase-members.html b/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase-members.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::EVMBundleAdjustmentFactorBase Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a>(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>calc_eigenvalue</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_pose_derivatives</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>compose_factor</b>(const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>error_scale</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>EVMBundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>key_index</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>keys</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>points</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a>(double scale) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~BundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~EVMBundleAdjustmentFactorBase</b>() override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::EVMBundleAdjustmentFactorBase Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane / edge)  
+ <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::EVMBundleAdjustmentFactorBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1EVMBundleAdjustmentFactorBase__inherit__graph.png" border="0" usemap="#agtsam__points_1_1EVMBundleAdjustmentFactorBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1EVMBundleAdjustmentFactorBase_inherit__map" id="agtsam__points_1_1EVMBundleAdjustmentFactorBase_inherit__map">
+<area shape="rect" title="Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane..." alt="" coords="104,169,371,211"/>
+<area shape="rect" href="classgtsam__points_1_1EdgeEVMFactor.html" title="Edge EVM factor that minimizes lambda_0 + lambda_1." alt="" coords="5,259,224,285"/>
+<area shape="rect" href="classgtsam__points_1_1PlaneEVMFactor.html" title="Plane EVM factor that minimizes lambda_0." alt="" coords="249,259,471,285"/>
+<area shape="rect" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="118,80,357,121"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+Collaboration diagram for gtsam_points::EVMBundleAdjustmentFactorBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.png" border="0" usemap="#agtsam__points_1_1EVMBundleAdjustmentFactorBase_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a63755171de7ce6394838d058fdfadd38"><td class="memItemLeft" align="right" valign="top"><a id="a63755171de7ce6394838d058fdfadd38"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a63755171de7ce6394838d058fdfadd38"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a309799dcbd28692962b42b762666c538"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae0746c011ef70a356c2805333fbf51ba"><td class="memItemLeft" align="right" valign="top"><a id="ae0746c011ef70a356c2805333fbf51ba"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:ae0746c011ef70a356c2805333fbf51ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecb557d789977d27601bcba8833c6d3a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a> (const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td></tr>
+<tr class="memdesc:aecb557d789977d27601bcba8833c6d3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign a point to the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">More...</a><br /></td></tr>
+<tr class="separator:aecb557d789977d27601bcba8833c6d3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2a53469dc4324b65a160442ff885790"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a> () const override</td></tr>
+<tr class="memdesc:ac2a53469dc4324b65a160442ff885790"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points assigned to this factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">More...</a><br /></td></tr>
+<tr class="separator:ac2a53469dc4324b65a160442ff885790"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff4d980cb8732f918182ae8c821af128"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a> (double scale) override</td></tr>
+<tr class="memdesc:aff4d980cb8732f918182ae8c821af128"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a constant error scaling factor to boost the weight of the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">More...</a><br /></td></tr>
+<tr class="separator:aff4d980cb8732f918182ae8c821af128"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60"><td class="memTemplParams" colspan="2"><a id="a6c829948cbc7927714ae9ed254c3de60"></a>
+template&lt;int k&gt; </td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60"><td class="memTemplItemLeft" align="right" valign="top">double&#160;</td><td class="memTemplItemRight" valign="bottom"><b>calc_eigenvalue</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const</td></tr>
+<tr class="separator:a6c829948cbc7927714ae9ed254c3de60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3c6aa64bfdf7cad78f72b42363c24c9f"><td class="memItemLeft" align="right" valign="top"><a id="a3c6aa64bfdf7cad78f72b42363c24c9f"></a>
+Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>calc_pose_derivatives</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const</td></tr>
+<tr class="separator:a3c6aa64bfdf7cad78f72b42363c24c9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4f8f75e1735988af2e463a1d6794331"><td class="memItemLeft" align="right" valign="top"><a id="ab4f8f75e1735988af2e463a1d6794331"></a>
+gtsam::GaussianFactor::shared_ptr&#160;</td><td class="memItemRight" valign="bottom"><b>compose_factor</b> (const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const</td></tr>
+<tr class="separator:ab4f8f75e1735988af2e463a1d6794331"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:af61060518b006648d003233176d69e63"><td class="memItemLeft" align="right" valign="top"><a id="af61060518b006648d003233176d69e63"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>error_scale</b></td></tr>
+<tr class="separator:af61060518b006648d003233176d69e63"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abada3beaf56b9eb7f3c96378b54bc4fc"><td class="memItemLeft" align="right" valign="top"><a id="abada3beaf56b9eb7f3c96378b54bc4fc"></a>
+std::vector&lt; gtsam::Key &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>keys</b></td></tr>
+<tr class="separator:abada3beaf56b9eb7f3c96378b54bc4fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a30add54ae526027fa7926a5e82dad93a"><td class="memItemLeft" align="right" valign="top"><a id="a30add54ae526027fa7926a5e82dad93a"></a>
+std::vector&lt; gtsam::Point3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>points</b></td></tr>
+<tr class="separator:a30add54ae526027fa7926a5e82dad93a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed3a062858ec3884f3f4186ae9f60e30"><td class="memItemLeft" align="right" valign="top"><a id="aed3a062858ec3884f3f4186ae9f60e30"></a>
+std::unordered_map&lt; gtsam::Key, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>key_index</b></td></tr>
+<tr class="separator:aed3a062858ec3884f3f4186ae9f60e30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane / edge) </p>
+<dl class="section note"><dt>Note</dt><dd>The computation cost grows as the number of points increases Consider averaging points in a same scan in advance (see [Liu 2021])</dd></dl>
+<p>Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021 </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="aecb557d789977d27601bcba8833c6d3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecb557d789977d27601bcba8833c6d3a">&#9670;&nbsp;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::EVMBundleAdjustmentFactorBase::add </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Point3 &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::Key &amp;&#160;</td>
+          <td class="paramname"><em>key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assign a point to the factor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point to be added </td></tr>
+    <tr><td class="paramname">key</td><td>Key of the pose corresponding to the point </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">gtsam_points::BundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<a id="ac2a53469dc4324b65a160442ff885790"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2a53469dc4324b65a160442ff885790">&#9670;&nbsp;</a></span>num_points()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual int gtsam_points::EVMBundleAdjustmentFactorBase::num_points </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of points assigned to this factor. </p>
+<dl class="section return"><dt>Returns</dt><dd>Number of points </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">gtsam_points::BundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<a id="aff4d980cb8732f918182ae8c821af128"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff4d980cb8732f918182ae8c821af128">&#9670;&nbsp;</a></span>set_scale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::EVMBundleAdjustmentFactorBase::set_scale </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>scale</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set a constant error scaling factor to boost the weight of the factor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">scale</td><td>Error scale </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">gtsam_points::BundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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new file mode 100644
index 00000000..bf31d977
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diff --git a/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.md5 b/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.md5
new file mode 100644
index 00000000..e0a64202
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+++ b/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.md5
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diff --git a/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.png b/doc_cpp/classgtsam__points_1_1EVMBundleAdjustmentFactorBase__coll__graph.png
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::EasyProfiler Member List</div>  </div>
+</div><!--header-->
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+
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+   <div id="projectname">gtsam_points
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1EasyProfiler-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::EasyProfiler Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2fabfc09c1f5651c21e9e744fc07021d"><td class="memItemLeft" align="right" valign="top"><a id="a2fabfc09c1f5651c21e9e744fc07021d"></a>
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+<tr class="separator:aa1f05fef2b5351e73737eeb2d95b624b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="easy__profiler_8hpp_source.html">easy_profiler.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1EasyProfilerCuda-members.html b/doc_cpp/classgtsam__points_1_1EasyProfilerCuda-members.html
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+</table>
+</div>
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+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">EasyProfilerCuda</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::EasyProfilerCuda Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>events</b> (defined in <a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a></td><td class="entry"></td></tr>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>push</b>(const std::string &amp;label, CUstream_st *stream=nullptr) (defined in <a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>times</b> (defined in <a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~EasyProfilerCuda</b>() (defined in <a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EasyProfilerCuda.html">gtsam_points::EasyProfilerCuda</a></td><td class="entry"></td></tr>
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+<!-- Generated by Doxygen 1.9.1 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classgtsam__points_1_1EasyProfilerCuda-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::EasyProfilerCuda Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+const std::string&#160;</td><td class="memItemRight" valign="bottom"><b>prof_label</b></td></tr>
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+std::vector&lt; std::chrono::high_resolution_clock::time_point &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>times</b></td></tr>
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+std::vector&lt; CUevent_st * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>events</b></td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>events_count</b></td></tr>
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+std::vector&lt; CUevent_st * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>events_cache</b></td></tr>
+<tr class="separator:a16cd78607eb693a1e921d5cf4a20e38a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>ost</b></td></tr>
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+std::ofstream&#160;</td><td class="memItemRight" valign="bottom"><b>ofs</b></td></tr>
+<tr class="separator:ae2ce03892531eb55cc309962a29c3cbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="easy__profiler__cuda_8hpp_source.html">easy_profiler_cuda.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/classgtsam__points_1_1EdgeEVMFactor-members.html b/doc_cpp/classgtsam__points_1_1EdgeEVMFactor-members.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::EdgeEVMFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a>(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>calc_eigenvalue</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_pose_derivatives</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>compose_factor</b>(const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>EdgeEVMFactor</b>() (defined in <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>error</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>error_scale</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>EVMBundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>key_index</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>keys</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a>(double scale) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~BundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~EdgeEVMFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">gtsam_points::EdgeEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~EVMBundleAdjustmentFactorBase</b>() override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1EdgeEVMFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::EdgeEVMFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Edge EVM factor that minimizes lambda_0 + lambda_1.  
+ <a href="classgtsam__points_1_1EdgeEVMFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::EdgeEVMFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1EdgeEVMFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1EdgeEVMFactor_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="19,80,258,121"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::EdgeEVMFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1EdgeEVMFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1EdgeEVMFactor_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="19,80,258,121"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a21d6da82c5dd63053a46bed9310bc30c"><td class="memItemLeft" align="right" valign="top"><a id="a21d6da82c5dd63053a46bed9310bc30c"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1EdgeEVMFactor.html">EdgeEVMFactor</a> &gt;</td></tr>
+<tr class="separator:a21d6da82c5dd63053a46bed9310bc30c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a63755171de7ce6394838d058fdfadd38 inherit pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a63755171de7ce6394838d058fdfadd38"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a63755171de7ce6394838d058fdfadd38 inherit pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a309799dcbd28692962b42b762666c538"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aff5015d4e67a9407102ea9a928f9eaf7"><td class="memItemLeft" align="right" valign="top"><a id="aff5015d4e67a9407102ea9a928f9eaf7"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>error</b> (const gtsam::Values &amp;c) const override</td></tr>
+<tr class="separator:aff5015d4e67a9407102ea9a928f9eaf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;c) const override</td></tr>
+<tr class="separator:aff172baa54772e4a1cec0b4c380c861a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:ae0746c011ef70a356c2805333fbf51ba inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="ae0746c011ef70a356c2805333fbf51ba"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:ae0746c011ef70a356c2805333fbf51ba inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a> (const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td></tr>
+<tr class="memdesc:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign a point to the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">More...</a><br /></td></tr>
+<tr class="separator:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a> () const override</td></tr>
+<tr class="memdesc:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points assigned to this factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">More...</a><br /></td></tr>
+<tr class="separator:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a> (double scale) override</td></tr>
+<tr class="memdesc:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a constant error scaling factor to boost the weight of the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">More...</a><br /></td></tr>
+<tr class="separator:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memTemplParams" colspan="2"><a id="a6c829948cbc7927714ae9ed254c3de60"></a>
+template&lt;int k&gt; </td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memTemplItemLeft" align="right" valign="top">double&#160;</td><td class="memTemplItemRight" valign="bottom"><b>calc_eigenvalue</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const</td></tr>
+<tr class="separator:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>calc_pose_derivatives</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const</td></tr>
+<tr class="separator:a3c6aa64bfdf7cad78f72b42363c24c9f inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+gtsam::GaussianFactor::shared_ptr&#160;</td><td class="memItemRight" valign="bottom"><b>compose_factor</b> (const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const</td></tr>
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+<tr class="inherit_header pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:af61060518b006648d003233176d69e63 inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="af61060518b006648d003233176d69e63"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>error_scale</b></td></tr>
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+std::vector&lt; gtsam::Key &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>keys</b></td></tr>
+<tr class="separator:abada3beaf56b9eb7f3c96378b54bc4fc inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a30add54ae526027fa7926a5e82dad93a inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a30add54ae526027fa7926a5e82dad93a"></a>
+std::vector&lt; gtsam::Point3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>points</b></td></tr>
+<tr class="separator:a30add54ae526027fa7926a5e82dad93a inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::unordered_map&lt; gtsam::Key, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>key_index</b></td></tr>
+<tr class="separator:aed3a062858ec3884f3f4186ae9f60e30 inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Edge EVM factor that minimizes lambda_0 + lambda_1. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
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+<!-- Generated by Doxygen 1.9.1 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GLBufferMap Member List</div>  </div>
+</div><!--header-->
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+
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+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>BufferMode</b> enum name (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>data</b>() (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>GLBufferMap</b>(size_t gl_id, BufferMode mode=NONE) (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>NONE</b> enum value (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>READ_ONLY</b> enum value (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"></td></tr>
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~GLBufferMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GLBufferMap.html">gtsam_points::GLBufferMap</a></td><td class="entry"></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1GLBufferMap-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::GLBufferMap Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="gl__buffer__map_8hpp_source.html">gl_buffer_map.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+ </tr>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMap Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">insert</a>(const PointCloud &amp;frame)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">voxel_resolution</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMap.html b/doc_cpp/classgtsam__points_1_1GaussianVoxelMap.html
new file mode 100644
index 00000000..d1929fc8
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1GaussianVoxelMap.html
@@ -0,0 +1,123 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+   <div id="projectname">gtsam_points
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1GaussianVoxelMap-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMap Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Gaussian distribution voxelmap.  
+ <a href="classgtsam__points_1_1GaussianVoxelMap.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gaussian__voxelmap_8hpp_source.html">gaussian_voxelmap.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::GaussianVoxelMap:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1GaussianVoxelMap__inherit__graph.png" border="0" usemap="#agtsam__points_1_1GaussianVoxelMap_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1GaussianVoxelMap_inherit__map" id="agtsam__points_1_1GaussianVoxelMap_inherit__map">
+<area shape="rect" title="Gaussian distribution voxelmap." alt="" coords="110,5,351,32"/>
+<area shape="rect" href="classgtsam__points_1_1GaussianVoxelMapCPU.html" title=" " alt="" coords="5,80,219,121"/>
+<area shape="rect" href="classgtsam__points_1_1GaussianVoxelMapGPU.html" title="Gaussian distribution voxelmap on GPU." alt="" coords="243,80,456,121"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a4349dd6a701dac61b65e44bb329131dd"><td class="memItemLeft" align="right" valign="top"><a id="a4349dd6a701dac61b65e44bb329131dd"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:a4349dd6a701dac61b65e44bb329131dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba5416071aacc8683eacd113be449f78"><td class="memItemLeft" align="right" valign="top"><a id="aba5416071aacc8683eacd113be449f78"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:aba5416071aacc8683eacd113be449f78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aeafbf9f3f252efe438902baaccf82399"><td class="memItemLeft" align="right" valign="top"><a id="aeafbf9f3f252efe438902baaccf82399"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">voxel_resolution</a> () const =0</td></tr>
+<tr class="memdesc:aeafbf9f3f252efe438902baaccf82399"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:aeafbf9f3f252efe438902baaccf82399"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a358221ea7cd675c7cab4648612f29e77"><td class="memItemLeft" align="right" valign="top"><a id="a358221ea7cd675c7cab4648612f29e77"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">insert</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)=0</td></tr>
+<tr class="memdesc:a358221ea7cd675c7cab4648612f29e77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a point cloud frame into the voxelmap. <br /></td></tr>
+<tr class="separator:a358221ea7cd675c7cab4648612f29e77"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Gaussian distribution voxelmap. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap_8hpp_source.html">gaussian_voxelmap.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU-members.html b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU-members.html
new file mode 100644
index 00000000..4663e438
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU-members.html
@@ -0,0 +1,135 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+   <div id="projectname">gtsam_points
+   </div>
+  </td>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMapCPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">calc_index</a>(const size_t voxel_id, const size_t point_id) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">clear</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cov</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">GaussianVoxelMapCPU</a>(double resolution)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a>(double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">insert</a>(const PointCloud &amp;frame) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">load</a>(const std::string &amp;path)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">lookup_voxel</a>(int voxel_id) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">lookup_voxel_index</a>(const Eigen::Vector3i &amp;coord) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>neighbor_offsets</b>(const int neighbor_voxel_mode) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>normal</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">num_voxels</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>point</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">save_compact</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a>(const int lru_clear_cycle)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a>(const int lru_horizon)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a>(const int mode)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a>(const double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>visit_points</b>(const Func &amp;f) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">voxel_coord</a>(const Eigen::Vector4d &amp;x) const</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_covs</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>voxel_data</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>voxel_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_normals</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>voxel_points</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">voxel_resolution</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~GaussianVoxelMapCPU</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IncrementalVoxelMap</b>() (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU.html b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU.html
@@ -0,0 +1,404 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::GaussianVoxelMapCPU Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1GaussianVoxelMapCPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMapCPU Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for gtsam_points::GaussianVoxelMapCPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1GaussianVoxelMapCPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1GaussianVoxelMapCPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1GaussianVoxelMapCPU_inherit__map" id="agtsam__points_1_1GaussianVoxelMapCPU_inherit__map">
+<area shape="rect" title=" " alt="" coords="145,184,358,225"/>
+<area shape="rect" href="classgtsam__points_1_1GaussianVoxelMap.html" title="Gaussian distribution voxelmap." alt="" coords="5,102,247,129"/>
+<area shape="rect" href="structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="271,95,482,136"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="263,5,491,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::GaussianVoxelMapCPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1GaussianVoxelMapCPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1GaussianVoxelMapCPU_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1GaussianVoxelMapCPU_coll__map" id="agtsam__points_1_1GaussianVoxelMapCPU_coll__map">
+<area shape="rect" title=" " alt="" coords="145,184,358,225"/>
+<area shape="rect" href="classgtsam__points_1_1GaussianVoxelMap.html" title="Gaussian distribution voxelmap." alt="" coords="5,102,247,129"/>
+<area shape="rect" href="structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="271,95,482,136"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="263,5,491,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a5c480cd5793ca643d49298fb536f12a4"><td class="memItemLeft" align="right" valign="top"><a id="a5c480cd5793ca643d49298fb536f12a4"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &gt;</td></tr>
+<tr class="separator:a5c480cd5793ca643d49298fb536f12a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae9fdd268b468d59c94428f8164b3b684"><td class="memItemLeft" align="right" valign="top"><a id="ae9fdd268b468d59c94428f8164b3b684"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &gt;</td></tr>
+<tr class="separator:ae9fdd268b468d59c94428f8164b3b684"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1GaussianVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1GaussianVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td></tr>
+<tr class="memitem:a4349dd6a701dac61b65e44bb329131dd inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a4349dd6a701dac61b65e44bb329131dd"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:a4349dd6a701dac61b65e44bb329131dd inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba5416071aacc8683eacd113be449f78 inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="aba5416071aacc8683eacd113be449f78"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:aba5416071aacc8683eacd113be449f78 inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td></tr>
+<tr class="memitem:ab10ed1f31238d53d41b99c2b7562a704 inherit pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="ab10ed1f31238d53d41b99c2b7562a704"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
+<tr class="separator:ab10ed1f31238d53d41b99c2b7562a704 inherit pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8186fdeb4608dde663ced69752b81552 inherit pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a8186fdeb4608dde663ced69752b81552"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
+<tr class="separator:a8186fdeb4608dde663ced69752b81552 inherit pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aa501569c1b7e3f3aa22751f4ea0e1fd3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">GaussianVoxelMapCPU</a> (double resolution)</td></tr>
+<tr class="memdesc:aa501569c1b7e3f3aa22751f4ea0e1fd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">More...</a><br /></td></tr>
+<tr class="separator:aa501569c1b7e3f3aa22751f4ea0e1fd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb98e37fdf3134bdb3eb7e961ccc006b"><td class="memItemLeft" align="right" valign="top"><a id="abb98e37fdf3134bdb3eb7e961ccc006b"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">voxel_resolution</a> () const override</td></tr>
+<tr class="memdesc:abb98e37fdf3134bdb3eb7e961ccc006b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:abb98e37fdf3134bdb3eb7e961ccc006b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab914295f587adf977b7c623651b0bbca"><td class="memItemLeft" align="right" valign="top"><a id="ab914295f587adf977b7c623651b0bbca"></a>
+Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">voxel_coord</a> (const Eigen::Vector4d &amp;x) const</td></tr>
+<tr class="memdesc:ab914295f587adf977b7c623651b0bbca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the voxel index corresponding to a point. <br /></td></tr>
+<tr class="separator:ab914295f587adf977b7c623651b0bbca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abca5ca5380793a041c0606564f6fb114"><td class="memItemLeft" align="right" valign="top"><a id="abca5ca5380793a041c0606564f6fb114"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">lookup_voxel_index</a> (const Eigen::Vector3i &amp;coord) const</td></tr>
+<tr class="memdesc:abca5ca5380793a041c0606564f6fb114"><td class="mdescLeft">&#160;</td><td class="mdescRight">Look up a voxel index. If the voxel does not exist, return -1. <br /></td></tr>
+<tr class="separator:abca5ca5380793a041c0606564f6fb114"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca34514c052a3eef5fc1264fa9bdbfeb"><td class="memItemLeft" align="right" valign="top"><a id="aca34514c052a3eef5fc1264fa9bdbfeb"></a>
+const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">lookup_voxel</a> (int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>) const</td></tr>
+<tr class="memdesc:aca34514c052a3eef5fc1264fa9bdbfeb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Look up a voxel. <br /></td></tr>
+<tr class="separator:aca34514c052a3eef5fc1264fa9bdbfeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1b3e2320eb0277a07579e1c0ad9b3f1b"><td class="memItemLeft" align="right" valign="top"><a id="a1b3e2320eb0277a07579e1c0ad9b3f1b"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">insert</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame) override</td></tr>
+<tr class="memdesc:a1b3e2320eb0277a07579e1c0ad9b3f1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a point cloud frame into the voxelmap. <br /></td></tr>
+<tr class="separator:a1b3e2320eb0277a07579e1c0ad9b3f1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ee106c94dcf8232a70385fd528cd44f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">save_compact</a> (const std::string &amp;path) const</td></tr>
+<tr class="memdesc:a8ee106c94dcf8232a70385fd528cd44f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the voxelmap.  <a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">More...</a><br /></td></tr>
+<tr class="separator:a8ee106c94dcf8232a70385fd528cd44f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td></tr>
+<tr class="memitem:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a> (double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">More...</a><br /></td></tr>
+<tr class="separator:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a4705cb737c77acdcb97e10899a08f6fb"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a> (const double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="acec16db641994783ab61ac705b65a53d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>)</td></tr>
+<tr class="memdesc:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache clearing cycle. <br /></td></tr>
+<tr class="separator:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a46c51e0007ae9883bbc702c1b86971a9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>)</td></tr>
+<tr class="memdesc:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache horizon. <br /></td></tr>
+<tr class="separator:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a316d9f2671876d93e0bd94800fe99b14 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a316d9f2671876d93e0bd94800fe99b14"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a> (const int mode)</td></tr>
+<tr class="memdesc:a316d9f2671876d93e0bd94800fe99b14 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Neighboring voxel search mode (1, 7, 19, or 27). <br /></td></tr>
+<tr class="separator:a316d9f2671876d93e0bd94800fe99b14 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1dc28f2574de3baf638905d2e9d227e inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="ae1dc28f2574de3baf638905d2e9d227e"></a>
+VoxelContents::Setting &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a> ()</td></tr>
+<tr class="memdesc:ae1dc28f2574de3baf638905d2e9d227e inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel setting. <br /></td></tr>
+<tr class="separator:ae1dc28f2574de3baf638905d2e9d227e inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa85d8d43e5ef3b78db2b3af32b1c92be inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="aa85d8d43e5ef3b78db2b3af32b1c92be"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a> () const</td></tr>
+<tr class="memdesc:aa85d8d43e5ef3b78db2b3af32b1c92be inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel size. <br /></td></tr>
+<tr class="separator:aa85d8d43e5ef3b78db2b3af32b1c92be inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16625ca1ce92157055a3a378c2beb1b3 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a16625ca1ce92157055a3a378c2beb1b3"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">num_voxels</a> () const</td></tr>
+<tr class="memdesc:a16625ca1ce92157055a3a378c2beb1b3 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of voxels in the voxelmap. <br /></td></tr>
+<tr class="separator:a16625ca1ce92157055a3a378c2beb1b3 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23f102e6ad88d9269fd5f39853a63b9b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a23f102e6ad88d9269fd5f39853a63b9b"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">clear</a> ()</td></tr>
+<tr class="memdesc:a23f102e6ad88d9269fd5f39853a63b9b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the voxelmap. <br /></td></tr>
+<tr class="separator:a23f102e6ad88d9269fd5f39853a63b9b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad618fcc1f351eed2239873aaa7caf66b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td></tr>
+<tr class="memdesc:ad618fcc1f351eed2239873aaa7caf66b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">More...</a><br /></td></tr>
+<tr class="separator:ad618fcc1f351eed2239873aaa7caf66b inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abae7c8dbec4ac33add69d7345c39bb73 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="abae7c8dbec4ac33add69d7345c39bb73"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">calc_index</a> (const size_t <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>, const size_t <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>) const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> () const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const size_t i) const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const size_t i) const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const size_t i) const</td></tr>
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+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_points</b> () const</td></tr>
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+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_normals</b> () const</td></tr>
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+virtual std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_covs</b> () const</td></tr>
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+virtual std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_intensities</b> () const</td></tr>
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+virtual PointCloudCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_data</b> () const</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a41ea68a3626e0e5c8628dd151997e3ff"><td class="memItemLeft" align="right" valign="top">static GaussianVoxelMapCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">load</a> (const std::string &amp;path)</td></tr>
+<tr class="memdesc:a41ea68a3626e0e5c8628dd151997e3ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save a voxelmap from a file.  <a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">More...</a><br /></td></tr>
+<tr class="separator:a41ea68a3626e0e5c8628dd151997e3ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td></tr>
+<tr class="memitem:a324e8dacc90cc5eff4c5522498d2cddf inherit pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a324e8dacc90cc5eff4c5522498d2cddf"></a>
+std::vector&lt; Eigen::Vector3i &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>neighbor_offsets</b> (const int neighbor_voxel_mode) const</td></tr>
+<tr class="separator:a324e8dacc90cc5eff4c5522498d2cddf inherit pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa609940737aeb1436aaba35f6af48b9a inherit pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="aa609940737aeb1436aaba35f6af48b9a"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>visit_points</b> (const Func &amp;f) const</td></tr>
+<tr class="separator:aa609940737aeb1436aaba35f6af48b9a inherit pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a></td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a></td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a></td></tr>
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+VoxelContents::Setting&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a></td></tr>
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+std::vector&lt; std::shared_ptr&lt; std::pair&lt; <a class="el" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a>, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a></td></tr>
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+std::unordered_map&lt; Eigen::Vector3i, size_t, <a class="el" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a></td></tr>
+<tr class="memdesc:a5a572eb934aca763a0f386e4739eae04 inherit pro_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel index map. <br /></td></tr>
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+<tr class="inherit_header pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a></td></tr>
+<tr class="memitem:a6f3879cdf400b3d9e8f288f8272e5e8b inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a6f3879cdf400b3d9e8f288f8272e5e8b"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td></tr>
+<tr class="memdesc:a6f3879cdf400b3d9e8f288f8272e5e8b inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the first 32 bits for point id. <br /></td></tr>
+<tr class="separator:a6f3879cdf400b3d9e8f288f8272e5e8b inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2e6a3df1bba51789fba319a4420461f inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="ae2e6a3df1bba51789fba319a4420461f"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a></td></tr>
+<tr class="memdesc:ae2e6a3df1bba51789fba319a4420461f inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the remaining bits for voxel id. <br /></td></tr>
+<tr class="separator:ae2e6a3df1bba51789fba319a4420461f inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa501569c1b7e3f3aa22751f4ea0e1fd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa501569c1b7e3f3aa22751f4ea0e1fd3">&#9670;&nbsp;</a></span>GaussianVoxelMapCPU()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::GaussianVoxelMapCPU::GaussianVoxelMapCPU </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>resolution</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">resolution</td><td>Voxel resolution </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a41ea68a3626e0e5c8628dd151997e3ff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41ea68a3626e0e5c8628dd151997e3ff">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static GaussianVoxelMapCPU::Ptr gtsam_points::GaussianVoxelMapCPU::load </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Save a voxelmap from a file. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>Path to a voxelmap file to be loaded </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8ee106c94dcf8232a70385fd528cd44f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ee106c94dcf8232a70385fd528cd44f">&#9670;&nbsp;</a></span>save_compact()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::GaussianVoxelMapCPU::save_compact </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the voxelmap. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>Destination path to save the voxelmap </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU__coll__graph.map b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapCPU__coll__graph.map
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+<area shape="rect" id="node2" href="$classgtsam__points_1_1GaussianVoxelMap.html" title="Gaussian distribution voxelmap." alt="" coords="5,102,247,129"/>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMapGPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">buckets</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">GaussianVoxelMapGPU</a>(float resolution, int init_num_buckets=8192 *2, int max_bucket_scan_count=10, double target_points_drop_rate=1e-3, CUstream_st *stream=0)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">init_num_buckets</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">insert</a>(const PointCloud &amp;frame) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">num_points</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>stream</b> (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">target_points_drop_rate</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">voxel_covs</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">voxel_means</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">voxel_resolution</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">voxelmap_info</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">voxelmap_info_ptr</a></td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~GaussianVoxelMap</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~GaussianVoxelMapGPU</b>() (defined in <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU.html b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU.html
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classgtsam__points_1_1GaussianVoxelMapGPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxelMapGPU Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Gaussian distribution voxelmap on GPU.  
+ <a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gaussian__voxelmap__gpu_8hpp_source.html">gaussian_voxelmap_gpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::GaussianVoxelMapGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1GaussianVoxelMapGPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1GaussianVoxelMapGPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1GaussianVoxelMapGPU_inherit__map" id="agtsam__points_1_1GaussianVoxelMapGPU_inherit__map">
+<area shape="rect" title="Gaussian distribution voxelmap on GPU." alt="" coords="19,80,233,121"/>
+<area shape="rect" href="classgtsam__points_1_1GaussianVoxelMap.html" title="Gaussian distribution voxelmap." alt="" coords="5,5,247,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::GaussianVoxelMapGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1GaussianVoxelMapGPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1GaussianVoxelMapGPU_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1GaussianVoxelMapGPU_coll__map" id="agtsam__points_1_1GaussianVoxelMapGPU_coll__map">
+<area shape="rect" title="Gaussian distribution voxelmap on GPU." alt="" coords="416,49,629,90"/>
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+<area shape="rect" href="structgtsam__points_1_1VoxelBucket.html" title="Voxel bucket (avoid using thrust::pair for CUDA compatibility)" alt="" coords="27,107,225,133"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a46cd4c3f7d6bb62ed2e9891b16832e4c"><td class="memItemLeft" align="right" valign="top"><a id="a46cd4c3f7d6bb62ed2e9891b16832e4c"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a> &gt;</td></tr>
+<tr class="separator:a46cd4c3f7d6bb62ed2e9891b16832e4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40d7aea59ef494df9dc1cc9701805eff"><td class="memItemLeft" align="right" valign="top"><a id="a40d7aea59ef494df9dc1cc9701805eff"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a> &gt;</td></tr>
+<tr class="separator:a40d7aea59ef494df9dc1cc9701805eff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1GaussianVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1GaussianVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></td></tr>
+<tr class="memitem:a4349dd6a701dac61b65e44bb329131dd inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a4349dd6a701dac61b65e44bb329131dd"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:a4349dd6a701dac61b65e44bb329131dd inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba5416071aacc8683eacd113be449f78 inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="aba5416071aacc8683eacd113be449f78"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> &gt;</td></tr>
+<tr class="separator:aba5416071aacc8683eacd113be449f78 inherit pub_types_classgtsam__points_1_1GaussianVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a52f5dbaf13938ca0b961f42b8ae6acd4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">GaussianVoxelMapGPU</a> (float resolution, int <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">init_num_buckets</a>=8192 *2, int max_bucket_scan_count=10, double <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">target_points_drop_rate</a>=1e-3, CUstream_st *stream=0)</td></tr>
+<tr class="separator:a52f5dbaf13938ca0b961f42b8ae6acd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec86f464d6205dff3a6b0faed46012d8"><td class="memItemLeft" align="right" valign="top"><a id="aec86f464d6205dff3a6b0faed46012d8"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">voxel_resolution</a> () const override</td></tr>
+<tr class="memdesc:aec86f464d6205dff3a6b0faed46012d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:aec86f464d6205dff3a6b0faed46012d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa6c4489a0c885b95da1066ff7a5283a3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">insert</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame) override</td></tr>
+<tr class="separator:aa6c4489a0c885b95da1066ff7a5283a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a42dc2b5cdc10edfe756082407abb2d9c"><td class="memItemLeft" align="right" valign="top"><a id="a42dc2b5cdc10edfe756082407abb2d9c"></a>
+CUstream_st *&#160;</td><td class="memItemRight" valign="bottom"><b>stream</b></td></tr>
+<tr class="separator:a42dc2b5cdc10edfe756082407abb2d9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a73c126d95a5dac89389a5133f53056f3"><td class="memItemLeft" align="right" valign="top"><a id="a73c126d95a5dac89389a5133f53056f3"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">init_num_buckets</a></td></tr>
+<tr class="memdesc:a73c126d95a5dac89389a5133f53056f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial number of buckets. <br /></td></tr>
+<tr class="separator:a73c126d95a5dac89389a5133f53056f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa628d67d5a067d5726072817f63e2a7c"><td class="memItemLeft" align="right" valign="top"><a id="aa628d67d5a067d5726072817f63e2a7c"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">target_points_drop_rate</a></td></tr>
+<tr class="memdesc:aa628d67d5a067d5726072817f63e2a7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allowable points drop rate. <br /></td></tr>
+<tr class="separator:aa628d67d5a067d5726072817f63e2a7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba7aadf9ceb821593d56073df02d68d4"><td class="memItemLeft" align="right" valign="top"><a id="aba7aadf9ceb821593d56073df02d68d4"></a>
+<a class="el" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">voxelmap_info</a></td></tr>
+<tr class="memdesc:aba7aadf9ceb821593d56073df02d68d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxelmap information. <br /></td></tr>
+<tr class="separator:aba7aadf9ceb821593d56073df02d68d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01a1f08d323133e9740ae485ebb81ae1"><td class="memItemLeft" align="right" valign="top"><a id="a01a1f08d323133e9740ae485ebb81ae1"></a>
+<a class="el" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">voxelmap_info_ptr</a></td></tr>
+<tr class="memdesc:a01a1f08d323133e9740ae485ebb81ae1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxelmap information on GPU memory. <br /></td></tr>
+<tr class="separator:a01a1f08d323133e9740ae485ebb81ae1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1b444d7ecbc588a61b90802b072daa62"><td class="memItemLeft" align="right" valign="top"><a id="a1b444d7ecbc588a61b90802b072daa62"></a>
+<a class="el" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">buckets</a></td></tr>
+<tr class="memdesc:a1b444d7ecbc588a61b90802b072daa62"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel buckets for hashing. <br /></td></tr>
+<tr class="separator:a1b444d7ecbc588a61b90802b072daa62"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af7e253a5a2f09c800402a63f42c96cf5"><td class="memItemLeft" align="right" valign="top"><a id="af7e253a5a2f09c800402a63f42c96cf5"></a>
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+<tr class="memdesc:af7e253a5a2f09c800402a63f42c96cf5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points in eac voxel. <br /></td></tr>
+<tr class="separator:af7e253a5a2f09c800402a63f42c96cf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">voxel_means</a></td></tr>
+<tr class="memdesc:acc4e65aaea0735bf4ea64d23ba286473"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel means. <br /></td></tr>
+<tr class="separator:acc4e65aaea0735bf4ea64d23ba286473"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af24e8cda94d46b122f9152c67f21ad0a"><td class="memItemLeft" align="right" valign="top"><a id="af24e8cda94d46b122f9152c67f21ad0a"></a>
+Eigen::Matrix3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">voxel_covs</a></td></tr>
+<tr class="memdesc:af24e8cda94d46b122f9152c67f21ad0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel covariances. <br /></td></tr>
+<tr class="separator:af24e8cda94d46b122f9152c67f21ad0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Gaussian distribution voxelmap on GPU. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a52f5dbaf13938ca0b961f42b8ae6acd4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52f5dbaf13938ca0b961f42b8ae6acd4">&#9670;&nbsp;</a></span>GaussianVoxelMapGPU()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::GaussianVoxelMapGPU::GaussianVoxelMapGPU </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>resolution</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>init_num_buckets</em> = <code>8192&#160;*2</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>max_bucket_scan_count</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>target_points_drop_rate</em> = <code>1e-3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">resolution</td><td>Voxel resolution </td></tr>
+    <tr><td class="paramname">init_num_buckets</td><td>Initial buckets size </td></tr>
+    <tr><td class="paramname">max_bucket_scan_count</td><td>Maximum number of open hashmap addressing trials. If a target voxel coord is not found in successive N buckets, it is considered to be not found. Setting a larger value makes the hashing slower but results in a smaller memory footprint. </td></tr>
+    <tr><td class="paramname">target_points_drop_rate</td><td>This parameter allows to drop a fraction of points during the bucket creation. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa6c4489a0c885b95da1066ff7a5283a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6c4489a0c885b95da1066ff7a5283a3">&#9670;&nbsp;</a></span>insert()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::GaussianVoxelMapGPU::insert </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>frame</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Insert a point cloud frame into the voxelmap </p><dl class="section note"><dt>Note</dt><dd>Incremental insertion is not supported for GPU </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">gtsam_points::GaussianVoxelMap</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__gpu_8hpp_source.html">gaussian_voxelmap_gpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__coll__graph.map b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__coll__graph.map
new file mode 100644
index 00000000..d7377a6f
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+<area shape="rect" id="node1" title="Gaussian distribution voxelmap on GPU." alt="" coords="416,49,629,90"/>
+<area shape="rect" id="node2" href="$classgtsam__points_1_1GaussianVoxelMap.html" title="Gaussian distribution voxelmap." alt="" coords="5,5,247,32"/>
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__coll__graph.md5 b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__coll__graph.md5
new file mode 100644
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new file mode 100644
index 00000000..d8bec68c
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diff --git a/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1GaussianVoxelMapGPU__inherit__graph.md5
new file mode 100644
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedCT__GICPFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedCT__GICPFactor__-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: Member List</title>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correspondences</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>deskewed_source_points</b>(const gtsam::Values &amp;values, bool local=false) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>error</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_source_poses</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get_time_indices</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_time_table</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">IntegratedCT_GICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#a08012f2a81ce567f20755c7ec40e62f5">IntegratedCT_GICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#afa550a452e5ccc589087ef2d703ab82d">IntegratedCT_ICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>mahalanobis</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>max_correspondence_distance_sq</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>num_threads</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pose_derivatives_t0</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>pose_derivatives_t1</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_max_correspondence_distance</b>(double dist) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>source</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>source_poses</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>target</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>target_tree</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>time_indices</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>time_table</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>update_correspondences</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>update_poses</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedCT_GICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedCT_ICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedCT__GICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedCT__GICPFactor__.html
new file mode 100644
index 00000000..c91a7b59
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedCT__GICPFactor__.html
@@ -0,0 +1,335 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classgtsam__points_1_1IntegratedCT__GICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Continuous Time ICP with GICP's D2D cost Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 Segal et al., "Generalized-ICP", RSS2005.  
+ <a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__ct__gicp__factor_8hpp_source.html">integrated_ct_gicp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedCT__GICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedCT__GICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IntegratedCT__GICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" id="agtsam__points_1_1IntegratedCT__GICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map">
+<area shape="rect" title="Continuous Time ICP with GICP&#39;s D2D cost Bellenbach et al., &quot;CT&#45;ICP: Real&#45;time Elastic LiDAR Odometry..." alt="" coords="491,13,713,69"/>
+<area shape="rect" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html" title=" " alt="" coords="227,5,443,76"/>
+<area shape="rect" title=" " alt="" coords="5,27,179,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedCT__GICPFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedCT__GICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a25d5ce2db0e247029fc53ff9b0e87f85"><td class="memItemLeft" align="right" valign="top"><a id="a25d5ce2db0e247029fc53ff9b0e87f85"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a>&lt; TargetFrame, SourceFrame &gt; &gt;</td></tr>
+<tr class="separator:a25d5ce2db0e247029fc53ff9b0e87f85"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>, <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &gt;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="memdesc:ad847e8351d4dd883d1f1015611bc0367"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">More...</a><br /></td></tr>
+<tr class="separator:ad847e8351d4dd883d1f1015611bc0367"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a08012f2a81ce567f20755c7ec40e62f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#a08012f2a81ce567f20755c7ec40e62f5">More...</a><br /></td></tr>
+<tr class="separator:a08012f2a81ce567f20755c7ec40e62f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>error</b> (const gtsam::Values &amp;values) const override</td></tr>
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+<tr class="separator:a99ce432bd903109dcb25db23d0bacfc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedCT__ICPFactor__"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedCT__ICPFactor__')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td></tr>
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+<tr class="separator:abca655dcbff5b84d9308b2d4ab0a252d inherit pub_methods_classgtsam__points_1_1IntegratedCT__ICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afa550a452e5ccc589087ef2d703ab82d inherit pub_methods_classgtsam__points_1_1IntegratedCT__ICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_num_threads</b> (int n)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_correspondence_distance</b> (double dist)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
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+<tr class="memitem:a10a3759d697beb7e90b882356a3d11ac"><td class="memItemLeft" align="right" valign="top"><a id="a10a3759d697beb7e90b882356a3d11ac"></a>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>num_threads</b></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>max_correspondence_distance_sq</b></td></tr>
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+std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>target_tree</b></td></tr>
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+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>time_table</b></td></tr>
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+std::vector&lt; gtsam::Matrix6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pose_derivatives_t0</b></td></tr>
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+std::vector&lt; gtsam::Matrix6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pose_derivatives_t1</b></td></tr>
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+std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>time_indices</b></td></tr>
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+std::vector&lt; long &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>correspondences</b></td></tr>
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+std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>source</b></td></tr>
+<tr class="separator:a1b5e585df113c2448159913628e5e64f inherit pro_attribs_classgtsam__points_1_1IntegratedCT__ICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
+
+<p>Continuous Time ICP with GICP's D2D cost Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 Segal et al., "Generalized-ICP", RSS2005. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad847e8351d4dd883d1f1015611bc0367"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad847e8351d4dd883d1f1015611bc0367">&#9670;&nbsp;</a></span>IntegratedCT_GICPFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t0_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t1_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source_t0_key</td><td>Key of the source pose at the beginning of the scan </td></tr>
+    <tr><td class="paramname">source_t1_key</td><td>Key of the source pose at the end of the scan </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud </td></tr>
+    <tr><td class="paramname">target_tree</td><td>NN search for the target point cloud </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a08012f2a81ce567f20755c7ec40e62f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08012f2a81ce567f20755c7ec40e62f5">&#9670;&nbsp;</a></span>IntegratedCT_GICPFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t0_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t1_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source_t0_key</td><td>Key of the source pose at the beginning of the scan </td></tr>
+    <tr><td class="paramname">source_t1_key</td><td>Key of the source pose at the end of the scan </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__ct__gicp__factor_8hpp_source.html">integrated_ct_gicp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__ct__gicp__factor__impl_8hpp_source.html">integrated_ct_gicp_factor_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correspondences</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>deskewed_source_points</b>(const gtsam::Values &amp;values, bool local=false) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>error</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_source_poses</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get_time_indices</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_time_table</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#afa550a452e5ccc589087ef2d703ab82d">IntegratedCT_ICPFactor_</a>(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>max_correspondence_distance_sq</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>num_threads</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>pose_derivatives_t0</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pose_derivatives_t1</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_max_correspondence_distance</b>(double dist) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>source</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>source_poses</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>target</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>target_tree</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>time_indices</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>time_table</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>update_correspondences</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>update_poses</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedCT_ICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedCT__ICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedCT__ICPFactor__.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedCT__ICPFactor__.html
@@ -0,0 +1,318 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classgtsam__points_1_1IntegratedCT__ICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Continuous Time ICP Factor Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021.  
+ <a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__ct__icp__factor_8hpp_source.html">integrated_ct_icp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedCT__ICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" id="agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map">
+<area shape="rect" title="Continuous Time ICP Factor Bellenbach et al., &quot;CT&#45;ICP: Real&#45;time Elastic LiDAR Odometry with Loop Clo..." alt="" coords="5,80,219,136"/>
+<area shape="rect" title=" " alt="" coords="25,5,199,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedCT__ICPFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" id="agtsam__points_1_1IntegratedCT__ICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map">
+<area shape="rect" title="Continuous Time ICP Factor Bellenbach et al., &quot;CT&#45;ICP: Real&#45;time Elastic LiDAR Odometry with Loop Clo..." alt="" coords="5,80,219,136"/>
+<area shape="rect" title=" " alt="" coords="25,5,199,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a170322737e201bfaccfa3c6f8c892b7a"><td class="memItemLeft" align="right" valign="top"><a id="a170322737e201bfaccfa3c6f8c892b7a"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>&lt; TargetFrame, SourceFrame &gt; &gt;</td></tr>
+<tr class="separator:a170322737e201bfaccfa3c6f8c892b7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+std::vector&lt; gtsam::Matrix6 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>pose_derivatives_t0</b></td></tr>
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+std::shared_ptr&lt; const TargetFrame &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>target</b></td></tr>
+<tr class="separator:af93fc85e227b199ce3d70f8070124791"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::shared_ptr&lt; const SourceFrame &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>source</b></td></tr>
+<tr class="separator:a1b5e585df113c2448159913628e5e64f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
+
+<p>Continuous Time ICP Factor Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abca655dcbff5b84d9308b2d4ab0a252d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abca655dcbff5b84d9308b2d4ab0a252d">&#9670;&nbsp;</a></span>IntegratedCT_ICPFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t0_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t1_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source_t0_key</td><td>Key of the source pose at the beginning of the scan </td></tr>
+    <tr><td class="paramname">source_t1_key</td><td>Key of the source pose at the end of the scan </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud </td></tr>
+    <tr><td class="paramname">target_tree</td><td>NN search for the target point cloud </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="afa550a452e5ccc589087ef2d703ab82d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa550a452e5ccc589087ef2d703ab82d">&#9670;&nbsp;</a></span>IntegratedCT_ICPFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t0_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_t1_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source_t0_key</td><td>Key of the source pose at the beginning of the scan </td></tr>
+    <tr><td class="paramname">source_t1_key</td><td>Key of the source pose at the end of the scan </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__ct__icp__factor_8hpp_source.html">integrated_ct_icp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__ct__icp__factor__impl_8hpp_source.html">integrated_ct_icp_factor_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor__-members.html
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a862fcf9507d5c555e936edc1161b5205">IntegratedColorConsistencyFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">set_correspondence_update_tolerance</a>(double angle, double trans)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">set_max_correspondence_distance</a>(double d)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">set_num_threads</a>(int n)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">set_photometric_term_weight</a>(double w)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedColorConsistencyFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor__.html
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+<title>gtsam_points: gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Photometric consistency factor between point clouds.  
+ <a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__color__consistency__factor_8hpp_source.html">integrated_color_consistency_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedColorConsistencyFactor___3_01TargetFrame_00_01SourceFrame_00_01IntensityGradients_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedColorConsistencyFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedColorConsistencyFactor___3_01TargetFrame_00_01SourceFrame_00_01IntensityGradients_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ae31df3ceefad12396d6c899278a491d9"><td class="memItemLeft" align="right" valign="top"><a id="ae31df3ceefad12396d6c899278a491d9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a>&lt; TargetFrame, SourceFrame &gt; &gt;</td></tr>
+<tr class="separator:ae31df3ceefad12396d6c899278a491d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ac7f7859f61afdf9420dba98b4281017b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, const std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt; &amp;target_gradients)</td></tr>
+<tr class="memdesc:ac7f7859f61afdf9420dba98b4281017b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary color consistency factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">More...</a><br /></td></tr>
+<tr class="separator:ac7f7859f61afdf9420dba98b4281017b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a862fcf9507d5c555e936edc1161b5205"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a862fcf9507d5c555e936edc1161b5205">IntegratedColorConsistencyFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, const std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt; &amp;target_gradients)</td></tr>
+<tr class="memdesc:a862fcf9507d5c555e936edc1161b5205"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary color consistency factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a862fcf9507d5c555e936edc1161b5205">More...</a><br /></td></tr>
+<tr class="separator:a862fcf9507d5c555e936edc1161b5205"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3223c385013a3e4c77525cef2b63e66e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">set_num_threads</a> (int n)</td></tr>
+<tr class="memdesc:a3223c385013a3e4c77525cef2b63e66e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of thread used for linearization of this factor.  <a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">More...</a><br /></td></tr>
+<tr class="separator:a3223c385013a3e4c77525cef2b63e66e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5aa900a0f327f0ed4be3d1a4c289d445"><td class="memItemLeft" align="right" valign="top"><a id="a5aa900a0f327f0ed4be3d1a4c289d445"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">set_max_correspondence_distance</a> (double d)</td></tr>
+<tr class="memdesc:a5aa900a0f327f0ed4be3d1a4c289d445"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance between corresponding points. Correspondences with distances larger than this will be rejected (i.e., correspondence trimming). <br /></td></tr>
+<tr class="separator:a5aa900a0f327f0ed4be3d1a4c289d445"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a72bfa71fe982017245a68846128d4961"><td class="memItemLeft" align="right" valign="top"><a id="a72bfa71fe982017245a68846128d4961"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">set_photometric_term_weight</a> (double w)</td></tr>
+<tr class="memdesc:a72bfa71fe982017245a68846128d4961"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the weight for the photometric error term. <br /></td></tr>
+<tr class="separator:a72bfa71fe982017245a68846128d4961"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad68b689ea07183c5f4e723746bb29e92"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">set_correspondence_update_tolerance</a> (double angle, double trans)</td></tr>
+<tr class="memdesc:ad68b689ea07183c5f4e723746bb29e92"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correspondences are updated only when the displacement from the last update point is larger than these threshold values.  <a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">More...</a><br /></td></tr>
+<tr class="separator:ad68b689ea07183c5f4e723746bb29e92"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a89cca0b378fbf8e1832579e22aed277d"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
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+<tr class="separator:a6a7123a5463c60dd3a9f0240afb56fd0 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="adf9bd160897e82c3ad06a16c44fe5643"></a>
+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const Eigen::Isometry3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a491258f2a1650183bf7ea1bc57e5bb12 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="af220e0c061010af6b46a16a06b5e0e0c"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>calc_delta</b> (const gtsam::Values &amp;values) const</td></tr>
+<tr class="separator:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="ac032693f6e6854304ab55e55bad2982b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
+<tr class="separator:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a9c4ddabeb35766ae204f4180ca3ef7e6"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>fixed_target_pose</b></td></tr>
+<tr class="separator:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud, typename IntensityGradients = gtsam_points::IntensityGradients&gt;<br />
+class gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</h3>
+
+<p>Photometric consistency factor between point clouds. </p>
+<dl class="section note"><dt>Note</dt><dd>This factor uses (x, y, z, intensity) to query nearest neighbor search The 4th element (intensity) will be simply ignored if a standard <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">gtsam_points::KdTree</a> is given while it can provide additional distance information between points if <a class="el" href="structgtsam__points_1_1IntensityKdTree.html" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,...">gtsam_points::IntensityKdTree</a> is used</dd>
+<dd>
+While the use of <a class="el" href="structgtsam__points_1_1IntensityKdTree.html" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,...">IntensityKdTree</a> significantly improves the convergence speed, it can affect optimization stability in some cases</dd></dl>
+<p>Park et al., "Colored Point Cloud Registration Revisited", ICCV2017 </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac7f7859f61afdf9420dba98b4281017b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7f7859f61afdf9420dba98b4281017b">&#9670;&nbsp;</a></span>IntegratedColorConsistencyFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame , typename IntensityGradients &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a>&lt; TargetFrame, SourceFrame, <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;::<a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_gradients</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary color consistency factor between target and source poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search </td></tr>
+    <tr><td class="paramname">target_gradients</td><td>Target intensity gradients </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a862fcf9507d5c555e936edc1161b5205"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a862fcf9507d5c555e936edc1161b5205">&#9670;&nbsp;</a></span>IntegratedColorConsistencyFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame , typename IntensityGradients &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a>&lt; TargetFrame, SourceFrame, <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;::<a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_gradients</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary color consistency factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search </td></tr>
+    <tr><td class="paramname">target_gradients</td><td>Target intensity gradients </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad68b689ea07183c5f4e723746bb29e92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad68b689ea07183c5f4e723746bb29e92">&#9670;&nbsp;</a></span>set_correspondence_update_tolerance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud, typename IntensityGradients  = gtsam_points::IntensityGradients&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a>&lt; TargetFrame, SourceFrame, <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;::set_correspondence_update_tolerance </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>angle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>trans</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Correspondences are updated only when the displacement from the last update point is larger than these threshold values. </p>
+<dl class="section note"><dt>Note</dt><dd>Default values are angle=trans=0 and correspondences are updated every linearization call. </dd></dl>
+
+</div>
+</div>
+<a id="a3223c385013a3e4c77525cef2b63e66e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3223c385013a3e4c77525cef2b63e66e">&#9670;&nbsp;</a></span>set_num_threads()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud, typename IntensityGradients  = gtsam_points::IntensityGradients&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a>&lt; TargetFrame, SourceFrame, <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;::set_num_threads </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the number of thread used for linearization of this factor. </p>
+<dl class="section note"><dt>Note</dt><dd>If your GTSAM is built with TBB, linearization is already multi-threaded and setting n&gt;1 can rather affect the processing speed. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__color__consistency__factor_8hpp_source.html">integrated_color_consistency_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__color__consistency__factor__impl_8hpp_source.html">integrated_color_consistency_factor_impl.hpp</a></li>
+</ul>
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+</small></address>
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+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.map b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.map
new file mode 100644
index 00000000..d7d956a7
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;" name="gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;">
+<area shape="rect" id="node1" title="Photometric consistency factor between point clouds." alt="" coords="5,169,228,240"/>
+<area shape="rect" id="node2" href="$classgtsam__points_1_1IntegratedMatchingCostFactor.html" title="Abstraction of LSQ&#45;based scan matching constraints between point clouds." alt="" coords="24,80,209,121"/>
+<area shape="rect" id="node3" title=" " alt="" coords="30,5,203,32"/>
+</map>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.md5
new file mode 100644
index 00000000..e5b1aa74
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.png b/doc_cpp/classgtsam__points_1_1IntegratedColorConsistencyFactor____inherit__graph.png
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__-members.html
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+++ b/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__-members.html
@@ -0,0 +1,99 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedColoredGICPFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedColoredGICPFactor_</b>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_correspondence_update_tolerance</b>(double angle, double trans) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_max_correspondence_distance</b>(double d) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_photometric_term_weight</b>(double w) (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedColoredGICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__.html
new file mode 100644
index 00000000..d40cbbdc
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedColoredGICPFactor__.html
@@ -0,0 +1,183 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedColoredGICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Colored GICP matching cost factor.  
+ <a href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__colored__gicp__factor_8hpp_source.html">integrated_colored_gicp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;:</div>
+<div class="dyncontent">
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+Collaboration diagram for gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_photometric_term_weight</b> (double w)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_correspondence_update_tolerance</b> (double angle, double trans)</td></tr>
+<tr class="separator:abaeba808d95db6308b8aae4bc0dab0aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud, typename IntensityGradients = gtsam_points::IntensityGradients&gt;<br />
+class gtsam_points::IntegratedColoredGICPFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</h3>
+
+<p>Colored GICP matching cost factor. </p>
+<dl class="section note"><dt>Note</dt><dd>This factor uses (x, y, z, intensity) to query nearest neighbor search The 4th element (intensity) will be simply ignored if a standard <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">gtsam_points::KdTree</a> is given while it can provide additional distance information between points if <a class="el" href="structgtsam__points_1_1IntensityKdTree.html" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,...">gtsam_points::IntensityKdTree</a> is used</dd>
+<dd>
+While the use of <a class="el" href="structgtsam__points_1_1IntensityKdTree.html" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,...">IntensityKdTree</a> significantly improves the convergence speed, it can affect optimization stability in some cases</dd></dl>
+<p>Segal et al., "Generalized-ICP", RSS2005 Park et al., "Colored Point Cloud Registration Revisited", ICCV2017 </p>
+</div><hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__colored__gicp__factor_8hpp_source.html">integrated_colored_gicp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__colored__gicp__factor__impl_8hpp_source.html">integrated_colored_gicp_factor_impl.hpp</a></li>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedGICPFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedGICPFactor__-members.html
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">inlier_fraction</a>() const</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedGICPFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source) (defined in <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#aba1456276dc22862dc7c1dcfe2c29a58">IntegratedGICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedGICPFactor_</b>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source) (defined in <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">set_correspondence_update_tolerance</a>(double angle, double trans)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">set_max_correspondence_distance</a>(double dist)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">set_num_threads</a>(int n)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedGICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedGICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedGICPFactor__.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedGICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Generalized ICP matching cost factor Segal et al., "Generalized-ICP", RSS2005.  
+ <a href="classgtsam__points_1_1IntegratedGICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__gicp__factor_8hpp_source.html">integrated_gicp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedGICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedGICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Generalized ICP matching cost factor Segal et al., &quot;Generalized&#45;ICP&quot;, RSS2005." alt="" coords="5,169,204,225"/>
+<area shape="rect" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html" title="Abstraction of LSQ&#45;based scan matching constraints between point clouds." alt="" coords="12,80,197,121"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedGICPFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedGICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ab17f1eb1c9ec33279273c53fba1447b8"><td class="memItemLeft" align="right" valign="top"><a id="ab17f1eb1c9ec33279273c53fba1447b8"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a> &gt;</td></tr>
+<tr class="separator:ab17f1eb1c9ec33279273c53fba1447b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7a7f185d016205299c25e2c0bdd76ce8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree)</td></tr>
+<tr class="memdesc:a7a7f185d016205299c25e2c0bdd76ce8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary ICP factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">More...</a><br /></td></tr>
+<tr class="separator:a7a7f185d016205299c25e2c0bdd76ce8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5a2932c2b953861753bc95e4c15a8aa"><td class="memItemLeft" align="right" valign="top"><a id="ab5a2932c2b953861753bc95e4c15a8aa"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IntegratedGICPFactor_</b> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td></tr>
+<tr class="separator:ab5a2932c2b953861753bc95e4c15a8aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba1456276dc22862dc7c1dcfe2c29a58"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#aba1456276dc22862dc7c1dcfe2c29a58">IntegratedGICPFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree)</td></tr>
+<tr class="memdesc:aba1456276dc22862dc7c1dcfe2c29a58"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary GICP factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedGICPFactor__.html#aba1456276dc22862dc7c1dcfe2c29a58">More...</a><br /></td></tr>
+<tr class="separator:aba1456276dc22862dc7c1dcfe2c29a58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c162c44777e40ba8e01a54b000c949c"><td class="memItemLeft" align="right" valign="top"><a id="a5c162c44777e40ba8e01a54b000c949c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IntegratedGICPFactor_</b> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td></tr>
+<tr class="separator:a5c162c44777e40ba8e01a54b000c949c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac7914e915015ebd9e41cd3a7148263ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">set_num_threads</a> (int n)</td></tr>
+<tr class="memdesc:ac7914e915015ebd9e41cd3a7148263ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of thread used for linearization of this factor.  <a href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">More...</a><br /></td></tr>
+<tr class="separator:ac7914e915015ebd9e41cd3a7148263ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e8d415fb3cc0395377ecda182088d3f"><td class="memItemLeft" align="right" valign="top"><a id="a4e8d415fb3cc0395377ecda182088d3f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">set_max_correspondence_distance</a> (double dist)</td></tr>
+<tr class="memdesc:a4e8d415fb3cc0395377ecda182088d3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance between corresponding points. Correspondences with distances larger than this will be rejected (i.e., correspondence trimming). <br /></td></tr>
+<tr class="separator:a4e8d415fb3cc0395377ecda182088d3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01ce3cb4191bcad6d4eeada1dacc758f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">set_correspondence_update_tolerance</a> (double angle, double trans)</td></tr>
+<tr class="memdesc:a01ce3cb4191bcad6d4eeada1dacc758f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correspondences are updated only when the displacement from the last update point is larger than these threshold values.  <a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">More...</a><br /></td></tr>
+<tr class="separator:a01ce3cb4191bcad6d4eeada1dacc758f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d79191611a7ce47a7aa713b7fe9946b"><td class="memItemLeft" align="right" valign="top"><a id="a1d79191611a7ce47a7aa713b7fe9946b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">inlier_fraction</a> () const</td></tr>
+<tr class="memdesc:a1d79191611a7ce47a7aa713b7fe9946b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the fraction of inlier points that have correspondences with a distance smaller than the trimming threshold. <br /></td></tr>
+<tr class="separator:a1d79191611a7ce47a7aa713b7fe9946b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6a7123a5463c60dd3a9f0240afb56fd0 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="adf9bd160897e82c3ad06a16c44fe5643"></a>
+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a491258f2a1650183bf7ea1bc57e5bb12 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a491258f2a1650183bf7ea1bc57e5bb12"></a>
+const Eigen::Isometry3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a491258f2a1650183bf7ea1bc57e5bb12 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="af220e0c061010af6b46a16a06b5e0e0c"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>calc_delta</b> (const gtsam::Values &amp;values) const</td></tr>
+<tr class="separator:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="ac032693f6e6854304ab55e55bad2982b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
+<tr class="separator:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a9c4ddabeb35766ae204f4180ca3ef7e6"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>fixed_target_pose</b></td></tr>
+<tr class="separator:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
+
+<p>Generalized ICP matching cost factor Segal et al., "Generalized-ICP", RSS2005. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7a7f185d016205299c25e2c0bdd76ce8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a7f185d016205299c25e2c0bdd76ce8">&#9670;&nbsp;</a></span>IntegratedGICPFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary ICP factor between target and source poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search Create a binary ICP factor between target and source poses. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aba1456276dc22862dc7c1dcfe2c29a58"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba1456276dc22862dc7c1dcfe2c29a58">&#9670;&nbsp;</a></span>IntegratedGICPFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary GICP factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fixed_target_pose</td><td>Fixed target pose </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search Create a unary GICP factor between a fixed target pose and an active source pose. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a01ce3cb4191bcad6d4eeada1dacc758f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01ce3cb4191bcad6d4eeada1dacc758f">&#9670;&nbsp;</a></span>set_correspondence_update_tolerance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::set_correspondence_update_tolerance </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>angle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>trans</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Correspondences are updated only when the displacement from the last update point is larger than these threshold values. </p>
+<dl class="section note"><dt>Note</dt><dd>Default values are angle=trans=0 and correspondences are updated every linearization call. </dd></dl>
+
+</div>
+</div>
+<a id="ac7914e915015ebd9e41cd3a7148263ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7914e915015ebd9e41cd3a7148263ef">&#9670;&nbsp;</a></span>set_num_threads()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::set_num_threads </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the number of thread used for linearization of this factor. </p>
+<dl class="section note"><dt>Note</dt><dd>If your GTSAM is built with TBB, linearization is already multi-threaded and setting n&gt;1 can rather affect the processing speed. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__gicp__factor_8hpp_source.html">integrated_gicp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__gicp__factor__impl_8hpp_source.html">integrated_gicp_factor_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedICPFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedICPFactor__-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">IntegratedICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">IntegratedICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">IntegratedICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">set_correspondence_update_tolerance</a>(double angle, double trans)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">set_max_correspondence_distance</a>(double dist)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">set_num_threads</a>(int n)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">set_point_to_plane_distance</a>(bool use)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedICPFactor__.html
new file mode 100644
index 00000000..995ed651
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedICPFactor__.html
@@ -0,0 +1,397 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Naive point-to-point ICP matching cost factor Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994.  
+ <a href="classgtsam__points_1_1IntegratedICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__icp__factor_8hpp_source.html">integrated_icp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedICPFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a607e154d98f80c53d51108b7d56d3898"><td class="memItemLeft" align="right" valign="top"><a id="a607e154d98f80c53d51108b7d56d3898"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &gt; &gt;</td></tr>
+<tr class="separator:a607e154d98f80c53d51108b7d56d3898"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ada8db0420efcfd577222f1a030732895"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:ada8db0420efcfd577222f1a030732895"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary ICP factor between two poses.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">More...</a><br /></td></tr>
+<tr class="separator:ada8db0420efcfd577222f1a030732895"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad2316dceba23668ece545e29d803b4f4"><td class="memItemLeft" align="right" valign="top"><a id="ad2316dceba23668ece545e29d803b4f4"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">IntegratedICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:ad2316dceba23668ece545e29d803b4f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary ICP factor between two poses. <br /></td></tr>
+<tr class="separator:ad2316dceba23668ece545e29d803b4f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fb899af3e8f2d87f9ef9e0873d59701"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">IntegratedICPFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:a3fb899af3e8f2d87f9ef9e0873d59701"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary ICP factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">More...</a><br /></td></tr>
+<tr class="separator:a3fb899af3e8f2d87f9ef9e0873d59701"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98f39fa3e70ea482f8f634d64fab2a8a"><td class="memItemLeft" align="right" valign="top"><a id="a98f39fa3e70ea482f8f634d64fab2a8a"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">IntegratedICPFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:a98f39fa3e70ea482f8f634d64fab2a8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary ICP factor between a fixed target pose and an active source pose. <br /></td></tr>
+<tr class="separator:a98f39fa3e70ea482f8f634d64fab2a8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae02f2a4f65432424bfae43ba2d8d31dc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">set_num_threads</a> (int n)</td></tr>
+<tr class="memdesc:ae02f2a4f65432424bfae43ba2d8d31dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of thread used for linearization of this factor.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">More...</a><br /></td></tr>
+<tr class="separator:ae02f2a4f65432424bfae43ba2d8d31dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a11f87b97cdcc6d4467cead53d17b2f94"><td class="memItemLeft" align="right" valign="top"><a id="a11f87b97cdcc6d4467cead53d17b2f94"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">set_max_correspondence_distance</a> (double dist)</td></tr>
+<tr class="memdesc:a11f87b97cdcc6d4467cead53d17b2f94"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance between corresponding points. Correspondences with distances larger than this will be rejected (i.e., correspondence trimming). <br /></td></tr>
+<tr class="separator:a11f87b97cdcc6d4467cead53d17b2f94"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13fa8c7dc98d374277a969edde348103"><td class="memItemLeft" align="right" valign="top"><a id="a13fa8c7dc98d374277a969edde348103"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">set_point_to_plane_distance</a> (bool use)</td></tr>
+<tr class="memdesc:a13fa8c7dc98d374277a969edde348103"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable point-to-plane distance computation. <br /></td></tr>
+<tr class="separator:a13fa8c7dc98d374277a969edde348103"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ffe1ed7717fe7ec2644852b6b0a4dd2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">set_correspondence_update_tolerance</a> (double angle, double trans)</td></tr>
+<tr class="memdesc:a1ffe1ed7717fe7ec2644852b6b0a4dd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correspondences are updated only when the displacement from the last update point is larger than these threshold values.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">More...</a><br /></td></tr>
+<tr class="separator:a1ffe1ed7717fe7ec2644852b6b0a4dd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a89cca0b378fbf8e1832579e22aed277d"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a7123a5463c60dd3a9f0240afb56fd0 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:a6a7123a5463c60dd3a9f0240afb56fd0 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:adf9bd160897e82c3ad06a16c44fe5643 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const Eigen::Isometry3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a491258f2a1650183bf7ea1bc57e5bb12 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="af220e0c061010af6b46a16a06b5e0e0c"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>calc_delta</b> (const gtsam::Values &amp;values) const</td></tr>
+<tr class="separator:af220e0c061010af6b46a16a06b5e0e0c inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="ac032693f6e6854304ab55e55bad2982b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
+<tr class="separator:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a9c4ddabeb35766ae204f4180ca3ef7e6"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>fixed_target_pose</b></td></tr>
+<tr class="separator:a9c4ddabeb35766ae204f4180ca3ef7e6 inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
+
+<p>Naive point-to-point ICP matching cost factor Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ada8db0420efcfd577222f1a030732895"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada8db0420efcfd577222f1a030732895">&#9670;&nbsp;</a></span>IntegratedICPFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>use_point_to_plane</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary ICP factor between two poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search </td></tr>
+    <tr><td class="paramname">use_point_to_plane</td><td>If true, use point-to-plane distance instead of point-to-point distance </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3fb899af3e8f2d87f9ef9e0873d59701"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fb899af3e8f2d87f9ef9e0873d59701">&#9670;&nbsp;</a></span>IntegratedICPFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame , typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const TargetFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;&#160;</td>
+          <td class="paramname"><em>target_tree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>use_point_to_plane</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary ICP factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fixed_target_pose</td><td>Fixed target pose </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+    <tr><td class="paramname">target_tree</td><td>Target nearest neighbor search </td></tr>
+    <tr><td class="paramname">use_point_to_plane</td><td>If true, use point-to-plane distance instead of point-to-point distance </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ffe1ed7717fe7ec2644852b6b0a4dd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ffe1ed7717fe7ec2644852b6b0a4dd2">&#9670;&nbsp;</a></span>set_correspondence_update_tolerance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::set_correspondence_update_tolerance </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>angle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>trans</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Correspondences are updated only when the displacement from the last update point is larger than these threshold values. </p>
+<dl class="section note"><dt>Note</dt><dd>Default values are angle=trans=0 and correspondences are updated every linearization call. </dd></dl>
+
+</div>
+</div>
+<a id="ae02f2a4f65432424bfae43ba2d8d31dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae02f2a4f65432424bfae43ba2d8d31dc">&#9670;&nbsp;</a></span>set_num_threads()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TargetFrame  = gtsam_points::PointCloud, typename SourceFrame  = gtsam_points::PointCloud&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a>&lt; TargetFrame, SourceFrame &gt;::set_num_threads </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the number of thread used for linearization of this factor. </p>
+<dl class="section note"><dt>Note</dt><dd>If your GTSAM is built with TBB, linearization is already multi-threaded and setting n&gt;1 can rather affect the processing speed. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__icp__factor_8hpp_source.html">integrated_icp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__icp__factor__impl_8hpp_source.html">integrated_icp_factor_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__-members.html
new file mode 100644
index 00000000..46ecf95a
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__-members.html
@@ -0,0 +1,100 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedLOAMFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target_edges, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target_planes, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source_edges, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source_planes, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_edges_tree, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_planes_tree) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedLOAMFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target_edges, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target_planes, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source_edges, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source_planes) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_correspondence_update_tolerance</b>(double angle, double trans) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_enable_correspondence_validation</b>(bool enable) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_max_correspondence_distance</b>(double dist_edge, double dist_plane) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>validate_correspondences</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedLOAMFactor_</b>() (defined in <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__.html
new file mode 100644
index 00000000..31626fe0
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedLOAMFactor__.html
@@ -0,0 +1,187 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedLOAMFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Scan matching factor based on the combination of point-to-plane and point-to-edge distances.  
+ <a href="classgtsam__points_1_1IntegratedLOAMFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__loam__factor_8hpp_source.html">integrated_loam_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedLOAMFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" id="agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map">
+<area shape="rect" title="Scan matching factor based on the combination of point&#45;to&#45;plane and point&#45;to&#45;edge distances." alt="" coords="5,169,212,225"/>
+<area shape="rect" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html" title="Abstraction of LSQ&#45;based scan matching constraints between point clouds." alt="" coords="16,80,201,121"/>
+<area shape="rect" title=" " alt="" coords="22,5,195,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedLOAMFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" id="agtsam__points_1_1IntegratedLOAMFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map">
+<area shape="rect" title="Scan matching factor based on the combination of point&#45;to&#45;plane and point&#45;to&#45;edge distances." alt="" coords="5,169,212,225"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a85c124589953c89b9ef7759947d6f821"><td class="memItemLeft" align="right" valign="top"><a id="a85c124589953c89b9ef7759947d6f821"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>&lt; TargetFrame, SourceFrame &gt; &gt;</td></tr>
+<tr class="separator:a85c124589953c89b9ef7759947d6f821"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
+
+<p>Scan matching factor based on the combination of point-to-plane and point-to-edge distances. </p>
+<p>Zhang and Singh, "Low-drift and real-time lidar odometry and mapping", Autonomous Robots, 2017 Zhang and Singh, "LOAM: LiDAR Odometry and Mapping in Real-time", RSS2014 Tixiao and Brendan, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain", IROS2018 </p>
+</div><hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__loam__factor_8hpp_source.html">integrated_loam_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__loam__factor__impl_8hpp_source.html">integrated_loam_factor_impl.hpp</a></li>
+</ul>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedMatchingCostFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">evaluate</a>(const Eigen::Isometry3d &amp;delta, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_source=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target_source=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_target=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_source=nullptr) const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">update_correspondences</a>(const Eigen::Isometry3d &amp;delta) const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedMatchingCostFactor.html b/doc_cpp/classgtsam__points_1_1IntegratedMatchingCostFactor.html
new file mode 100644
index 00000000..d363d3a4
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedMatchingCostFactor.html
@@ -0,0 +1,376 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::IntegratedMatchingCostFactor Class Reference</title>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classgtsam__points_1_1IntegratedMatchingCostFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedMatchingCostFactor Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstraction of LSQ-based scan matching constraints between point clouds.  
+ <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__matching__cost__factor_8hpp_source.html">integrated_matching_cost_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedMatchingCostFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedMatchingCostFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedMatchingCostFactor_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedMatchingCostFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedMatchingCostFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedMatchingCostFactor_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28a6f1db179922a4c3346f28375314a3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89cca0b378fbf8e1832579e22aed277d"><td class="memItemLeft" align="right" valign="top"><a id="a89cca0b378fbf8e1832579e22aed277d"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:a89cca0b378fbf8e1832579e22aed277d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a7123a5463c60dd3a9f0240afb56fd0"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:a6a7123a5463c60dd3a9f0240afb56fd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf9bd160897e82c3ad06a16c44fe5643"><td class="memItemLeft" align="right" valign="top"><a id="adf9bd160897e82c3ad06a16c44fe5643"></a>
+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:adf9bd160897e82c3ad06a16c44fe5643"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a491258f2a1650183bf7ea1bc57e5bb12"><td class="memItemLeft" align="right" valign="top"><a id="a491258f2a1650183bf7ea1bc57e5bb12"></a>
+const Eigen::Isometry3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a491258f2a1650183bf7ea1bc57e5bb12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af220e0c061010af6b46a16a06b5e0e0c"><td class="memItemLeft" align="right" valign="top"><a id="af220e0c061010af6b46a16a06b5e0e0c"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>calc_delta</b> (const gtsam::Values &amp;values) const</td></tr>
+<tr class="separator:af220e0c061010af6b46a16a06b5e0e0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5370c08f33b73c92b5d707e00696d012"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">update_correspondences</a> (const Eigen::Isometry3d &amp;delta) const =0</td></tr>
+<tr class="memdesc:a5370c08f33b73c92b5d707e00696d012"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update point correspondences.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">More...</a><br /></td></tr>
+<tr class="separator:a5370c08f33b73c92b5d707e00696d012"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc9e88ac64d41096cf6e9be0c58412b7"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">evaluate</a> (const Eigen::Isometry3d &amp;delta, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_source=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target_source=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_target=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_source=nullptr) const =0</td></tr>
+<tr class="memdesc:abc9e88ac64d41096cf6e9be0c58412b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Evaluate the matching cost.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">More...</a><br /></td></tr>
+<tr class="separator:abc9e88ac64d41096cf6e9be0c58412b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ac032693f6e6854304ab55e55bad2982b"><td class="memItemLeft" align="right" valign="top"><a id="ac032693f6e6854304ab55e55bad2982b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
+<tr class="separator:ac032693f6e6854304ab55e55bad2982b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c4ddabeb35766ae204f4180ca3ef7e6"><td class="memItemLeft" align="right" valign="top"><a id="a9c4ddabeb35766ae204f4180ca3ef7e6"></a>
+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>fixed_target_pose</b></td></tr>
+<tr class="separator:a9c4ddabeb35766ae204f4180ca3ef7e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Abstraction of LSQ-based scan matching constraints between point clouds. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af505d5844b254cd7eceac3bf1104d1ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af505d5844b254cd7eceac3bf1104d1ca">&#9670;&nbsp;</a></span>IntegratedMatchingCostFactor() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IntegratedMatchingCostFactor::IntegratedMatchingCostFactor </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary matching cost factor between target and source poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a28a6f1db179922a4c3346f28375314a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28a6f1db179922a4c3346f28375314a3">&#9670;&nbsp;</a></span>IntegratedMatchingCostFactor() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IntegratedMatchingCostFactor::IntegratedMatchingCostFactor </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary matching cost factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fixed_target_pose</td><td>Fixed target pose </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6a7123a5463c60dd3a9f0240afb56fd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a7123a5463c60dd3a9f0240afb56fd0">&#9670;&nbsp;</a></span>error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual double gtsam_points::IntegratedMatchingCostFactor::error </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section note"><dt>Note</dt><dd>The following error and linearize methods are not thread-safe, because we need to update correspondences (that may be mutable members) for every linearization </dd></dl>
+
+</div>
+</div>
+<a id="abc9e88ac64d41096cf6e9be0c58412b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc9e88ac64d41096cf6e9be0c58412b7">&#9670;&nbsp;</a></span>evaluate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual double gtsam_points::IntegratedMatchingCostFactor::evaluate </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Isometry3d &amp;&#160;</td>
+          <td class="paramname"><em>delta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; double, 6, 6 &gt; *&#160;</td>
+          <td class="paramname"><em>H_target</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; double, 6, 6 &gt; *&#160;</td>
+          <td class="paramname"><em>H_source</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; double, 6, 6 &gt; *&#160;</td>
+          <td class="paramname"><em>H_target_source</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; double, 6, 1 &gt; *&#160;</td>
+          <td class="paramname"><em>b_target</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; double, 6, 1 &gt; *&#160;</td>
+          <td class="paramname"><em>b_source</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Evaluate the matching cost. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">delta</td><td>Transformation between target and source (i.e., T_target_source) </td></tr>
+    <tr><td class="paramname">H_target</td><td>Hessian (target x target) </td></tr>
+    <tr><td class="paramname">H_source</td><td>Hessian (source x source) </td></tr>
+    <tr><td class="paramname">H_target_source</td><td>Hessian (target x source) </td></tr>
+    <tr><td class="paramname">b_target</td><td>Error vector (target) </td></tr>
+    <tr><td class="paramname">b_source</td><td>Error vector (source) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5370c08f33b73c92b5d707e00696d012"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5370c08f33b73c92b5d707e00696d012">&#9670;&nbsp;</a></span>update_correspondences()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedMatchingCostFactor::update_correspondences </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Isometry3d &amp;&#160;</td>
+          <td class="paramname"><em>delta</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update point correspondences. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">delta</td><td>Transformation between target and source (i.e., T_target_source) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__matching__cost__factor_8hpp_source.html">integrated_matching_cost_factor.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedPointToEdgeFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedPointToEdgeFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_correspondence_update_tolerance</b>(double angle, double trans) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_max_correspondence_distance</b>(double dist) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedPointToEdgeFactor_</b>() (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedPointToEdgeFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedPointToEdgeFactor__.html
new file mode 100644
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--- /dev/null
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classgtsam__points_1_1IntegratedPointToEdgeFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedPointToEdgeFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedPointToEdgeFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedPointToEdgeFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_num_threads</b> (int n)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_correspondence_distance</b> (double dist)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_correspondence_update_tolerance</b> (double angle, double trans)</td></tr>
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+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
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+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__loam__factor_8hpp_source.html">integrated_loam_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__loam__factor__impl_8hpp_source.html">integrated_loam_factor_impl.hpp</a></li>
+</ul>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedLOAMFactor_&lt; TargetFrame, SourceFrame &gt;</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedPointToPlaneFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedPointToPlaneFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_correspondence_update_tolerance</b>(double angle, double trans) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_max_correspondence_distance</b>(double dist) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_num_threads</b>(int n) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedPointToPlaneFactor_</b>() (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneFactor__.html
new file mode 100644
index 00000000..598a3b49
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneFactor__.html
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+<title>gtsam_points: gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classgtsam__points_1_1IntegratedPointToPlaneFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedPointToPlaneFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_correspondence_distance</b> (double dist)</td></tr>
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+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
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+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
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+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__loam__factor_8hpp_source.html">integrated_loam_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__loam__factor__impl_8hpp_source.html">integrated_loam_factor_impl.hpp</a></li>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__-members.html b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__-members.html
new file mode 100644
index 00000000..fc797d64
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__-members.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+$(function() {
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">IntegratedICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">IntegratedICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">IntegratedICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;target, const std::shared_ptr&lt; const gtsam_points::PointCloud &gt; &amp;source, bool use_point_to_plane=false)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>IntegratedPointToPlaneICPFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedPointToPlaneICPFactor_</b>(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source) (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">set_correspondence_update_tolerance</a>(double angle, double trans)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">set_max_correspondence_distance</a>(double dist)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">set_num_threads</a>(int n)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">set_point_to_plane_distance</a>(bool use)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html
new file mode 100644
index 00000000..ac60a49b
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html
@@ -0,0 +1,201 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Point-to-plane ICP factor.  
+ <a href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__icp__factor_8hpp_source.html">integrated_icp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedPointToPlaneICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedPointToPlaneICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedPointToPlaneICPFactor____coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedPointToPlaneICPFactor___3_01TargetFrame_00_01SourceFrame_01_4_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a4deb0b723b1f13d571211681a9f1f2ab"><td class="memItemLeft" align="right" valign="top"><a id="a4deb0b723b1f13d571211681a9f1f2ab"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a>&lt; TargetFrame, SourceFrame &gt; &gt;</td></tr>
+<tr class="separator:a4deb0b723b1f13d571211681a9f1f2ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedICPFactor__"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedICPFactor__')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td></tr>
+<tr class="memitem:a607e154d98f80c53d51108b7d56d3898 inherit pub_types_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top"><a id="a607e154d98f80c53d51108b7d56d3898"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &gt; &gt;</td></tr>
+<tr class="separator:a607e154d98f80c53d51108b7d56d3898 inherit pub_types_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="aea52b40c1092d3a69304c536c280bbbf"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> &gt;</td></tr>
+<tr class="separator:aea52b40c1092d3a69304c536c280bbbf inherit pub_types_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9f99557ac11f6833d45667428568adf0"><td class="memItemLeft" align="right" valign="top"><a id="a9f99557ac11f6833d45667428568adf0"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IntegratedPointToPlaneICPFactor_</b> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree)</td></tr>
+<tr class="separator:a9f99557ac11f6833d45667428568adf0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a05fb96187914921f00ad6e62c39e34ac"><td class="memItemLeft" align="right" valign="top"><a id="a05fb96187914921f00ad6e62c39e34ac"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IntegratedPointToPlaneICPFactor_</b> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td></tr>
+<tr class="separator:a05fb96187914921f00ad6e62c39e34ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedICPFactor__')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_&lt; gtsam_points::PointCloud, gtsam_points::PointCloud &gt;</a></td></tr>
+<tr class="memitem:ada8db0420efcfd577222f1a030732895 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;target, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:ada8db0420efcfd577222f1a030732895 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary ICP factor between two poses.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">More...</a><br /></td></tr>
+<tr class="separator:ada8db0420efcfd577222f1a030732895 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad2316dceba23668ece545e29d803b4f4 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top"><a id="ad2316dceba23668ece545e29d803b4f4"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">IntegratedICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;target, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;source, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:ad2316dceba23668ece545e29d803b4f4 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary ICP factor between two poses. <br /></td></tr>
+<tr class="separator:ad2316dceba23668ece545e29d803b4f4 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fb899af3e8f2d87f9ef9e0873d59701 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">IntegratedICPFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;target, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;source, const std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt; &amp;target_tree, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:a3fb899af3e8f2d87f9ef9e0873d59701 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary ICP factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">More...</a><br /></td></tr>
+<tr class="separator:a3fb899af3e8f2d87f9ef9e0873d59701 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98f39fa3e70ea482f8f634d64fab2a8a inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top"><a id="a98f39fa3e70ea482f8f634d64fab2a8a"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">IntegratedICPFactor_</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;target, const std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a> &gt; &amp;source, bool use_point_to_plane=false)</td></tr>
+<tr class="memdesc:a98f39fa3e70ea482f8f634d64fab2a8a inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary ICP factor between a fixed target pose and an active source pose. <br /></td></tr>
+<tr class="separator:a98f39fa3e70ea482f8f634d64fab2a8a inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae02f2a4f65432424bfae43ba2d8d31dc inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">set_num_threads</a> (int n)</td></tr>
+<tr class="memdesc:ae02f2a4f65432424bfae43ba2d8d31dc inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of thread used for linearization of this factor.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">More...</a><br /></td></tr>
+<tr class="separator:ae02f2a4f65432424bfae43ba2d8d31dc inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a11f87b97cdcc6d4467cead53d17b2f94 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top"><a id="a11f87b97cdcc6d4467cead53d17b2f94"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">set_max_correspondence_distance</a> (double dist)</td></tr>
+<tr class="memdesc:a11f87b97cdcc6d4467cead53d17b2f94 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum distance between corresponding points. Correspondences with distances larger than this will be rejected (i.e., correspondence trimming). <br /></td></tr>
+<tr class="separator:a11f87b97cdcc6d4467cead53d17b2f94 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13fa8c7dc98d374277a969edde348103 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top"><a id="a13fa8c7dc98d374277a969edde348103"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">set_point_to_plane_distance</a> (bool use)</td></tr>
+<tr class="memdesc:a13fa8c7dc98d374277a969edde348103 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable point-to-plane distance computation. <br /></td></tr>
+<tr class="separator:a13fa8c7dc98d374277a969edde348103 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ffe1ed7717fe7ec2644852b6b0a4dd2 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">set_correspondence_update_tolerance</a> (double angle, double trans)</td></tr>
+<tr class="memdesc:a1ffe1ed7717fe7ec2644852b6b0a4dd2 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correspondences are updated only when the displacement from the last update point is larger than these threshold values.  <a href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">More...</a><br /></td></tr>
+<tr class="separator:a1ffe1ed7717fe7ec2644852b6b0a4dd2 inherit pub_methods_classgtsam__points_1_1IntegratedICPFactor__"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="a89cca0b378fbf8e1832579e22aed277d"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename TargetFrame = gtsam_points::PointCloud, typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedPointToPlaneICPFactor_&lt; TargetFrame, SourceFrame &gt;</h3>
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+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__icp__factor_8hpp_source.html">integrated_icp_factor.hpp</a></li>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU-members.html b/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU-members.html
new file mode 100644
index 00000000..12e71200
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU-members.html
@@ -0,0 +1,107 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedVGICPFactorGPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>clone</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>error</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">evaluation_input_size</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">evaluation_output_size</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">IntegratedVGICPFactorGPU</a>(gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; TempBufferManager &gt; temp_buffer=nullptr)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">IntegratedVGICPFactorGPU</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; TempBufferManager &gt; temp_buffer=nullptr)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IntegratedVGICPFactorGPU</b>(const IntegratedVGICPFactorGPU &amp;)=delete (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">issue_compute_error</a>(const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">issue_linearize</a>(const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">linearization_input_size</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">linearization_output_size</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NonlinearFactorGPU</b>(const CONTAINER &amp;keys) (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(const IntegratedVGICPFactorGPU &amp;)=delete (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">set_enable_surface_validation</a>(bool enable)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">set_evaluation_point</a>(const gtsam::Values &amp;values, void *eval_input_cpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">set_inlier_update_thresh</a>(double trans, double angle)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">set_linearization_point</a>(const gtsam::Values &amp;values, void *lin_input_cpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">store_computed_error</a>(const void *eval_output_cpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">store_linearized</a>(const void *lin_output_cpu) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ab77071c0654a615f60c1d1d98946b0ea">sync</a>() override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedVGICPFactorGPU</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NonlinearFactorGPU</b>() (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
diff --git a/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU.html b/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU.html
new file mode 100644
index 00000000..8b8125c8
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactorGPU.html
@@ -0,0 +1,756 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedVGICPFactorGPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedVGICPFactorGPU Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>GPU-accelerated Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021.  
+ <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__vgicp__factor__gpu_8hpp_source.html">integrated_vgicp_factor_gpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedVGICPFactorGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedVGICPFactorGPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedVGICPFactorGPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IntegratedVGICPFactorGPU_inherit__map" id="agtsam__points_1_1IntegratedVGICPFactorGPU_inherit__map">
+<area shape="rect" title="GPU&#45;accelerated Voxelized GICP matching cost factor Koide et al., &quot;Voxelized GICP for Fast and Accura..." alt="" coords="37,155,222,196"/>
+<area shape="rect" href="classgtsam__points_1_1NonlinearFactorGPU.html" title="Base class for GPU&#45;based nonlinear factors." alt="" coords="5,80,253,107"/>
+<area shape="rect" title=" " alt="" coords="43,5,216,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntegratedVGICPFactorGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedVGICPFactorGPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedVGICPFactorGPU_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="43,5,216,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a4e97bfaecf40a16120a43d6561ddc995"><td class="memItemLeft" align="right" valign="top"><a id="a4e97bfaecf40a16120a43d6561ddc995"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> &gt;</td></tr>
+<tr class="separator:a4e97bfaecf40a16120a43d6561ddc995"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a163bad933efb590ca20cb2cf36c77e58"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">IntegratedVGICPFactorGPU</a> (gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> &gt; temp_buffer=nullptr)</td></tr>
+<tr class="memdesc:a163bad933efb590ca20cb2cf36c77e58"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary VGICP_GPU factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">More...</a><br /></td></tr>
+<tr class="separator:a163bad933efb590ca20cb2cf36c77e58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7961401cc8c994c036588a44d9837617"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">IntegratedVGICPFactorGPU</a> (const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> &gt; temp_buffer=nullptr)</td></tr>
+<tr class="memdesc:a7961401cc8c994c036588a44d9837617"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary VGICP_GPU factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">More...</a><br /></td></tr>
+<tr class="separator:a7961401cc8c994c036588a44d9837617"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af38732a699b3391bc34c919466464f9f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">set_enable_surface_validation</a> (bool enable)</td></tr>
+<tr class="memdesc:af38732a699b3391bc34c919466464f9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable surface orientation validation for correspondence search.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">More...</a><br /></td></tr>
+<tr class="separator:af38732a699b3391bc34c919466464f9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac90d104f422d517c6cdcfdc695255ad9"><td class="memItemLeft" align="right" valign="top"><a id="ac90d104f422d517c6cdcfdc695255ad9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">set_inlier_update_thresh</a> (double trans, double angle)</td></tr>
+<tr class="memdesc:ac90d104f422d517c6cdcfdc695255ad9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold values to trigger inlier points update. Setting larger values reduces GPU sync but may affect the registration accuracy. <br /></td></tr>
+<tr class="separator:ac90d104f422d517c6cdcfdc695255ad9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65dc2c7c7d94a003152c9623857311b3"><td class="memItemLeft" align="right" valign="top"><a id="a65dc2c7c7d94a003152c9623857311b3"></a>
+Eigen::Isometry3f&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a65dc2c7c7d94a003152c9623857311b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a834b76a52e0ef4caf19360f524054b7c"><td class="memItemLeft" align="right" valign="top"><a id="a834b76a52e0ef4caf19360f524054b7c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IntegratedVGICPFactorGPU</b> (const <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> &amp;)=delete</td></tr>
+<tr class="separator:a834b76a52e0ef4caf19360f524054b7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4bb452524d39038ce0a17cf568d243b1"><td class="memItemLeft" align="right" valign="top"><a id="a4bb452524d39038ce0a17cf568d243b1"></a>
+<a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> &amp;)=delete</td></tr>
+<tr class="separator:a4bb452524d39038ce0a17cf568d243b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e70fec92fd7898241742accfee5f156"><td class="memItemLeft" align="right" valign="top"><a id="a6e70fec92fd7898241742accfee5f156"></a>
+virtual gtsam::NonlinearFactor::shared_ptr&#160;</td><td class="memItemRight" valign="bottom"><b>clone</b> () const override</td></tr>
+<tr class="separator:a6e70fec92fd7898241742accfee5f156"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afde4a2dfcc0ff909ae8bf855297b4841"><td class="memItemLeft" align="right" valign="top"><a id="afde4a2dfcc0ff909ae8bf855297b4841"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:afde4a2dfcc0ff909ae8bf855297b4841"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a567e9fe0dc244590b0ef7d8c00075e17"><td class="memItemLeft" align="right" valign="top"><a id="a567e9fe0dc244590b0ef7d8c00075e17"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>error</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:a567e9fe0dc244590b0ef7d8c00075e17"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
+<tr class="separator:a4f653c6693674617b2add011f0fc7391"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a646c3de1c880599f17e1718cab60ec38"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">linearization_input_size</a> () const override</td></tr>
+<tr class="memdesc:a646c3de1c880599f17e1718cab60ec38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be uploaded to the GPU before linearization.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">More...</a><br /></td></tr>
+<tr class="separator:a646c3de1c880599f17e1718cab60ec38"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a957847ca39a31d676ac3bdb7a2df972a"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">linearization_output_size</a> () const override</td></tr>
+<tr class="memdesc:a957847ca39a31d676ac3bdb7a2df972a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be downloaded from the GPU after linearization.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">More...</a><br /></td></tr>
+<tr class="separator:a957847ca39a31d676ac3bdb7a2df972a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a646865db546cba179b48565777516170"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">evaluation_input_size</a> () const override</td></tr>
+<tr class="memdesc:a646865db546cba179b48565777516170"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be uploaded to the GPU before cost evaluation.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">More...</a><br /></td></tr>
+<tr class="separator:a646865db546cba179b48565777516170"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9be9bb2318cec5cc4f92ee2c16fc4a6f"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">evaluation_output_size</a> () const override</td></tr>
+<tr class="memdesc:a9be9bb2318cec5cc4f92ee2c16fc4a6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be downloaded from the GPU after cost evaluation.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">More...</a><br /></td></tr>
+<tr class="separator:a9be9bb2318cec5cc4f92ee2c16fc4a6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ce96f174c6d7cf2057e6e428c5ee011"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">set_linearization_point</a> (const gtsam::Values &amp;values, void *lin_input_cpu) override</td></tr>
+<tr class="memdesc:a1ce96f174c6d7cf2057e6e428c5ee011"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write linearization input data to the upload buffer.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">More...</a><br /></td></tr>
+<tr class="separator:a1ce96f174c6d7cf2057e6e428c5ee011"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a257644ad2e816fb6349899c505559735"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">issue_linearize</a> (const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu) override</td></tr>
+<tr class="memdesc:a257644ad2e816fb6349899c505559735"><td class="mdescLeft">&#160;</td><td class="mdescRight">Issue linearization task.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">More...</a><br /></td></tr>
+<tr class="separator:a257644ad2e816fb6349899c505559735"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40c56cb9c8d14ed4d4d70d8e77e4853f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">store_linearized</a> (const void *lin_output_cpu) override</td></tr>
+<tr class="memdesc:a40c56cb9c8d14ed4d4d70d8e77e4853f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read linearization output data from the download buffer.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">More...</a><br /></td></tr>
+<tr class="separator:a40c56cb9c8d14ed4d4d70d8e77e4853f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aabd5a08ee6fd0f485d78256c49302476"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">set_evaluation_point</a> (const gtsam::Values &amp;values, void *eval_input_cpu) override</td></tr>
+<tr class="memdesc:aabd5a08ee6fd0f485d78256c49302476"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write cost evaluation input data to the upload buffer.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">More...</a><br /></td></tr>
+<tr class="separator:aabd5a08ee6fd0f485d78256c49302476"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0ac1f590f997e808ffa10281e3d37ead"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">issue_compute_error</a> (const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu) override</td></tr>
+<tr class="memdesc:a0ac1f590f997e808ffa10281e3d37ead"><td class="mdescLeft">&#160;</td><td class="mdescRight">Issue cost evaluation task.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">More...</a><br /></td></tr>
+<tr class="separator:a0ac1f590f997e808ffa10281e3d37ead"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c2459319d988fb1a699394060f5b224"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">store_computed_error</a> (const void *eval_output_cpu) override</td></tr>
+<tr class="memdesc:a6c2459319d988fb1a699394060f5b224"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read cost evaluation output data from the download buffer.  <a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">More...</a><br /></td></tr>
+<tr class="separator:a6c2459319d988fb1a699394060f5b224"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab77071c0654a615f60c1d1d98946b0ea"><td class="memItemLeft" align="right" valign="top"><a id="ab77071c0654a615f60c1d1d98946b0ea"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ab77071c0654a615f60c1d1d98946b0ea">sync</a> () override</td></tr>
+<tr class="memdesc:ab77071c0654a615f60c1d1d98946b0ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform CPU-GPU synchronization and wait for the task. <br /></td></tr>
+<tr class="separator:ab77071c0654a615f60c1d1d98946b0ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1NonlinearFactorGPU"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1NonlinearFactorGPU')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td></tr>
+<tr class="memitem:a6c4c06b20ff0f59a3e63526e5aa32bd9 inherit pub_methods_classgtsam__points_1_1NonlinearFactorGPU"><td class="memTemplParams" colspan="2"><a id="a6c4c06b20ff0f59a3e63526e5aa32bd9"></a>
+template&lt;typename CONTAINER &gt; </td></tr>
+<tr class="memitem:a6c4c06b20ff0f59a3e63526e5aa32bd9 inherit pub_methods_classgtsam__points_1_1NonlinearFactorGPU"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><b>NonlinearFactorGPU</b> (const CONTAINER &amp;keys)</td></tr>
+<tr class="separator:a6c4c06b20ff0f59a3e63526e5aa32bd9 inherit pub_methods_classgtsam__points_1_1NonlinearFactorGPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>GPU-accelerated Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a163bad933efb590ca20cb2cf36c77e58"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a163bad933efb590ca20cb2cf36c77e58">&#9670;&nbsp;</a></span>IntegratedVGICPFactorGPU() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const GaussianVoxelMap::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const PointCloud::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> &gt;&#160;</td>
+          <td class="paramname"><em>temp_buffer</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary VGICP_GPU factor between target and source poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target voxelmap </td></tr>
+    <tr><td class="paramname">source</td><td>Source frame </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+    <tr><td class="paramname">temp_buffer</td><td>CUDA temporary buffer manager </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7961401cc8c994c036588a44d9837617"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7961401cc8c994c036588a44d9837617">&#9670;&nbsp;</a></span>IntegratedVGICPFactorGPU() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const GaussianVoxelMap::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const PointCloud::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">CUstream_st *&#160;</td>
+          <td class="paramname"><em>stream</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> &gt;&#160;</td>
+          <td class="paramname"><em>temp_buffer</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary VGICP_GPU factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targfixed_target_pose</td><td>Fixed target pose </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target voxelmap </td></tr>
+    <tr><td class="paramname">source</td><td>Source frame </td></tr>
+    <tr><td class="paramname">stream</td><td>CUDA stream </td></tr>
+    <tr><td class="paramname">temp_buffer</td><td>CUDA temporary buffer manager </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a646865db546cba179b48565777516170"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a646865db546cba179b48565777516170">&#9670;&nbsp;</a></span>evaluation_input_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::IntegratedVGICPFactorGPU::evaluation_input_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be uploaded to the GPU before cost evaluation. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a9be9bb2318cec5cc4f92ee2c16fc4a6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9be9bb2318cec5cc4f92ee2c16fc4a6f">&#9670;&nbsp;</a></span>evaluation_output_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::IntegratedVGICPFactorGPU::evaluation_output_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be downloaded from the GPU after cost evaluation. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a0ac1f590f997e808ffa10281e3d37ead"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ac1f590f997e808ffa10281e3d37ead">&#9670;&nbsp;</a></span>issue_compute_error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::issue_compute_error </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>eval_output_gpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Issue cost evaluation task. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_input_cpu</td><td>Linearization input data on the CPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">eval_input_cpu</td><td>Cost evaluation input data on the CPU memory (size == evaluation_input_size) </td></tr>
+    <tr><td class="paramname">lin_input_gpu</td><td>Linearization input data on the GPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">eval_input_gpu</td><td>Cost evaluation input data on the GPU memory (size == evaluation_input_size) </td></tr>
+    <tr><td class="paramname">eval_output_gpu</td><td>Output data destination on the GPU memory (size == evaluation_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a257644ad2e816fb6349899c505559735"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a257644ad2e816fb6349899c505559735">&#9670;&nbsp;</a></span>issue_linearize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::issue_linearize </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>lin_output_gpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Issue linearization task. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_input_cpu</td><td>Linearization input data on the CPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">lin_input_gpu</td><td>Linearization input data on the GPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">lin_output_gpu</td><td>Output data destination on the GPU memory (size == linearization_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a646c3de1c880599f17e1718cab60ec38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a646c3de1c880599f17e1718cab60ec38">&#9670;&nbsp;</a></span>linearization_input_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::IntegratedVGICPFactorGPU::linearization_input_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be uploaded to the GPU before linearization. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a957847ca39a31d676ac3bdb7a2df972a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a957847ca39a31d676ac3bdb7a2df972a">&#9670;&nbsp;</a></span>linearization_output_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::IntegratedVGICPFactorGPU::linearization_output_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be downloaded from the GPU after linearization. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="af38732a699b3391bc34c919466464f9f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af38732a699b3391bc34c919466464f9f">&#9670;&nbsp;</a></span>set_enable_surface_validation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::IntegratedVGICPFactorGPU::set_enable_surface_validation </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>enable</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Enable or disable surface orientation validation for correspondence search. </p>
+<dl class="section note"><dt>Note</dt><dd>To enable surface orientation validation, source frame must have point normals </dd></dl>
+
+</div>
+</div>
+<a id="aabd5a08ee6fd0f485d78256c49302476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabd5a08ee6fd0f485d78256c49302476">&#9670;&nbsp;</a></span>set_evaluation_point()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::set_evaluation_point </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>eval_input_cpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Write cost evaluation input data to the upload buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Current estimate </td></tr>
+    <tr><td class="paramname">eval_input_cpu</td><td>Data upload buffer (size == evaluation_input_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a1ce96f174c6d7cf2057e6e428c5ee011"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ce96f174c6d7cf2057e6e428c5ee011">&#9670;&nbsp;</a></span>set_linearization_point()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::set_linearization_point </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Write linearization input data to the upload buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Current estimate </td></tr>
+    <tr><td class="paramname">lin_input_cpu</td><td>Data upload buffer (size == linearization_input_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a6c2459319d988fb1a699394060f5b224"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c2459319d988fb1a699394060f5b224">&#9670;&nbsp;</a></span>store_computed_error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::store_computed_error </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_output_cpu</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Read cost evaluation output data from the download buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">eval_output_cpu</td><td>Data down load buffer (size == evaluation_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a40c56cb9c8d14ed4d4d70d8e77e4853f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40c56cb9c8d14ed4d4d70d8e77e4853f">&#9670;&nbsp;</a></span>store_linearized()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::IntegratedVGICPFactorGPU::store_linearized </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_output_cpu</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Read linearization output data from the download buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_output_cpu</td><td>Data download buffer (size == linearization_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">gtsam_points::NonlinearFactorGPU</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__vgicp__factor__gpu_8hpp_source.html">integrated_vgicp_factor_gpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_delta</b>(const gtsam::Values &amp;values) const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(const gtsam::Values &amp;values) const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>fixed_target_pose</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_fixed_target_pose</b>() const (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">inlier_fraction</a>() const</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_</a>(gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target_voxels, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#ab889dee5676e0771c84338e2a62aebc9">IntegratedVGICPFactor_</a>(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target_voxels, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>is_binary</b> (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;values) const override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">set_num_threads</a>(int n)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IntegratedMatchingCostFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntegratedVGICPFactor_</b>() override (defined in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1IntegratedVGICPFactor__-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021.  
+ <a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="integrated__vgicp__factor_8hpp_source.html">integrated_vgicp_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1IntegratedVGICPFactor____inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntegratedVGICPFactor___3_01SourceFrame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<tr class="separator:ad961845b2290a8fa3e47ff42e4ad86fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aa0da757ad6199a3ce3c8ffaac9df6aa1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_</a> (gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target_voxels, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</td></tr>
+<tr class="memdesc:aa0da757ad6199a3ce3c8ffaac9df6aa1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary VGICP factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">More...</a><br /></td></tr>
+<tr class="separator:aa0da757ad6199a3ce3c8ffaac9df6aa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ab889dee5676e0771c84338e2a62aebc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary VGICP factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#ab889dee5676e0771c84338e2a62aebc9">More...</a><br /></td></tr>
+<tr class="separator:ab889dee5676e0771c84338e2a62aebc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaaf4fc2d278494213a72aae7adf789d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">set_num_threads</a> (int n)</td></tr>
+<tr class="memdesc:aaaf4fc2d278494213a72aae7adf789d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of thread used for linearization of this factor.  <a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">More...</a><br /></td></tr>
+<tr class="separator:aaaf4fc2d278494213a72aae7adf789d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea67fe02d059d9e75fa3a103e3319e6d"><td class="memItemLeft" align="right" valign="top"><a id="aea67fe02d059d9e75fa3a103e3319e6d"></a>
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+<tr class="memdesc:aea67fe02d059d9e75fa3a103e3319e6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the fraction of inlier points that have correspondences with a distance smaller than the trimming threshold. <br /></td></tr>
+<tr class="separator:aea67fe02d059d9e75fa3a103e3319e6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a> (gtsam::Key target_key, gtsam::Key source_key)</td></tr>
+<tr class="memdesc:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a binary matching cost factor between target and source poses.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">More...</a><br /></td></tr>
+<tr class="separator:af505d5844b254cd7eceac3bf1104d1ca inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a unary matching cost factor between a fixed target pose and an active source pose.  <a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">More...</a><br /></td></tr>
+<tr class="separator:a28a6f1db179922a4c3346f28375314a3 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:a89cca0b378fbf8e1832579e22aed277d inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6a7123a5463c60dd3a9f0240afb56fd0 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;values) const override</td></tr>
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+const Eigen::Isometry3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>get_fixed_target_pose</b> () const</td></tr>
+<tr class="separator:a491258f2a1650183bf7ea1bc57e5bb12 inherit pub_methods_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>calc_delta</b> (const gtsam::Values &amp;values) const</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></td></tr>
+<tr class="memitem:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memItemLeft" align="right" valign="top"><a id="ac032693f6e6854304ab55e55bad2982b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_binary</b></td></tr>
+<tr class="separator:ac032693f6e6854304ab55e55bad2982b inherit pro_attribs_classgtsam__points_1_1IntegratedMatchingCostFactor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Eigen::Isometry3d&#160;</td><td class="memItemRight" valign="bottom"><b>fixed_target_pose</b></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename SourceFrame = gtsam_points::PointCloud&gt;<br />
+class gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</h3>
+
+<p>Voxelized GICP matching cost factor Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa0da757ad6199a3ce3c8ffaac9df6aa1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0da757ad6199a3ce3c8ffaac9df6aa1">&#9670;&nbsp;</a></span>IntegratedVGICPFactor_() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_</a>&lt; SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>target_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const GaussianVoxelMap::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>target_voxels</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a binary VGICP factor between target and source poses. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target_key</td><td>Target key </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target_voxels</td><td>Target voxelmap </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab889dee5676e0771c84338e2a62aebc9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab889dee5676e0771c84338e2a62aebc9">&#9670;&nbsp;</a></span>IntegratedVGICPFactor_() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename SourceFrame &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_</a>&lt; SourceFrame &gt;::<a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a> </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Pose3 &amp;&#160;</td>
+          <td class="paramname"><em>fixed_target_pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">gtsam::Key&#160;</td>
+          <td class="paramname"><em>source_key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const GaussianVoxelMap::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>target_voxels</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; const SourceFrame &gt; &amp;&#160;</td>
+          <td class="paramname"><em>source</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a unary VGICP factor between a fixed target pose and an active source pose. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fixed_target_pose</td><td>Fixed target pose </td></tr>
+    <tr><td class="paramname">source_key</td><td>Source key </td></tr>
+    <tr><td class="paramname">target</td><td>Target voxelized point cloud frame </td></tr>
+    <tr><td class="paramname">source</td><td>Source point cloud frame </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaaf4fc2d278494213a72aae7adf789d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaf4fc2d278494213a72aae7adf789d8">&#9670;&nbsp;</a></span>set_num_threads()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename SourceFrame  = gtsam_points::PointCloud&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_</a>&lt; SourceFrame &gt;::set_num_threads </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the number of thread used for linearization of this factor. </p>
+<dl class="section note"><dt>Note</dt><dd>If your GTSAM is built with TBB, linearization is already multi-threaded and setting n&gt;1 can rather affect the processing speed. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="integrated__vgicp__factor_8hpp_source.html">integrated_vgicp_factor.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/impl/<a class="el" href="integrated__vgicp__factor__impl_8hpp_source.html">integrated_vgicp_factor_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactor____coll__graph.md5 b/doc_cpp/classgtsam__points_1_1IntegratedVGICPFactor____coll__graph.md5
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntensityGradients Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">estimate</a>(const PointCloud::ConstPtr &amp;frame, int k_neighbors=10, int num_threads=1)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">estimate</a>(const gtsam_points::PointCloudCPU::Ptr &amp;frame, int k_geom_neighbors=10, int k_photo_neighbors=20, int num_threads=1)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>estimate</b>(const PointCloud::ConstPtr &amp;frame, const std::vector&lt; int &gt; &amp;neighbors, int k_photo_neighbors) (defined in <a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity_gradients</b> (defined in <a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></td><td class="entry"></td></tr>
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+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classgtsam__points_1_1IntensityGradients-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntensityGradients Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017.  
+ <a href="classgtsam__points_1_1IntensityGradients.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="intensity__gradients_8hpp_source.html">intensity_gradients.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a46515c3262a60c62229fe5047e56f56f"><td class="memItemLeft" align="right" valign="top"><a id="a46515c3262a60c62229fe5047e56f56f"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;</td></tr>
+<tr class="separator:a46515c3262a60c62229fe5047e56f56f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a915be39c1861f4352e1fcc206f6da89b"><td class="memItemLeft" align="right" valign="top"><a id="a915be39c1861f4352e1fcc206f6da89b"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &gt;</td></tr>
+<tr class="separator:a915be39c1861f4352e1fcc206f6da89b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad49905d227e0bbf2604dc4e975e1f235"><td class="memItemLeft" align="right" valign="top">static IntensityGradients::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">estimate</a> (const PointCloud::ConstPtr &amp;frame, int k_neighbors=10, int num_threads=1)</td></tr>
+<tr class="memdesc:ad49905d227e0bbf2604dc4e975e1f235"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate intensity gradients of points.  <a href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">More...</a><br /></td></tr>
+<tr class="separator:ad49905d227e0bbf2604dc4e975e1f235"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad2d4b378ba3048069c1919b69f3c02d6"><td class="memItemLeft" align="right" valign="top">static IntensityGradients::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">estimate</a> (const gtsam_points::PointCloudCPU::Ptr &amp;frame, int k_geom_neighbors=10, int k_photo_neighbors=20, int num_threads=1)</td></tr>
+<tr class="memdesc:ad2d4b378ba3048069c1919b69f3c02d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate normals, covs, and intensity gradients.  <a href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">More...</a><br /></td></tr>
+<tr class="separator:ad2d4b378ba3048069c1919b69f3c02d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa0aa69537ddcd128e965ff11d114f6ae"><td class="memItemLeft" align="right" valign="top"><a id="aa0aa69537ddcd128e965ff11d114f6ae"></a>
+static IntensityGradients::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>estimate</b> (const PointCloud::ConstPtr &amp;frame, const std::vector&lt; int &gt; &amp;neighbors, int k_photo_neighbors)</td></tr>
+<tr class="separator:aa0aa69537ddcd128e965ff11d114f6ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a872ea2048d448373e136e8b772a1a4b0"><td class="memItemLeft" align="right" valign="top"><a id="a872ea2048d448373e136e8b772a1a4b0"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>intensity_gradients</b></td></tr>
+<tr class="separator:a872ea2048d448373e136e8b772a1a4b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad2d4b378ba3048069c1919b69f3c02d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2d4b378ba3048069c1919b69f3c02d6">&#9670;&nbsp;</a></span>estimate() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static IntensityGradients::Ptr gtsam_points::IntensityGradients::estimate </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam_points::PointCloudCPU::Ptr &amp;&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>k_geom_neighbors</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>k_photo_neighbors</em> = <code>20</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_threads</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Estimate normals, covs, and intensity gradients. </p>
+<dl class="section note"><dt>Note</dt><dd>If frame doesn't have normals and covs, these attributes are also estimated alongside intensity gradients </dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frame</td><td>[in/out] Input frame </td></tr>
+    <tr><td class="paramname">k_geom_neighbors</td><td>Number of neighbors used for normal and covariance estimation </td></tr>
+    <tr><td class="paramname">k_photo_neighbors</td><td>Number of neighbors used for intensity gradient estimation </td></tr>
+    <tr><td class="paramname">num_threads</td><td>Number of threads </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad49905d227e0bbf2604dc4e975e1f235"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad49905d227e0bbf2604dc4e975e1f235">&#9670;&nbsp;</a></span>estimate() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static IntensityGradients::Ptr gtsam_points::IntensityGradients::estimate </td>
+          <td>(</td>
+          <td class="paramtype">const PointCloud::ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>k_neighbors</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_threads</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Estimate intensity gradients of points. </p>
+<dl class="section note"><dt>Note</dt><dd>frame is required to have normals and intensities </dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frame</td><td>Input frame </td></tr>
+    <tr><td class="paramname">k_neighbors</td><td>Number of neighbors used for intensity gradient estimation </td></tr>
+    <tr><td class="paramname">num_threads</td><td>Number of threads </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="intensity__gradients_8hpp_source.html">intensity_gradients.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::LinearDampingFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a> class</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>LinearDampingFactor</b>(gtsam::Key key, int dim, double mu) (defined in <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>LinearDampingFactor</b>(gtsam::Key key, const gtsam::Vector &amp;diag) (defined in <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>LinearDampingFactor</b>() (defined in <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~LinearDampingFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
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+   <div id="projectname">gtsam_points
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classgtsam__points_1_1LinearDampingFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::LinearDampingFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This factor adds a constant diagonal matrix to the Hessian matrix. It causes a damping effect (like lambda in LM optimization) and helps to fix the gauge freedom.  
+ <a href="classgtsam__points_1_1LinearDampingFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="linear__damping__factor_8hpp_source.html">linear_damping_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::LinearDampingFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1LinearDampingFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1LinearDampingFactor_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::LinearDampingFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1LinearDampingFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1LinearDampingFactor_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1LinearDampingFactor_coll__map" id="agtsam__points_1_1LinearDampingFactor_coll__map">
+<area shape="rect" title="This factor adds a constant diagonal matrix to the Hessian matrix. It causes a damping effect (like l..." alt="" coords="5,80,223,121"/>
+<area shape="rect" title=" " alt="" coords="7,5,221,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a85b3a3f0665f7dfc2956fb26e45484a2"><td class="memItemLeft" align="right" valign="top"><a id="a85b3a3f0665f7dfc2956fb26e45484a2"></a>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a15fe4ede415161106a9633a65f4343d5"><td class="memItemLeft" align="right" valign="top"><a id="a15fe4ede415161106a9633a65f4343d5"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>LinearDampingFactor</b> (gtsam::Key key, int dim, double mu)</td></tr>
+<tr class="separator:a15fe4ede415161106a9633a65f4343d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ababfeec5c5f5059732cc5fdd5ce033a7"><td class="memItemLeft" align="right" valign="top"><a id="ababfeec5c5f5059732cc5fdd5ce033a7"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>LinearDampingFactor</b> (gtsam::Key key, const gtsam::Vector &amp;diag)</td></tr>
+<tr class="separator:ababfeec5c5f5059732cc5fdd5ce033a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a></td></tr>
+<tr class="separator:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This factor adds a constant diagonal matrix to the Hessian matrix. It causes a damping effect (like lambda in LM optimization) and helps to fix the gauge freedom. </p>
+</div><h2 class="groupheader">Friends And Related Function Documentation</h2>
+<a id="ac98d07dd8f7b70e16ccb9a01abf56b9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac98d07dd8f7b70e16ccb9a01abf56b9c">&#9670;&nbsp;</a></span>boost::serialization::access</h2>
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">friend class boost::serialization::access</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Serialization function </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="linear__damping__factor_8hpp_source.html">linear_damping_factor.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor-members.html b/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor-members.html
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index 00000000..71b25320
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor-members.html
@@ -0,0 +1,96 @@
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+</script>
+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::LsqBundleAdjustmentFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">add</a>(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>error</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>frame_dists</b> (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>global_cov</b> (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>global_mean</b> (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>global_normal</b> (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>global_num_points</b> (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>LsqBundleAdjustmentFactor</b>() (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">num_points</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">set_scale</a>(double scale)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~BundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~LsqBundleAdjustmentFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">gtsam_points::LsqBundleAdjustmentFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classgtsam__points_1_1LsqBundleAdjustmentFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::LsqBundleAdjustmentFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Bundle adjustment factor based on EVM and EF optimal condition satisfaction.  
+ <a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="bundle__adjustment__factor__lsq_8hpp_source.html">bundle_adjustment_factor_lsq.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::LsqBundleAdjustmentFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1LsqBundleAdjustmentFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1LsqBundleAdjustmentFactor_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::LsqBundleAdjustmentFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1LsqBundleAdjustmentFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1LsqBundleAdjustmentFactor_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:af66bb0dadeb9002e2aa4c1259a8ea86a"><td class="memItemLeft" align="right" valign="top"><a id="af66bb0dadeb9002e2aa4c1259a8ea86a"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html">LsqBundleAdjustmentFactor</a> &gt;</td></tr>
+<tr class="separator:af66bb0dadeb9002e2aa4c1259a8ea86a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a309799dcbd28692962b42b762666c538"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">BundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afe1ac5e11756711462a1b23c56cd4f69"><td class="memItemLeft" align="right" valign="top"><a id="afe1ac5e11756711462a1b23c56cd4f69"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:afe1ac5e11756711462a1b23c56cd4f69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4884c23aa03382cebbcf1b7f3c993ae8"><td class="memItemLeft" align="right" valign="top"><a id="a4884c23aa03382cebbcf1b7f3c993ae8"></a>
+virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>error</b> (const gtsam::Values &amp;c) const override</td></tr>
+<tr class="separator:a4884c23aa03382cebbcf1b7f3c993ae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a917fd4f00e98c78cb4afb0ff6773f5aa"><td class="memItemLeft" align="right" valign="top"><a id="a917fd4f00e98c78cb4afb0ff6773f5aa"></a>
+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;c) const override</td></tr>
+<tr class="separator:a917fd4f00e98c78cb4afb0ff6773f5aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d682131c840972322b9bd4986f2e565"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">add</a> (const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td></tr>
+<tr class="memdesc:a9d682131c840972322b9bd4986f2e565"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign a point to the factor.  <a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">More...</a><br /></td></tr>
+<tr class="separator:a9d682131c840972322b9bd4986f2e565"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f1141818623f12b0e392094dd8c00fb"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">num_points</a> () const override</td></tr>
+<tr class="memdesc:a4f1141818623f12b0e392094dd8c00fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points assigned to the factor.  <a href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">More...</a><br /></td></tr>
+<tr class="separator:a4f1141818623f12b0e392094dd8c00fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1BundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1BundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a974d47c6ebbec55940f0c0a395c04207 inherit pub_methods_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a974d47c6ebbec55940f0c0a395c04207"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">set_scale</a> (double scale)</td></tr>
+<tr class="memdesc:a974d47c6ebbec55940f0c0a395c04207 inherit pub_methods_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a constant error scale to boost the weight of the constraint. <br /></td></tr>
+<tr class="separator:a974d47c6ebbec55940f0c0a395c04207 inherit pub_methods_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a8eafca8f41e69fba118ca1baeba89aa3"><td class="memItemLeft" align="right" valign="top"><a id="a8eafca8f41e69fba118ca1baeba89aa3"></a>
+std::unordered_map&lt; gtsam::Key, std::shared_ptr&lt; FrameDistribution &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>frame_dists</b></td></tr>
+<tr class="separator:a8eafca8f41e69fba118ca1baeba89aa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2a11669fdd4812fb99874551f4a5bfe"><td class="memItemLeft" align="right" valign="top"><a id="ac2a11669fdd4812fb99874551f4a5bfe"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>global_num_points</b></td></tr>
+<tr class="separator:ac2a11669fdd4812fb99874551f4a5bfe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae16de925db3a4135d7f6a458df0172b9"><td class="memItemLeft" align="right" valign="top"><a id="ae16de925db3a4135d7f6a458df0172b9"></a>
+Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>global_mean</b></td></tr>
+<tr class="separator:ae16de925db3a4135d7f6a458df0172b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7141c4870a89bc1f5e72ec4d6915c7ce"><td class="memItemLeft" align="right" valign="top"><a id="a7141c4870a89bc1f5e72ec4d6915c7ce"></a>
+Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>global_cov</b></td></tr>
+<tr class="separator:a7141c4870a89bc1f5e72ec4d6915c7ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06a657a7df37bc2a600ac74fa7b04d71"><td class="memItemLeft" align="right" valign="top"><a id="a06a657a7df37bc2a600ac74fa7b04d71"></a>
+Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>global_normal</b></td></tr>
+<tr class="separator:a06a657a7df37bc2a600ac74fa7b04d71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Bundle adjustment factor based on EVM and EF optimal condition satisfaction. </p>
+<dl class="section note"><dt>Note</dt><dd>The evaluation cost of this factor depends on the number of frames and is independent of the number of points </dd>
+<dd>
+This factor requires a better initial guess compared to EVM-based one because the global normal not included in the optimization</dd></dl>
+<p>Huang et al, "On Bundle Adjustment for Multiview Point Cloud Registration", IEEE RA-L, 2021 </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9d682131c840972322b9bd4986f2e565"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d682131c840972322b9bd4986f2e565">&#9670;&nbsp;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::LsqBundleAdjustmentFactor::add </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Point3 &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const gtsam::Key &amp;&#160;</td>
+          <td class="paramname"><em>key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assign a point to the factor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point </td></tr>
+    <tr><td class="paramname">key</td><td>Key of the frame corresponding to the point </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">gtsam_points::BundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<a id="a4f1141818623f12b0e392094dd8c00fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f1141818623f12b0e392094dd8c00fb">&#9670;&nbsp;</a></span>num_points()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual int gtsam_points::LsqBundleAdjustmentFactor::num_points </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of points assigned to the factor. </p>
+<dl class="section return"><dt>Returns</dt><dd>Number of points </dd></dl>
+
+<p>Implements <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">gtsam_points::BundleAdjustmentFactorBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="bundle__adjustment__factor__lsq_8hpp_source.html">bundle_adjustment_factor_lsq.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor__inherit__graph.map b/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor__inherit__graph.map
new file mode 100644
index 00000000..d93cb0a2
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diff --git a/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor__inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1LsqBundleAdjustmentFactor__inherit__graph.md5
new file mode 100644
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">NonlinearFactorGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::NonlinearFactorGPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">evaluation_input_size</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">evaluation_output_size</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">issue_compute_error</a>(const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">issue_linearize</a>(const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">linearization_input_size</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">linearization_output_size</a>() const =0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NonlinearFactorGPU</b>(const CONTAINER &amp;keys) (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">set_evaluation_point</a>(const gtsam::Values &amp;values, void *eval_input_cpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">set_linearization_point</a>(const gtsam::Values &amp;values, void *lin_input_cpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">store_computed_error</a>(const void *eval_output_cpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">store_linearized</a>(const void *lin_output_cpu)=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2">sync</a>()=0</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~NonlinearFactorGPU</b>() (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorGPU.html b/doc_cpp/classgtsam__points_1_1NonlinearFactorGPU.html
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html">NonlinearFactorGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1NonlinearFactorGPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::NonlinearFactorGPU Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Base class for GPU-based nonlinear factors.  
+ <a href="classgtsam__points_1_1NonlinearFactorGPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="nonlinear__factor__gpu_8hpp_source.html">nonlinear_factor_gpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::NonlinearFactorGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1NonlinearFactorGPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1NonlinearFactorGPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1NonlinearFactorGPU_inherit__map" id="agtsam__points_1_1NonlinearFactorGPU_inherit__map">
+<area shape="rect" title="Base class for GPU&#45;based nonlinear factors." alt="" coords="5,80,253,107"/>
+<area shape="rect" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html" title="GPU&#45;accelerated Voxelized GICP matching cost factor Koide et al., &quot;Voxelized GICP for Fast and Accura..." alt="" coords="37,155,222,196"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::NonlinearFactorGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1NonlinearFactorGPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1NonlinearFactorGPU_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1NonlinearFactorGPU_coll__map" id="agtsam__points_1_1NonlinearFactorGPU_coll__map">
+<area shape="rect" title="Base class for GPU&#45;based nonlinear factors." alt="" coords="5,80,253,107"/>
+<area shape="rect" title=" " alt="" coords="43,5,216,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6c4c06b20ff0f59a3e63526e5aa32bd9"><td class="memTemplParams" colspan="2"><a id="a6c4c06b20ff0f59a3e63526e5aa32bd9"></a>
+template&lt;typename CONTAINER &gt; </td></tr>
+<tr class="memitem:a6c4c06b20ff0f59a3e63526e5aa32bd9"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><b>NonlinearFactorGPU</b> (const CONTAINER &amp;keys)</td></tr>
+<tr class="separator:a6c4c06b20ff0f59a3e63526e5aa32bd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07f4acd29db46b5103681d93f4b2d098"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">linearization_input_size</a> () const =0</td></tr>
+<tr class="memdesc:a07f4acd29db46b5103681d93f4b2d098"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be uploaded to the GPU before linearization.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">More...</a><br /></td></tr>
+<tr class="separator:a07f4acd29db46b5103681d93f4b2d098"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45dc99d4cd01b53d9089feb48aafc9bf"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">linearization_output_size</a> () const =0</td></tr>
+<tr class="memdesc:a45dc99d4cd01b53d9089feb48aafc9bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be downloaded from the GPU after linearization.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">More...</a><br /></td></tr>
+<tr class="separator:a45dc99d4cd01b53d9089feb48aafc9bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0449baf159f7c5480307c0aa9254f60e"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">evaluation_input_size</a> () const =0</td></tr>
+<tr class="memdesc:a0449baf159f7c5480307c0aa9254f60e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be uploaded to the GPU before cost evaluation.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">More...</a><br /></td></tr>
+<tr class="separator:a0449baf159f7c5480307c0aa9254f60e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55b02925a49558fc23422183c3f50513"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">evaluation_output_size</a> () const =0</td></tr>
+<tr class="memdesc:a55b02925a49558fc23422183c3f50513"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of data to be downloaded from the GPU after cost evaluation.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">More...</a><br /></td></tr>
+<tr class="separator:a55b02925a49558fc23422183c3f50513"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1efe9f2fc92e154dd20f97eebf1e969a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">set_linearization_point</a> (const gtsam::Values &amp;values, void *lin_input_cpu)=0</td></tr>
+<tr class="memdesc:a1efe9f2fc92e154dd20f97eebf1e969a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write linearization input data to the upload buffer.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">More...</a><br /></td></tr>
+<tr class="separator:a1efe9f2fc92e154dd20f97eebf1e969a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a846e748369b9b4a9c82fa94ae1478973"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">issue_linearize</a> (const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu)=0</td></tr>
+<tr class="memdesc:a846e748369b9b4a9c82fa94ae1478973"><td class="mdescLeft">&#160;</td><td class="mdescRight">Issue linearization task.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">More...</a><br /></td></tr>
+<tr class="separator:a846e748369b9b4a9c82fa94ae1478973"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab73f26d5537b9b60330f28d0bde26147"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">store_linearized</a> (const void *lin_output_cpu)=0</td></tr>
+<tr class="memdesc:ab73f26d5537b9b60330f28d0bde26147"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read linearization output data from the download buffer.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">More...</a><br /></td></tr>
+<tr class="separator:ab73f26d5537b9b60330f28d0bde26147"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a393284cf2cf46e4b7e1e73491a944c8f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">set_evaluation_point</a> (const gtsam::Values &amp;values, void *eval_input_cpu)=0</td></tr>
+<tr class="memdesc:a393284cf2cf46e4b7e1e73491a944c8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Write cost evaluation input data to the upload buffer.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">More...</a><br /></td></tr>
+<tr class="separator:a393284cf2cf46e4b7e1e73491a944c8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ac2cb94a6a72b044140a40bc60bd7d5"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">issue_compute_error</a> (const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu)=0</td></tr>
+<tr class="memdesc:a9ac2cb94a6a72b044140a40bc60bd7d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Issue cost evaluation task.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">More...</a><br /></td></tr>
+<tr class="separator:a9ac2cb94a6a72b044140a40bc60bd7d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ebabcb1b37a4a3ed60e82a6b150e434"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">store_computed_error</a> (const void *eval_output_cpu)=0</td></tr>
+<tr class="memdesc:a1ebabcb1b37a4a3ed60e82a6b150e434"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read cost evaluation output data from the download buffer.  <a href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">More...</a><br /></td></tr>
+<tr class="separator:a1ebabcb1b37a4a3ed60e82a6b150e434"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ac5741117f80e9c580bc6d6a514c7f2"><td class="memItemLeft" align="right" valign="top"><a id="a7ac5741117f80e9c580bc6d6a514c7f2"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2">sync</a> ()=0</td></tr>
+<tr class="memdesc:a7ac5741117f80e9c580bc6d6a514c7f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform CPU-GPU synchronization and wait for the task. <br /></td></tr>
+<tr class="separator:a7ac5741117f80e9c580bc6d6a514c7f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Base class for GPU-based nonlinear factors. </p>
+<dl class="section note"><dt>Note</dt><dd>To efficiently perform linearization (and cost evaluation) on a GPU, we issue all linearization tasks of GPU-based factors and copy all required data for linearization (e.g., current estimate) at once.</dd></dl>
+<p>To allow <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html" title="This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluat...">gtsam_points::NonlinearFactorSetGPU</a> to manage linearization, you need to implement the following methods:</p><ul>
+<li>linearization_(input|output)_size() : Define the size of input and result data for linearization</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a" title="Write linearization input data to the upload buffer.">set_linearization_point()</a> : Write the data to be uploaded to the GPU before linearization</li>
+<li>issue_linearization() : Issue the linearization task</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2" title="Perform CPU-GPU synchronization and wait for the task.">sync()</a> : Perform CPU-GPU synchronization to wait for linearization completion</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147" title="Read linearization output data from the download buffer.">store_linearized()</a> : Read back the data from the download buffer after linearization</li>
+</ul>
+<p>For example, implementation for the linearization of the standard ICP factor would be as follows:</p><ul>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098" title="Size of data to be uploaded to the GPU before linearization.">linearization_input_size()</a> : sizeof(Eigen::Isometry3f) Current estimate of T_target_source</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf" title="Size of data to be downloaded from the GPU after linearization.">linearization_output_size()</a> : sizeof(LinearizedSystem6) Linearized Hessian factor</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a" title="Write linearization input data to the upload buffer.">set_linearization_point()</a> : Write the current T_target_source to the lin_input_cpu</li>
+<li>issue_linearization() : Issue the ICP computation task</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2" title="Perform CPU-GPU synchronization and wait for the task.">sync()</a> : Wait for the ICP computation task</li>
+<li><a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147" title="Read linearization output data from the download buffer.">store_linearized()</a> : Read the linearized factor from lin_output_cpu</li>
+</ul>
+<p>Optimizers in gtsam_points calls <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html" title="This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluat...">NonlinearFactorSetGPU</a>'s linearization routine before calling linearize() of each factor. You should thus store the linearized factor to a temporary member and just return it when linearize() is called. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0449baf159f7c5480307c0aa9254f60e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0449baf159f7c5480307c0aa9254f60e">&#9670;&nbsp;</a></span>evaluation_input_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::NonlinearFactorGPU::evaluation_input_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be uploaded to the GPU before cost evaluation. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a55b02925a49558fc23422183c3f50513"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55b02925a49558fc23422183c3f50513">&#9670;&nbsp;</a></span>evaluation_output_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::NonlinearFactorGPU::evaluation_output_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be downloaded from the GPU after cost evaluation. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a9ac2cb94a6a72b044140a40bc60bd7d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ac2cb94a6a72b044140a40bc60bd7d5">&#9670;&nbsp;</a></span>issue_compute_error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::issue_compute_error </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>eval_output_gpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Issue cost evaluation task. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_input_cpu</td><td>Linearization input data on the CPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">eval_input_cpu</td><td>Cost evaluation input data on the CPU memory (size == evaluation_input_size) </td></tr>
+    <tr><td class="paramname">lin_input_gpu</td><td>Linearization input data on the GPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">eval_input_gpu</td><td>Cost evaluation input data on the GPU memory (size == evaluation_input_size) </td></tr>
+    <tr><td class="paramname">eval_output_gpu</td><td>Output data destination on the GPU memory (size == evaluation_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a846e748369b9b4a9c82fa94ae1478973"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a846e748369b9b4a9c82fa94ae1478973">&#9670;&nbsp;</a></span>issue_linearize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::issue_linearize </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_input_gpu</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>lin_output_gpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Issue linearization task. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_input_cpu</td><td>Linearization input data on the CPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">lin_input_gpu</td><td>Linearization input data on the GPU memory (size == linearization_input_size) </td></tr>
+    <tr><td class="paramname">lin_output_gpu</td><td>Output data destination on the GPU memory (size == linearization_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a07f4acd29db46b5103681d93f4b2d098"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a07f4acd29db46b5103681d93f4b2d098">&#9670;&nbsp;</a></span>linearization_input_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::NonlinearFactorGPU::linearization_input_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be uploaded to the GPU before linearization. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a45dc99d4cd01b53d9089feb48aafc9bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45dc99d4cd01b53d9089feb48aafc9bf">&#9670;&nbsp;</a></span>linearization_output_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::NonlinearFactorGPU::linearization_output_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Size of data to be downloaded from the GPU after linearization. </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a393284cf2cf46e4b7e1e73491a944c8f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a393284cf2cf46e4b7e1e73491a944c8f">&#9670;&nbsp;</a></span>set_evaluation_point()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::set_evaluation_point </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>eval_input_cpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Write cost evaluation input data to the upload buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Current estimate </td></tr>
+    <tr><td class="paramname">eval_input_cpu</td><td>Data upload buffer (size == evaluation_input_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a1efe9f2fc92e154dd20f97eebf1e969a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1efe9f2fc92e154dd20f97eebf1e969a">&#9670;&nbsp;</a></span>set_linearization_point()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::set_linearization_point </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>lin_input_cpu</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Write linearization input data to the upload buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Current estimate </td></tr>
+    <tr><td class="paramname">lin_input_cpu</td><td>Data upload buffer (size == linearization_input_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="a1ebabcb1b37a4a3ed60e82a6b150e434"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ebabcb1b37a4a3ed60e82a6b150e434">&#9670;&nbsp;</a></span>store_computed_error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::store_computed_error </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>eval_output_cpu</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Read cost evaluation output data from the download buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">eval_output_cpu</td><td>Data down load buffer (size == evaluation_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<a id="ab73f26d5537b9b60330f28d0bde26147"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab73f26d5537b9b60330f28d0bde26147">&#9670;&nbsp;</a></span>store_linearized()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void gtsam_points::NonlinearFactorGPU::store_linearized </td>
+          <td>(</td>
+          <td class="paramtype">const void *&#160;</td>
+          <td class="paramname"><em>lin_output_cpu</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Read linearization output data from the download buffer. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lin_output_cpu</td><td>Data download buffer (size == linearization_output_size) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">gtsam_points::IntegratedVGICPFactorGPU</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="nonlinear__factor__gpu_8hpp_source.html">nonlinear_factor_gpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU-members.html b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">NonlinearFactorSetGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::NonlinearFactorSetGPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a284437fb6977415d1eb87eb5c4500312">add</a>(boost::shared_ptr&lt; gtsam::NonlinearFactor &gt; factor) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ab6040ddf8cbd8e1f897319c685d490da">add</a>(const gtsam::NonlinearFactorGraph &amp;factors) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">calc_linear_factors</a>(const gtsam::Values &amp;linearization_point) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a3d5b98345e83f002144c8c1c262ed901">clear</a>() override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#aed92fa7450ccfde7b478dbfe6bd97c0d">clear_counts</a>() override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a952d0571693362362361687c183498d3">error</a>(const gtsam::Values &amp;values) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad75382613d16ede4f6414c95e26147f4">evaluation_count</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ae30156e831944b91691e1fd4cfdb5d55">linearization_count</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">linearize</a>(const gtsam::Values &amp;linearization_point) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>NonlinearFactorSetGPU</b>() (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a74cb38839fdae642b63e86a4c9769337">size</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NonlinearFactorSetGPU</b>() (defined in <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">gtsam_points::NonlinearFactorSetGPU</a></td><td class="entry"></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU.html b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU.html
new file mode 100644
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html">NonlinearFactorSetGPU</a></li>  </ul>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1NonlinearFactorSetGPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::NonlinearFactorSetGPU Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluation tasks.  
+ <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="nonlinear__factor__set__gpu_8hpp_source.html">nonlinear_factor_set_gpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::NonlinearFactorSetGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1NonlinearFactorSetGPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1NonlinearFactorSetGPU_inherit__map" id="agtsam__points_1_1NonlinearFactorSetGPU_inherit__map">
+<area shape="rect" title="This class holds a set of GPU&#45;based NonlinearFactors and manages their linearization and cost evaluat..." alt="" coords="5,80,225,121"/>
+<area shape="rect" title=" " alt="" coords="43,5,188,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::NonlinearFactorSetGPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1NonlinearFactorSetGPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1NonlinearFactorSetGPU_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1NonlinearFactorSetGPU_coll__map" id="agtsam__points_1_1NonlinearFactorSetGPU_coll__map">
+<area shape="rect" title="This class holds a set of GPU&#45;based NonlinearFactors and manages their linearization and cost evaluat..." alt="" coords="5,80,225,121"/>
+<area shape="rect" title=" " alt="" coords="43,5,188,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a74cb38839fdae642b63e86a4c9769337"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a74cb38839fdae642b63e86a4c9769337">size</a> () const override</td></tr>
+<tr class="memdesc:a74cb38839fdae642b63e86a4c9769337"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of GPU factors in this set.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a74cb38839fdae642b63e86a4c9769337">More...</a><br /></td></tr>
+<tr class="separator:a74cb38839fdae642b63e86a4c9769337"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3d5b98345e83f002144c8c1c262ed901"><td class="memItemLeft" align="right" valign="top"><a id="a3d5b98345e83f002144c8c1c262ed901"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a3d5b98345e83f002144c8c1c262ed901">clear</a> () override</td></tr>
+<tr class="memdesc:a3d5b98345e83f002144c8c1c262ed901"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove all factors. <br /></td></tr>
+<tr class="separator:a3d5b98345e83f002144c8c1c262ed901"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed92fa7450ccfde7b478dbfe6bd97c0d"><td class="memItemLeft" align="right" valign="top"><a id="aed92fa7450ccfde7b478dbfe6bd97c0d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#aed92fa7450ccfde7b478dbfe6bd97c0d">clear_counts</a> () override</td></tr>
+<tr class="memdesc:aed92fa7450ccfde7b478dbfe6bd97c0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset linearization and cost evaluation counts. <br /></td></tr>
+<tr class="separator:aed92fa7450ccfde7b478dbfe6bd97c0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae30156e831944b91691e1fd4cfdb5d55"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ae30156e831944b91691e1fd4cfdb5d55">linearization_count</a> () const override</td></tr>
+<tr class="memdesc:ae30156e831944b91691e1fd4cfdb5d55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of issued linearization tasks.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ae30156e831944b91691e1fd4cfdb5d55">More...</a><br /></td></tr>
+<tr class="separator:ae30156e831944b91691e1fd4cfdb5d55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad75382613d16ede4f6414c95e26147f4"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad75382613d16ede4f6414c95e26147f4">evaluation_count</a> () const override</td></tr>
+<tr class="memdesc:ad75382613d16ede4f6414c95e26147f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of issued cost evaluation tasks.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad75382613d16ede4f6414c95e26147f4">More...</a><br /></td></tr>
+<tr class="separator:ad75382613d16ede4f6414c95e26147f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a284437fb6977415d1eb87eb5c4500312"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a284437fb6977415d1eb87eb5c4500312">add</a> (boost::shared_ptr&lt; gtsam::NonlinearFactor &gt; factor) override</td></tr>
+<tr class="memdesc:a284437fb6977415d1eb87eb5c4500312"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a factor to the GPU factor set if it is a GPU-based one.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a284437fb6977415d1eb87eb5c4500312">More...</a><br /></td></tr>
+<tr class="separator:a284437fb6977415d1eb87eb5c4500312"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6040ddf8cbd8e1f897319c685d490da"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ab6040ddf8cbd8e1f897319c685d490da">add</a> (const gtsam::NonlinearFactorGraph &amp;factors) override</td></tr>
+<tr class="memdesc:ab6040ddf8cbd8e1f897319c685d490da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add all GPU-based factors in a factor graph to the GPU factor set.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ab6040ddf8cbd8e1f897319c685d490da">More...</a><br /></td></tr>
+<tr class="separator:ab6040ddf8cbd8e1f897319c685d490da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad8e1a9419bdf90e4cfaa5bde83d9ff3b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">linearize</a> (const gtsam::Values &amp;linearization_point) override</td></tr>
+<tr class="memdesc:ad8e1a9419bdf90e4cfaa5bde83d9ff3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all GPU-based linearization tasks.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">More...</a><br /></td></tr>
+<tr class="separator:ad8e1a9419bdf90e4cfaa5bde83d9ff3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a952d0571693362362361687c183498d3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a952d0571693362362361687c183498d3">error</a> (const gtsam::Values &amp;values) override</td></tr>
+<tr class="memdesc:a952d0571693362362361687c183498d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute all GPU-based cost evaluation tasks.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a952d0571693362362361687c183498d3">More...</a><br /></td></tr>
+<tr class="separator:a952d0571693362362361687c183498d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a83d5ce13a1fa37d2f4d6d5d2ea4fb68d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; gtsam::GaussianFactor::shared_ptr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">calc_linear_factors</a> (const gtsam::Values &amp;linearization_point) override</td></tr>
+<tr class="memdesc:a83d5ce13a1fa37d2f4d6d5d2ea4fb68d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate linearized factors.  <a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">More...</a><br /></td></tr>
+<tr class="separator:a83d5ce13a1fa37d2f4d6d5d2ea4fb68d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This class holds a set of GPU-based NonlinearFactors and manages their linearization and cost evaluation tasks. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a284437fb6977415d1eb87eb5c4500312"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a284437fb6977415d1eb87eb5c4500312">&#9670;&nbsp;</a></span>add() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool gtsam_points::NonlinearFactorSetGPU::add </td>
+          <td>(</td>
+          <td class="paramtype">boost::shared_ptr&lt; gtsam::NonlinearFactor &gt;&#160;</td>
+          <td class="paramname"><em>factor</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Add a factor to the GPU factor set if it is a GPU-based one. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">factor</td><td>Nonlinear factor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the factor is GPU-based one and added to the set </dd></dl>
+
+</div>
+</div>
+<a id="ab6040ddf8cbd8e1f897319c685d490da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab6040ddf8cbd8e1f897319c685d490da">&#9670;&nbsp;</a></span>add() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::NonlinearFactorSetGPU::add </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::NonlinearFactorGraph &amp;&#160;</td>
+          <td class="paramname"><em>factors</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Add all GPU-based factors in a factor graph to the GPU factor set. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">factors</td><td>Factor graph </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a83d5ce13a1fa37d2f4d6d5d2ea4fb68d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">&#9670;&nbsp;</a></span>calc_linear_factors()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;gtsam::GaussianFactor::shared_ptr&gt; gtsam_points::NonlinearFactorSetGPU::calc_linear_factors </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>linearization_point</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Calculate linearized factors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">linearization_point</td><td>Current estimated </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Linearized factors </dd></dl>
+
+</div>
+</div>
+<a id="a952d0571693362362361687c183498d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a952d0571693362362361687c183498d3">&#9670;&nbsp;</a></span>error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::NonlinearFactorSetGPU::error </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>values</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compute all GPU-based cost evaluation tasks. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">values</td><td>Current estimate </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad75382613d16ede4f6414c95e26147f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad75382613d16ede4f6414c95e26147f4">&#9670;&nbsp;</a></span>evaluation_count()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int gtsam_points::NonlinearFactorSetGPU::evaluation_count </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of issued cost evaluation tasks. </p>
+<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>
+
+</div>
+</div>
+<a id="ae30156e831944b91691e1fd4cfdb5d55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae30156e831944b91691e1fd4cfdb5d55">&#9670;&nbsp;</a></span>linearization_count()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int gtsam_points::NonlinearFactorSetGPU::linearization_count </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of issued linearization tasks. </p>
+<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>
+
+</div>
+</div>
+<a id="ad8e1a9419bdf90e4cfaa5bde83d9ff3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">&#9670;&nbsp;</a></span>linearize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::NonlinearFactorSetGPU::linearize </td>
+          <td>(</td>
+          <td class="paramtype">const gtsam::Values &amp;&#160;</td>
+          <td class="paramname"><em>linearization_point</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Compute all GPU-based linearization tasks. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">linearization_point</td><td>Current estimate </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a74cb38839fdae642b63e86a4c9769337"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74cb38839fdae642b63e86a4c9769337">&#9670;&nbsp;</a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int gtsam_points::NonlinearFactorSetGPU::size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Number of GPU factors in this set. </p>
+<dl class="section return"><dt>Returns</dt><dd>Number of GPU factors in this set </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="nonlinear__factor__set__gpu_8hpp_source.html">nonlinear_factor_set_gpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.map b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.map
new file mode 100644
index 00000000..f8962d3b
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" title=" " alt="" coords="43,5,188,32"/>
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.md5
new file mode 100644
index 00000000..3ba6fec1
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.md5
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diff --git a/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.png b/doc_cpp/classgtsam__points_1_1NonlinearFactorSetGPU__inherit__graph.png
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diff --git a/doc_cpp/classgtsam__points_1_1PlaneEVMFactor-members.html b/doc_cpp/classgtsam__points_1_1PlaneEVMFactor-members.html
new file mode 100644
index 00000000..ebb2cc38
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1PlaneEVMFactor-members.html
@@ -0,0 +1,100 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::PlaneEVMFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a>(const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>calc_eigenvalue</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>calc_pose_derivatives</b>(const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>compose_factor</b>(const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dim</b>() const override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>error</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>error_scale</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>EVMBundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>key_index</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>keys</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>linearize</b>(const gtsam::Values &amp;c) const override (defined in <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a>() const override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PlaneEVMFactor</b>() (defined in <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points</b> (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a>(double scale) override</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>shared_ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~BundleAdjustmentFactorBase</b>() (defined in <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~EVMBundleAdjustmentFactorBase</b>() override (defined in <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PlaneEVMFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">gtsam_points::PlaneEVMFactor</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1PlaneEVMFactor.html b/doc_cpp/classgtsam__points_1_1PlaneEVMFactor.html
new file mode 100644
index 00000000..3b3798a2
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1PlaneEVMFactor.html
@@ -0,0 +1,178 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1PlaneEVMFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::PlaneEVMFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Plane EVM factor that minimizes lambda_0.  
+ <a href="classgtsam__points_1_1PlaneEVMFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::PlaneEVMFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1PlaneEVMFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1PlaneEVMFactor_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Plane EVM factor that minimizes lambda_0." alt="" coords="27,259,250,285"/>
+<area shape="rect" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html" title="Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane..." alt="" coords="5,169,272,211"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::PlaneEVMFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1PlaneEVMFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1PlaneEVMFactor_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html" title="Bundle adjustment factor based on Eigenvalue minimization One EVMFactor represents one feature (plane..." alt="" coords="5,169,272,211"/>
+<area shape="rect" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html" title="Base class of range&#45;based bundle adjustment factors." alt="" coords="19,80,258,121"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a1f8e673d2f3baa94e71492f725a99905"><td class="memItemLeft" align="right" valign="top"><a id="a1f8e673d2f3baa94e71492f725a99905"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1PlaneEVMFactor.html">PlaneEVMFactor</a> &gt;</td></tr>
+<tr class="separator:a1f8e673d2f3baa94e71492f725a99905"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a63755171de7ce6394838d058fdfadd38 inherit pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a63755171de7ce6394838d058fdfadd38"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>shared_ptr</b> = boost::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">EVMBundleAdjustmentFactorBase</a> &gt;</td></tr>
+<tr class="separator:a63755171de7ce6394838d058fdfadd38 inherit pub_types_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html">gtsam_points::BundleAdjustmentFactorBase</a></td></tr>
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+<tr class="separator:a309799dcbd28692962b42b762666c538 inherit pub_types_classgtsam__points_1_1BundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>error</b> (const gtsam::Values &amp;c) const override</td></tr>
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+virtual boost::shared_ptr&lt; gtsam::GaussianFactor &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>linearize</b> (const gtsam::Values &amp;c) const override</td></tr>
+<tr class="separator:a63dd6cbcc3f03828808594e5eda2b74d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:ae0746c011ef70a356c2805333fbf51ba inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="ae0746c011ef70a356c2805333fbf51ba"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><b>dim</b> () const override</td></tr>
+<tr class="separator:ae0746c011ef70a356c2805333fbf51ba inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">add</a> (const gtsam::Point3 &amp;pt, const gtsam::Key &amp;key) override</td></tr>
+<tr class="memdesc:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign a point to the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">More...</a><br /></td></tr>
+<tr class="separator:aecb557d789977d27601bcba8833c6d3a inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">num_points</a> () const override</td></tr>
+<tr class="memdesc:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points assigned to this factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">More...</a><br /></td></tr>
+<tr class="separator:ac2a53469dc4324b65a160442ff885790 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">set_scale</a> (double scale) override</td></tr>
+<tr class="memdesc:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a constant error scaling factor to boost the weight of the factor.  <a href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">More...</a><br /></td></tr>
+<tr class="separator:aff4d980cb8732f918182ae8c821af128 inherit pub_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html">gtsam_points::EVMBundleAdjustmentFactorBase</a></td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memTemplParams" colspan="2"><a id="a6c829948cbc7927714ae9ed254c3de60"></a>
+template&lt;int k&gt; </td></tr>
+<tr class="memitem:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memTemplItemLeft" align="right" valign="top">double&#160;</td><td class="memTemplItemRight" valign="bottom"><b>calc_eigenvalue</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points, Eigen::MatrixXd *H=nullptr, Eigen::MatrixXd *J=nullptr) const</td></tr>
+<tr class="separator:a6c829948cbc7927714ae9ed254c3de60 inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Eigen::MatrixXd&#160;</td><td class="memItemRight" valign="bottom"><b>calc_pose_derivatives</b> (const std::vector&lt; Eigen::Vector3d &gt; &amp;transed_points) const</td></tr>
+<tr class="separator:a3c6aa64bfdf7cad78f72b42363c24c9f inherit pro_methods_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+gtsam::GaussianFactor::shared_ptr&#160;</td><td class="memItemRight" valign="bottom"><b>compose_factor</b> (const Eigen::MatrixXd &amp;H, const Eigen::MatrixXd &amp;J, double error) const</td></tr>
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+<tr class="memitem:af61060518b006648d003233176d69e63 inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="af61060518b006648d003233176d69e63"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>error_scale</b></td></tr>
+<tr class="separator:af61060518b006648d003233176d69e63 inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::vector&lt; gtsam::Key &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>keys</b></td></tr>
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+<tr class="memitem:a30add54ae526027fa7926a5e82dad93a inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memItemLeft" align="right" valign="top"><a id="a30add54ae526027fa7926a5e82dad93a"></a>
+std::vector&lt; gtsam::Point3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>points</b></td></tr>
+<tr class="separator:a30add54ae526027fa7926a5e82dad93a inherit pro_attribs_classgtsam__points_1_1EVMBundleAdjustmentFactorBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::unordered_map&lt; gtsam::Key, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>key_index</b></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Plane EVM factor that minimizes lambda_0. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="bundle__adjustment__factor__evm_8hpp_source.html">bundle_adjustment_factor_evm.hpp</a></li>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::Pose3CalibFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>evaluateError</b>(const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const gtsam::Pose3 &amp;Tij, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xi=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xj=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_Tij=boost::none) const override (defined in <a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Pose3CalibFactor</b>(gtsam::Key xi, gtsam::Key xj, gtsam::Key Tij, const gtsam::SharedNoiseModel &amp;noise_model) (defined in <a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~Pose3CalibFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor.html b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor.html
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+<title>gtsam_points: gtsam_points::Pose3CalibFactor Class Reference</title>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1Pose3CalibFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::Pose3CalibFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Factor(xi, xj, Tij) that evaluates (xj_inv * xi) * Tij.  
+ <a href="classgtsam__points_1_1Pose3CalibFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="pose3__calib__factor_8hpp_source.html">pose3_calib_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::Pose3CalibFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1Pose3CalibFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1Pose3CalibFactor_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::Pose3CalibFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1Pose3CalibFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1Pose3CalibFactor_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7324c646982e74e7648c3d35162c5e57"><td class="memItemLeft" align="right" valign="top"><a id="a7324c646982e74e7648c3d35162c5e57"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>Pose3CalibFactor</b> (gtsam::Key xi, gtsam::Key xj, gtsam::Key Tij, const gtsam::SharedNoiseModel &amp;noise_model)</td></tr>
+<tr class="separator:a7324c646982e74e7648c3d35162c5e57"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b18682ba9b7cfa1063a95f98e0c438d"><td class="memItemLeft" align="right" valign="top"><a id="a8b18682ba9b7cfa1063a95f98e0c438d"></a>
+virtual gtsam::Vector&#160;</td><td class="memItemRight" valign="bottom"><b>evaluateError</b> (const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const gtsam::Pose3 &amp;Tij, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xi=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xj=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_Tij=boost::none) const override</td></tr>
+<tr class="separator:a8b18682ba9b7cfa1063a95f98e0c438d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Factor(xi, xj, Tij) that evaluates (xj_inv * xi) * Tij. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="pose3__calib__factor_8hpp_source.html">pose3_calib_factor.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__coll__graph.map b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__coll__graph.map
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diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__coll__graph.md5 b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__coll__graph.md5
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diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.map b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.map
new file mode 100644
index 00000000..5b207be9
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="gtsam_points::Pose3CalibFactor" name="gtsam_points::Pose3CalibFactor">
+<area shape="rect" id="node1" title="Factor(xi, xj, Tij) that evaluates (xj_inv * xi) * Tij." alt="" coords="7,109,198,151"/>
+<area shape="rect" id="node2" title=" " alt="" coords="5,5,200,61"/>
+</map>
diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.md5
new file mode 100644
index 00000000..5756ee50
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.png b/doc_cpp/classgtsam__points_1_1Pose3CalibFactor__inherit__graph.png
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+<table cellspacing="0" cellpadding="0">
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+   <div id="projectname">gtsam_points
+   </div>
+  </td>
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+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::Pose3InterpolationFactor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>evaluateError</b>(const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const gtsam::Pose3 &amp;xk, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xi=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xj=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xk=boost::none) const override (defined in <a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>initial_guess</b>(const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const double t) (defined in <a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Pose3InterpolationFactor</b>(gtsam::Key xi, gtsam::Key xj, gtsam::Key xk, const double t, const gtsam::SharedNoiseModel &amp;noise_model) (defined in <a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~Pose3InterpolationFactor</b>() override (defined in <a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/classgtsam__points_1_1Pose3InterpolationFactor.html b/doc_cpp/classgtsam__points_1_1Pose3InterpolationFactor.html
new file mode 100644
index 00000000..9312e1f6
--- /dev/null
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::Pose3InterpolationFactor Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1Pose3InterpolationFactor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::Pose3InterpolationFactor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Factor(xi, xj, xk) s.t. xk = Slerp(xi, xj, t)  
+ <a href="classgtsam__points_1_1Pose3InterpolationFactor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="pose3__interpolation__factor_8hpp_source.html">pose3_interpolation_factor.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::Pose3InterpolationFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1Pose3InterpolationFactor__inherit__graph.png" border="0" usemap="#agtsam__points_1_1Pose3InterpolationFactor_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title=" " alt="" coords="28,5,223,61"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::Pose3InterpolationFactor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classgtsam__points_1_1Pose3InterpolationFactor__coll__graph.png" border="0" usemap="#agtsam__points_1_1Pose3InterpolationFactor_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="28,5,223,61"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a22978c0fea865589dd6b93396490e585"><td class="memItemLeft" align="right" valign="top"><a id="a22978c0fea865589dd6b93396490e585"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>Pose3InterpolationFactor</b> (gtsam::Key xi, gtsam::Key xj, gtsam::Key xk, const double t, const gtsam::SharedNoiseModel &amp;noise_model)</td></tr>
+<tr class="separator:a22978c0fea865589dd6b93396490e585"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab4360debb7cffba9a2b22432b629911"><td class="memItemLeft" align="right" valign="top"><a id="aab4360debb7cffba9a2b22432b629911"></a>
+virtual gtsam::Vector&#160;</td><td class="memItemRight" valign="bottom"><b>evaluateError</b> (const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const gtsam::Pose3 &amp;xk, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xi=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xj=boost::none, boost::optional&lt; gtsam::Matrix &amp; &gt; H_xk=boost::none) const override</td></tr>
+<tr class="separator:aab4360debb7cffba9a2b22432b629911"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a14a91e6d475e93e94c969aeafbb7dcd0"><td class="memItemLeft" align="right" valign="top"><a id="a14a91e6d475e93e94c969aeafbb7dcd0"></a>
+static gtsam::Pose3&#160;</td><td class="memItemRight" valign="bottom"><b>initial_guess</b> (const gtsam::Pose3 &amp;xi, const gtsam::Pose3 &amp;xj, const double t)</td></tr>
+<tr class="separator:a14a91e6d475e93e94c969aeafbb7dcd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Factor(xi, xj, xk) s.t. xk = Slerp(xi, xj, t) </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="pose3__interpolation__factor_8hpp_source.html">pose3_interpolation_factor.hpp</a></li>
+</ul>
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+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a></li>  </ul>
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+<div class="title">gtsam_points::RotateVector3Factor Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>, including all inherited members.</p>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Base</b> typedef (defined in <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a> class</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>evaluateError</b>(const gtsam::Pose3 &amp;x, const gtsam::Vector3 &amp;v, boost::optional&lt; gtsam::Matrix &amp; &gt; H_x, boost::optional&lt; gtsam::Matrix &amp; &gt; H_v) const override (defined in <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>RotateVector3Factor</b>() (defined in <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>RotateVector3Factor</b>(gtsam::Key x, gtsam::Key v, const gtsam::Vector3 &amp;local_v, const gtsam::SharedNoiseModel &amp;noise_model) (defined in <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~RotateVector3Factor</b>() (defined in <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
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+<div class="title">gtsam_points::RotateVector3Factor Class Reference</div>  </div>
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+Inheritance diagram for gtsam_points::RotateVector3Factor:</div>
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+<div class="center"><img src="classgtsam__points_1_1RotateVector3Factor__coll__graph.png" border="0" usemap="#agtsam__points_1_1RotateVector3Factor_coll__map" alt="Collaboration graph"/></div>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Base</b> = gtsam::NoiseModelFactor2&lt; gtsam::Pose3, gtsam::Vector3 &gt;</td></tr>
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+&#160;</td><td class="memItemRight" valign="bottom"><b>RotateVector3Factor</b> (gtsam::Key x, gtsam::Key v, const gtsam::Vector3 &amp;local_v, const gtsam::SharedNoiseModel &amp;noise_model)</td></tr>
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+virtual gtsam::Vector&#160;</td><td class="memItemRight" valign="bottom"><b>evaluateError</b> (const gtsam::Pose3 &amp;x, const gtsam::Vector3 &amp;v, boost::optional&lt; gtsam::Matrix &amp; &gt; H_x, boost::optional&lt; gtsam::Matrix &amp; &gt; H_v) const override</td></tr>
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="rotate__vector3__factor_8hpp_source.html">rotate_vector3_factor.hpp</a></li>
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diff --git a/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.map b/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.map
new file mode 100644
index 00000000..41be7491
--- /dev/null
+++ b/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.md5 b/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.md5
new file mode 100644
index 00000000..b82c7410
--- /dev/null
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diff --git a/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.png b/doc_cpp/classgtsam__points_1_1RotateVector3Factor__inherit__graph.png
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+<!-- Generated by Doxygen 1.9.1 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::StreamRoundRobin Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cudaStream_t</b> typedef (defined in <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get_stream</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>StreamRoundRobin</b>(int num_streams) (defined in <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>sync_all</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~StreamRoundRobin</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></td><td class="entry"></td></tr>
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diff --git a/doc_cpp/classgtsam__points_1_1StreamRoundRobin.html b/doc_cpp/classgtsam__points_1_1StreamRoundRobin.html
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+   <div id="projectname">gtsam_points
+   </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1StreamRoundRobin.html">StreamRoundRobin</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1StreamRoundRobin-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::StreamRoundRobin Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Roundrobin for CUDA streams.  
+ <a href="classgtsam__points_1_1StreamRoundRobin.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="stream__roundrobin_8hpp_source.html">stream_roundrobin.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>cudaStream_t</b> = CUstream_st *</td></tr>
+<tr class="separator:a136f36b52d35c0c90c406fb09b96ef50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a50f2dddb7835d028c958e142d2d5d47c"><td class="memItemLeft" align="right" valign="top"><a id="a50f2dddb7835d028c958e142d2d5d47c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StreamRoundRobin</b> (int num_streams)</td></tr>
+<tr class="separator:a50f2dddb7835d028c958e142d2d5d47c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01924c5ca3a76d64df5425561dacc533"><td class="memItemLeft" align="right" valign="top"><a id="a01924c5ca3a76d64df5425561dacc533"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>sync_all</b> ()</td></tr>
+<tr class="separator:a01924c5ca3a76d64df5425561dacc533"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a925267d62b010ac10d23f082686294aa"><td class="memItemLeft" align="right" valign="top"><a id="a925267d62b010ac10d23f082686294aa"></a>
+cudaStream_t&#160;</td><td class="memItemRight" valign="bottom"><b>get_stream</b> ()</td></tr>
+<tr class="separator:a925267d62b010ac10d23f082686294aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Roundrobin for CUDA streams. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="stream__roundrobin_8hpp_source.html">stream_roundrobin.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/classgtsam__points_1_1StreamTempBufferRoundRobin-members.html b/doc_cpp/classgtsam__points_1_1StreamTempBufferRoundRobin-members.html
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">StreamTempBufferRoundRobin</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::StreamTempBufferRoundRobin Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>clear</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>clear_all</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_stream_buffer</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>StreamTempBufferRoundRobin</b>(int num_streams=16, size_t init_buffer_size=512 *1024) (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sync_all</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~StreamTempBufferRoundRobin</b>() (defined in <a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">gtsam_points::StreamTempBufferRoundRobin</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1StreamTempBufferRoundRobin.html b/doc_cpp/classgtsam__points_1_1StreamTempBufferRoundRobin.html
new file mode 100644
index 00000000..cf41aaf5
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::StreamTempBufferRoundRobin Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1StreamTempBufferRoundRobin.html">StreamTempBufferRoundRobin</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1StreamTempBufferRoundRobin-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::StreamTempBufferRoundRobin Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Roundrobin for pairs of CUDA stream and temporary buffer manager.  
+ <a href="classgtsam__points_1_1StreamTempBufferRoundRobin.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="stream__temp__buffer__roundrobin_8hpp_source.html">stream_temp_buffer_roundrobin.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a58fcd762e3eca1c7bc32aa134b02efb3"><td class="memItemLeft" align="right" valign="top"><a id="a58fcd762e3eca1c7bc32aa134b02efb3"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StreamTempBufferRoundRobin</b> (int num_streams=16, size_t init_buffer_size=512 *1024)</td></tr>
+<tr class="separator:a58fcd762e3eca1c7bc32aa134b02efb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48bf3b4b24139a5c8be56e100a97ed72"><td class="memItemLeft" align="right" valign="top"><a id="a48bf3b4b24139a5c8be56e100a97ed72"></a>
+std::pair&lt; CUstream_st *, TempBufferManager::Ptr &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>get_stream_buffer</b> ()</td></tr>
+<tr class="separator:a48bf3b4b24139a5c8be56e100a97ed72"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71cf1e2db393958c2bded8e62e01b10f"><td class="memItemLeft" align="right" valign="top"><a id="a71cf1e2db393958c2bded8e62e01b10f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>sync_all</b> ()</td></tr>
+<tr class="separator:a71cf1e2db393958c2bded8e62e01b10f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c5315faf26d66c5d90964177a6c65d0"><td class="memItemLeft" align="right" valign="top"><a id="a5c5315faf26d66c5d90964177a6c65d0"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>clear</b> ()</td></tr>
+<tr class="separator:a5c5315faf26d66c5d90964177a6c65d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7fc1e3fbc159af932e2e615ef3f2835a"><td class="memItemLeft" align="right" valign="top"><a id="a7fc1e3fbc159af932e2e615ef3f2835a"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>clear_all</b> ()</td></tr>
+<tr class="separator:a7fc1e3fbc159af932e2e615ef3f2835a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Roundrobin for pairs of CUDA stream and temporary buffer manager. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="stream__temp__buffer__roundrobin_8hpp_source.html">stream_temp_buffer_roundrobin.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1TempBufferManager-members.html b/doc_cpp/classgtsam__points_1_1TempBufferManager-members.html
new file mode 100644
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+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::TempBufferManager Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>clear</b>() (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>clear_all</b>() (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_buffer</b>(size_t buffer_size) (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>TempBufferManager</b>(size_t init_buffer_size=0) (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~TempBufferManager</b>() (defined in <a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">gtsam_points::TempBufferManager</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1TempBufferManager.html b/doc_cpp/classgtsam__points_1_1TempBufferManager.html
new file mode 100644
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+<title>gtsam_points: gtsam_points::TempBufferManager Class Reference</title>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1TempBufferManager-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::TempBufferManager Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Temporary buffer manager.  
+ <a href="classgtsam__points_1_1TempBufferManager.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="stream__temp__buffer__roundrobin_8hpp_source.html">stream_temp_buffer_roundrobin.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">Buffer</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="memitem:a643f9b1b7549869e8bb09600d926b570"><td class="memItemLeft" align="right" valign="top"><a id="a643f9b1b7549869e8bb09600d926b570"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a> &gt;</td></tr>
+<tr class="separator:a643f9b1b7549869e8bb09600d926b570"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a3baccfa814423d469694e8c7bb9030a3"><td class="memItemLeft" align="right" valign="top"><a id="a3baccfa814423d469694e8c7bb9030a3"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>TempBufferManager</b> (size_t init_buffer_size=0)</td></tr>
+<tr class="separator:a3baccfa814423d469694e8c7bb9030a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20e974f4c09a73a674a129cdee8c8b23"><td class="memItemLeft" align="right" valign="top"><a id="a20e974f4c09a73a674a129cdee8c8b23"></a>
+char *&#160;</td><td class="memItemRight" valign="bottom"><b>get_buffer</b> (size_t buffer_size)</td></tr>
+<tr class="separator:a20e974f4c09a73a674a129cdee8c8b23"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6a1b2dd5ea5eafb7c0ef18ab01e5d8f"><td class="memItemLeft" align="right" valign="top"><a id="ab6a1b2dd5ea5eafb7c0ef18ab01e5d8f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>clear</b> ()</td></tr>
+<tr class="separator:ab6a1b2dd5ea5eafb7c0ef18ab01e5d8f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abcc99e60b9fa95e9efdb21a1dc43a94b"><td class="memItemLeft" align="right" valign="top"><a id="abcc99e60b9fa95e9efdb21a1dc43a94b"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>clear_all</b> ()</td></tr>
+<tr class="separator:abcc99e60b9fa95e9efdb21a1dc43a94b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Temporary buffer manager. </p>
+<dl class="section note"><dt>Note</dt><dd>This class allocates a new buffer only when a buffer larger than the largest one among allocated buffers </dd>
+<dd>
+This is useful for managing temporary buffers when using CUB's reduce function several times on a single CUDA stream </dd></dl>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="stream__temp__buffer__roundrobin_8hpp_source.html">stream_temp_buffer_roundrobin.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Vector3iHash.html">Vector3iHash</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::Vector3iHash Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1Vector3iHash.html">gtsam_points::Vector3iHash</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator()</b>(const Eigen::Vector3i &amp;x) const (defined in <a class="el" href="classgtsam__points_1_1Vector3iHash.html">gtsam_points::Vector3iHash</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1Vector3iHash.html">gtsam_points::Vector3iHash</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/classgtsam__points_1_1Vector3iHash.html b/doc_cpp/classgtsam__points_1_1Vector3iHash.html
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+<title>gtsam_points: gtsam_points::Vector3iHash Class Reference</title>
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+ <tr style="height: 56px;">
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+   <div id="projectname">gtsam_points
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+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1Vector3iHash.html">Vector3iHash</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1Vector3iHash-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::Vector3iHash Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Spatial hashing function using boost::hash_combine.  
+ <a href="classgtsam__points_1_1Vector3iHash.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="vector3i__hash_8hpp_source.html">vector3i_hash.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab0997600d9dc73f898fda9fce4f36101"><td class="memItemLeft" align="right" valign="top"><a id="ab0997600d9dc73f898fda9fce4f36101"></a>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Spatial hashing function using boost::hash_combine. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="vector3i__hash_8hpp_source.html">vector3i_hash.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::XORVector3iHash Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classgtsam__points_1_1XORVector3iHash.html">gtsam_points::XORVector3iHash</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator()</b>(const Eigen::Vector3i &amp;x) const (defined in <a class="el" href="classgtsam__points_1_1XORVector3iHash.html">gtsam_points::XORVector3iHash</a>)</td><td class="entry"><a class="el" href="classgtsam__points_1_1XORVector3iHash.html">gtsam_points::XORVector3iHash</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/classgtsam__points_1_1XORVector3iHash.html b/doc_cpp/classgtsam__points_1_1XORVector3iHash.html
new file mode 100644
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::XORVector3iHash Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
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+ <tbody>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classgtsam__points_1_1XORVector3iHash-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::XORVector3iHash Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Spatial hashing function Teschner et al., "Optimized Spatial Hashing for Collision Detection of Deformable Objects", VMV2003.  
+ <a href="classgtsam__points_1_1XORVector3iHash.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="vector3i__hash_8hpp_source.html">vector3i_hash.hpp</a>&gt;</code></p>
+<table class="memberdecls">
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><b>operator()</b> (const Eigen::Vector3i &amp;x) const</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Spatial hashing function Teschner et al., "Optimized Spatial Hashing for Collision Detection of Deformable Objects", VMV2003. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="vector3i__hash_8hpp_source.html">vector3i_hash.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: nanoflann::KDTreeSingleIndexAdaptor&lt; Distance, DatasetAdaptor, DIM, IndexType &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">nanoflann::KDTreeSingleIndexAdaptor&lt; Distance, DatasetAdaptor, DIM, IndexType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="intensity__kdtree_8hpp_source.html">intensity_kdtree.hpp</a></li>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
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+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/Values.h&gt;</span></div>
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+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">   59</a></span>&#160;  gtsam::Pose3 <a class="code" href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">pose</a>(<span class="keyword">const</span> gtsam::Values&amp; values, <span class="keywordtype">double</span> t);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">   66</a></span>&#160;  gtsam::Vector6_ <a class="code" href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">imu</a>(<span class="keywordtype">double</span> t, <span class="keyword">const</span> gtsam::Double_&amp; t_, <span class="keyword">const</span> Eigen::Vector3d&amp; g = Eigen::Vector3d(0.0, 0.0, 9.80665));</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">   73</a></span>&#160;  gtsam::Vector6 <a class="code" href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">imu</a>(<span class="keyword">const</span> gtsam::Values&amp; values, <span class="keywordtype">double</span> t, <span class="keyword">const</span> Eigen::Vector3d&amp; g = Eigen::Vector3d(0.0, 0.0, 9.80665));</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">   82</a></span>&#160;  gtsam::Values <a class="code" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">fit_knots</a>(</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">const</span> std::vector&lt;double&gt;&amp; stamps,</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">const</span> std::vector&lt;gtsam::Pose3&gt;&amp; poses,</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">double</span> smoothness,</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">const</span> gtsam::LevenbergMarquardtParams&amp; lm_params) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  gtsam::Values <a class="code" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">fit_knots</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp; stamps, <span class="keyword">const</span> std::vector&lt;gtsam::Pose3&gt;&amp; poses, <span class="keywordtype">double</span> smoothness = 1e-3, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>)</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">char</span> symbol;</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> start_time;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> end_time;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> knot_interval;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;};</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html">gtsam_points::ContinuousTrajectory</a></div><div class="ttdoc">Continuous trajectory class for offline batch optimization.</div><div class="ttdef"><b>Definition:</b> continuous_trajectory.hpp:21</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a21b99f7dcc46e64fb761d0d65600d23b"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a21b99f7dcc46e64fb761d0d65600d23b">gtsam_points::ContinuousTrajectory::knot_id</a></div><div class="ttdeci">int knot_id(double t) const</div><div class="ttdoc">Key knot ID for a given time.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a383323d30383df793baaab9500d870ce"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">gtsam_points::ContinuousTrajectory::imu</a></div><div class="ttdeci">gtsam::Vector6 imu(const gtsam::Values &amp;values, double t, const Eigen::Vector3d &amp;g=Eigen::Vector3d(0.0, 0.0, 9.80665))</div><div class="ttdoc">Calculate the linear acceleration and angular velocity at t.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a4df769ab3e929d8495cfe21e1a45ed7f"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a4df769ab3e929d8495cfe21e1a45ed7f">gtsam_points::ContinuousTrajectory::knot_max_id</a></div><div class="ttdeci">int knot_max_id() const</div><div class="ttdoc">Number of spline knots.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a4e45cb299a3e448987690b6a87e178b3"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a4e45cb299a3e448987690b6a87e178b3">gtsam_points::ContinuousTrajectory::knot_stamp</a></div><div class="ttdeci">double knot_stamp(int i) const</div><div class="ttdoc">Time of a spline knot.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a5c8f9331e385100cd7b3fc4abe2abb16"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a5c8f9331e385100cd7b3fc4abe2abb16">gtsam_points::ContinuousTrajectory::imu</a></div><div class="ttdeci">gtsam::Vector6_ imu(double t, const gtsam::Double_ &amp;t_, const Eigen::Vector3d &amp;g=Eigen::Vector3d(0.0, 0.0, 9.80665))</div><div class="ttdoc">Get an expression of the linear acceleration and angular velocity at t.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_a77d33f2b0d3d281f8c0eb07fcc18c0e5"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#a77d33f2b0d3d281f8c0eb07fcc18c0e5">gtsam_points::ContinuousTrajectory::pose</a></div><div class="ttdeci">gtsam::Pose3 pose(const gtsam::Values &amp;values, double t)</div><div class="ttdoc">Calculate the interpolated time at t.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_ad563bd5f2f0ba84789db1713e32c364b"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">gtsam_points::ContinuousTrajectory::pose</a></div><div class="ttdeci">gtsam::Pose3_ pose(double t, const gtsam::Double_ &amp;t_)</div><div class="ttdoc">Get an expression of the interpolated time at t.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_add4b602e9a51923d08b14ee51c013ea6"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">gtsam_points::ContinuousTrajectory::fit_knots</a></div><div class="ttdeci">gtsam::Values fit_knots(const std::vector&lt; double &gt; &amp;stamps, const std::vector&lt; gtsam::Pose3 &gt; &amp;poses, double smoothness, const gtsam::LevenbergMarquardtParams &amp;lm_params) const</div><div class="ttdoc">Optimize spline knots to fit the interpolated trajectory to a set of poses.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1ContinuousTrajectory_html_adf987399083dd17b883b4b4e05b634d1"><div class="ttname"><a href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">gtsam_points::ContinuousTrajectory::ContinuousTrajectory</a></div><div class="ttdeci">ContinuousTrajectory(char symbol, double start_time, double end_time, double knot_interval)</div><div class="ttdoc">Construct a continuous trajectory instance.</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
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+<div class="title">covariance_estimation.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1CovarianceEstimationParams.html">   14</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html">CovarianceEstimationParams</a> {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">enum</span> RegularizationMethod { NONE, EIG };</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html">CovarianceEstimationParams</a>() : <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">num_threads</a>(1), <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">k_neighbors</a>(10), <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">regularization_method</a>(EIG), <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">eigen_values</a>(1e-3, 1.0, 1.0) {}</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">   21</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">num_threads</a>;                             </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">   22</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">k_neighbors</a>;                             </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">   23</a></span>&#160;  RegularizationMethod <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">regularization_method</a>;  </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">   24</a></span>&#160;  Eigen::Vector3d <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">eigen_values</a>;                </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;};</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;std::vector&lt;Eigen::Matrix4d&gt; estimate_covariances(<span class="keyword">const</span> Eigen::Vector4d* points, <span class="keywordtype">int</span> num_points, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1CovarianceEstimationParams.html">CovarianceEstimationParams</a>&amp; params);</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;std::vector&lt;Eigen::Matrix4d&gt;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;estimate_covariances(<span class="keyword">const</span> Eigen::Vector4d* points, <span class="keywordtype">int</span> num_points, <span class="keywordtype">int</span> k_neighbors, <span class="keyword">const</span> Eigen::Vector3d&amp; eigen_values, <span class="keywordtype">int</span> num_threads);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;std::vector&lt;Eigen::Matrix4d&gt; estimate_covariances(<span class="keyword">const</span> Eigen::Vector4d* points, <span class="keywordtype">int</span> num_points, <span class="keywordtype">int</span> k_neighbors = 10, <span class="keywordtype">int</span> num_threads = 1);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;std::vector&lt;Eigen::Matrix4d&gt; estimate_covariances(<span class="keyword">const</span> std::vector&lt;Eigen::Vector4d, Alloc&gt;&amp; points, <span class="keywordtype">int</span> k_neighbors = 10, <span class="keywordtype">int</span> num_threads = 1) {</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">return</span> estimate_covariances(points.data(), points.size(), k_neighbors, num_threads);</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1CovarianceEstimationParams_html"><div class="ttname"><a href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></div><div class="ttdoc">Covariance estimation parameters.</div><div class="ttdef"><b>Definition:</b> covariance_estimation.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1CovarianceEstimationParams_html_a241938099162f4996875afc01077a602"><div class="ttname"><a href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">gtsam_points::CovarianceEstimationParams::regularization_method</a></div><div class="ttdeci">RegularizationMethod regularization_method</div><div class="ttdoc">Regularization method.</div><div class="ttdef"><b>Definition:</b> covariance_estimation.hpp:23</div></div>
+<div class="ttc" id="astructgtsam__points_1_1CovarianceEstimationParams_html_a3dc9cc7fb42ea164d1151267b582bf98"><div class="ttname"><a href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">gtsam_points::CovarianceEstimationParams::eigen_values</a></div><div class="ttdeci">Eigen::Vector3d eigen_values</div><div class="ttdoc">Eigenvalues used for EIG regularization.</div><div class="ttdef"><b>Definition:</b> covariance_estimation.hpp:24</div></div>
+<div class="ttc" id="astructgtsam__points_1_1CovarianceEstimationParams_html_ad1a3788dd0252149ae063200966d49f8"><div class="ttname"><a href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">gtsam_points::CovarianceEstimationParams::num_threads</a></div><div class="ttdeci">int num_threads</div><div class="ttdoc">Number of threads.</div><div class="ttdef"><b>Definition:</b> covariance_estimation.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1CovarianceEstimationParams_html_ada607a01ad2f5ef57364756ec6306056"><div class="ttname"><a href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">gtsam_points::CovarianceEstimationParams::k_neighbors</a></div><div class="ttdeci">int k_neighbors</div><div class="ttdoc">Number of neighboring points used for covariance estimation.</div><div class="ttdef"><b>Definition:</b> covariance_estimation.hpp:22</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_9ee62e8752b729f33015cc364b81e6d7.html">cuda</a></li>  </ul>
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+<div class="title">cuda_buffer.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
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+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1CUDABuffer.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1CUDABuffer.html">CUDABuffer</a> {</div>
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+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1CUDABuffer_html"><div class="ttname"><a href="classgtsam__points_1_1CUDABuffer.html">gtsam_points::CUDABuffer</a></div><div class="ttdoc">Device buffer for asynchronous data transfer.</div><div class="ttdef"><b>Definition:</b> cuda_buffer.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1CUDABuffer_html_a2d5e8f79d3956e0398b9fae95aae7aca"><div class="ttname"><a href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">gtsam_points::CUDABuffer::download</a></div><div class="ttdeci">void download(CUstream_st *stream)</div><div class="ttdoc">Download data from the device buffer to the pinned host buffer.</div></div>
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+<div class="title">cuda_malloc_async.hpp</div>  </div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
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+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_9ee62e8752b729f33015cc364b81e6d7.html">cuda</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">cuda_stream.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
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+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+        font-family: "courier new",courier,monospace;
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir, .tparams .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.section.DocNodeRTL {
+  margin-right: 0px;
+  padding-right: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.note.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.warning.DocNodeRTL, dl.attention.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.deprecated.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.todo.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.test.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.bug.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+div.zoom
+{
+	border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+.PageDocRTL-title div.toc {
+  float: left !important;
+  text-align: right;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+.PageDocRTL-title div.toc li {
+  background-position-x: right !important;
+  padding-left: 0 !important;
+  padding-right: 10px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+.PageDocRTL-title div.toc li.level1 {
+  margin-left: 0 !important;
+  margin-right: 0;
+}
+
+.PageDocRTL-title div.toc li.level2 {
+  margin-left: 0 !important;
+  margin-right: 15px;
+}
+
+.PageDocRTL-title div.toc li.level3 {
+  margin-left: 0 !important;
+  margin-right: 30px;
+}
+
+.PageDocRTL-title div.toc li.level4 {
+  margin-left: 0 !important;
+  margin-right: 45px;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	white-space: nowrap;
+	background-color: white;
+	border: 1px solid gray;
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: 1px 1px 7px gray;
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
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diff --git a/doc_cpp/dummy__frame_8hpp_source.html b/doc_cpp/dummy__frame_8hpp_source.html
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/dummy_frame.hpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">dummy_frame.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1DummyFrame.html">    9</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> {};</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">   14</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&gt; {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> size(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> 0; }</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_times(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> time(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame, <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> 0.0; }</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame, <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> Eigen::Vector4d(0, 0, 0, 1); }</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame, <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> Eigen::Vector4d(0, 0, 0, 0); }</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame, <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> Eigen::Matrix4d::Zero(); }</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame, <span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> 0.0; }</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d* points_ptr(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">nullptr</span>; }</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;};</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1DummyFrame_html"><div class="ttname"><a href="structgtsam__points_1_1DummyFrame.html">gtsam_points::DummyFrame</a></div><div class="ttdoc">Dummy frame class for build test.</div><div class="ttdef"><b>Definition:</b> dummy_frame.hpp:9</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
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+
+  // only match elements AFTER this one (can't hide elements before)
+  var childRows = rows.filter(function() { return this.id.match(re); });
+
+  // first row is visible we are HIDING
+  if (childRows.filter(':first').is(':visible')===true) {
+    // replace down arrow by right arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    currentRowSpans.filter(".arrow").html('&#9658;');
+    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
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+    // replace right arrow by down arrow for current row
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+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
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diff --git a/doc_cpp/easy__profiler_8hpp_source.html b/doc_cpp/easy__profiler_8hpp_source.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/easy_profiler.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+        name="MSearchResults" id="MSearchResults">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">easy_profiler.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1EasyProfiler.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a> {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a>(<span class="keyword">const</span> std::string&amp; prof_label, std::ostream&amp; ost) : <a class="code" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a>(prof_label, <span class="keyword">true</span>, <span class="keyword">false</span>, ost) {}</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a>(<span class="keyword">const</span> std::string&amp; prof_label, <span class="keywordtype">bool</span> enabled = <span class="keyword">true</span>, <span class="keywordtype">bool</span> debug = <span class="keyword">false</span>, std::ostream&amp; ost = std::cout)</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  : enabled(enabled),</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    debug(debug),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    prof_label(prof_label),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    ost(ost) {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">if</span> (!enabled) {</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    }</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    labels.push_back(<span class="stringliteral">&quot;begin&quot;</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    times.push_back(std::chrono::high_resolution_clock::now());</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">if</span> (debug) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      ost &lt;&lt; <span class="stringliteral">&quot;--- &quot;</span> &lt;&lt; prof_label &lt;&lt; <span class="stringliteral">&quot; (debug) ---&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  }</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  ~<a class="code" href="classgtsam__points_1_1EasyProfiler.html">EasyProfiler</a>() {</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">if</span> (!enabled) {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    }</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    labels.push_back(<span class="stringliteral">&quot;end&quot;</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    times.push_back(std::chrono::high_resolution_clock::now());</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    ost &lt;&lt; <span class="stringliteral">&quot;--- &quot;</span> &lt;&lt; prof_label &lt;&lt; <span class="stringliteral">&quot; ---&quot;</span> &lt;&lt; <span class="charliteral">&#39;\n&#39;</span>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">int</span> longest = 0;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; label : labels) {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      longest = std::max&lt;int&gt;(label.size(), longest);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; labels.size(); i++) {</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      std::vector&lt;char&gt; pad(longest - labels[i - 1].size(), <span class="charliteral">&#39; &#39;</span>);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      std::string label = labels[i - 1] + std::string(pad.begin(), pad.end());</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      ost &lt;&lt; label &lt;&lt; <span class="stringliteral">&quot;:&quot;</span> &lt;&lt; std::chrono::duration_cast&lt;std::chrono::nanoseconds&gt;(times[i] - times[i - 1]).count() / 1e6 &lt;&lt; <span class="stringliteral">&quot;[msec]&quot;</span> &lt;&lt; <span class="charliteral">&#39;\n&#39;</span>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    ost &lt;&lt; <span class="stringliteral">&quot;total:&quot;</span> &lt;&lt; std::chrono::duration_cast&lt;std::chrono::nanoseconds&gt;(times.back() - times.front()).count() / 1e6 &lt;&lt; <span class="stringliteral">&quot;[msec]&quot;</span> &lt;&lt; <span class="charliteral">&#39;\n&#39;</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    ost &lt;&lt; std::flush;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> push(<span class="keyword">const</span> std::string&amp; label) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">if</span> (!enabled) {</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    labels.push_back(label);</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    times.push_back(std::chrono::high_resolution_clock::now());</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">if</span> (debug) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      ost &lt;&lt; <span class="stringliteral">&quot;&gt;&gt; &quot;</span> &lt;&lt; label &lt;&lt; <span class="stringliteral">&quot; (&quot;</span> &lt;&lt; std::chrono::duration_cast&lt;std::chrono::nanoseconds&gt;(times.back() - times.front()).count() / 1e6 &lt;&lt; <span class="stringliteral">&quot;[msec])&quot;</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">bool</span> enabled;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">bool</span> debug;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">const</span> std::string prof_label;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  std::vector&lt;std::string&gt; labels;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::vector&lt;std::chrono::high_resolution_clock::time_point&gt; times;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::ostream&amp; ost;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  std::ofstream ofs;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;};</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1EasyProfiler_html"><div class="ttname"><a href="classgtsam__points_1_1EasyProfiler.html">gtsam_points::EasyProfiler</a></div><div class="ttdef"><b>Definition:</b> easy_profiler.hpp:13</div></div>
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+<div class="title">easy_profiler_cuda.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/expressions.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/slam/expressions.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/expressions.h&gt;</span></div>
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+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> Eigen::Matrix&lt;double, N, 1&gt;&amp; v1,</div>
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+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    gtsam::OptionalJacobian&lt;N, N&gt; H1,</div>
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+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">if</span> (H2) {</div>
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+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;};</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1internal_1_1vector2__traits.html">   58</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1internal_1_1vector2__traits.html">vector2_traits</a> {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">static</span> Eigen::Matrix&lt;double, N + M, 1&gt; Concatenate(</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">const</span> Eigen::Matrix&lt;double, N, 1&gt;&amp; x1,</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> Eigen::Matrix&lt;double, M, 1&gt;&amp; x2,</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    gtsam::OptionalJacobian&lt;N + M, N&gt; H1,</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    gtsam::OptionalJacobian&lt;N + M, M&gt; H2) {</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">if</span> (H1) {</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      H1-&gt;setZero();</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      H1-&gt;template topLeftCorner&lt;N, N&gt;().setIdentity();</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">if</span> (H2) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      H2-&gt;setZero();</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      H2-&gt;template bottomRightCorner&lt;M, M&gt;().setIdentity();</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> (Eigen::Matrix&lt;double, N + M, 1&gt;() &lt;&lt; x1, x2).finished();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;};</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}  <span class="comment">// namespace internal</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt; product(</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; v1,</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; v2) {</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">return</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;(&amp;<a class="code" href="structgtsam__points_1_1internal_1_1vector__traits.html">internal::vector_traits&lt;N&gt;::Product</a>, v1, v2);</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt; scale(<span class="keyword">const</span> gtsam::Double_&amp; s, <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; v) {</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">return</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;(&amp;internal::vector_traits&lt;N&gt;::Scale, s, v);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt; add(</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; v1,</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; v2) {</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">return</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;(&amp;internal::vector_traits&lt;N&gt;::Add, v1, v2);</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;gtsam::Expression&lt;Eigen::Matrix&lt;double, N + M, 1&gt;&gt; concatenate(</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N, 1&gt;&gt;&amp; x1,</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">const</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, M, 1&gt;&gt;&amp; x2) {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">return</span> gtsam::Expression&lt;Eigen::Matrix&lt;double, N + M, 1&gt;&gt;(&amp;internal::vector2_traits&lt;N, M&gt;::Concatenate, x1, x2);</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">inline</span> gtsam::Pose3_ create_se3(<span class="keyword">const</span> gtsam::Rot3_&amp; rot, <span class="keyword">const</span> gtsam::Vector3_&amp; trans) {</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> gtsam::Pose3_(&amp;gtsam::Pose3::Create, rot, trans);</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">inline</span> gtsam::Pose3_ expmap(<span class="keyword">const</span> gtsam::Vector6_&amp; x) {</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">return</span> gtsam::Pose3_(&amp;gtsam::Pose3::Expmap, x);</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">inline</span> gtsam::Vector6_ logmap(<span class="keyword">const</span> gtsam::Pose3_&amp; x) {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">return</span> gtsam::Vector6_(&amp;gtsam::Pose3::Logmap, x);</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">inline</span> gtsam::Rot3_ expmap(<span class="keyword">const</span> gtsam::Vector3_&amp; x) {</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">return</span> gtsam::Rot3_(&amp;gtsam::Rot3::Expmap, x);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">inline</span> gtsam::Vector3_ logmap(<span class="keyword">const</span> gtsam::Rot3_&amp; x) {</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">return</span> gtsam::Vector3_(&amp;gtsam::Rot3::Logmap, x);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">inline</span> gtsam::Pose3_ inverse(<span class="keyword">const</span> gtsam::Pose3_&amp; x) {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">auto</span> f = [](<span class="keyword">const</span> gtsam::Pose3&amp; x, gtsam::OptionalJacobian&lt;6, 6&gt; H) { <span class="keywordflow">return</span> x.inverse(H); };</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">return</span> gtsam::Pose3_(f, x);</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1internal_1_1vector2__traits_html"><div class="ttname"><a href="structgtsam__points_1_1internal_1_1vector2__traits.html">gtsam_points::internal::vector2_traits</a></div><div class="ttdef"><b>Definition:</b> expressions.hpp:58</div></div>
+<div class="ttc" id="astructgtsam__points_1_1internal_1_1vector__traits_html"><div class="ttname"><a href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits</a></div><div class="ttdef"><b>Definition:</b> expressions.hpp:15</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">fast_floor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">inline</span> Eigen::Array4i fast_floor(<span class="keyword">const</span> Eigen::Array4d&amp; pt) {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="keyword">const</span> Eigen::Array4i ncoord = pt.cast&lt;<span class="keywordtype">int</span>&gt;();</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keywordflow">return</span> ncoord - (pt &lt; ncoord.cast&lt;<span class="keywordtype">double</span>&gt;()).cast&lt;<span class="keywordtype">int</span>&gt;();</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">flat_container.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;queue&gt;</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/knn_result.hpp&gt;</span></div>
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+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>.size(); i++) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> sq_dist = (<a class="code" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>[i] - pt).squaredNorm();</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      result.push(i, sq_dist);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    }</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">   75</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>;   </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">   76</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">normals</a>;  </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">   77</a></span>&#160;  std::vector&lt;Eigen::Matrix4d&gt; <a class="code" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">covs</a>;     </div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">   78</a></span>&#160;  std::vector&lt;double&gt; <a class="code" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">intensities</a>;       </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;};</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">   84</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&gt; {</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> size(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a216ff7fc0c5f1113255dd6a38b7babb0">size</a>(); }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame) { <span class="keywordflow">return</span> !frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>.empty(); }</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame) { <span class="keywordflow">return</span> !frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">normals</a>.empty(); }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame) { <span class="keywordflow">return</span> !frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">covs</a>.empty(); }</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame) { <span class="keywordflow">return</span> !frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">intensities</a>.empty(); }</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>[i]; }</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">normals</a>[i]; }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">covs</a>[i]; }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">intensities</a>[i]; }</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;};</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_1_1Setting_html"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a></div><div class="ttdoc">FlatContainer setting.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:18</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_1_1Setting_html_a1054f187b28d664d262cd26c25df2150"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a1054f187b28d664d262cd26c25df2150">gtsam_points::FlatContainer::Setting::min_sq_dist_in_cell</a></div><div class="ttdeci">double min_sq_dist_in_cell</div><div class="ttdoc">Minimum squared distance between points in a cell.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:22</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_1_1Setting_html_a3c97a96c780188c5e43036760866695d"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a3c97a96c780188c5e43036760866695d">gtsam_points::FlatContainer::Setting::max_num_points_in_cell</a></div><div class="ttdeci">size_t max_num_points_in_cell</div><div class="ttdoc">Maximum number of points in a cell.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:23</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></div><div class="ttdoc">Point container with a flat vector.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:15</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a073ceabd0454f18f42948c668ad321b6"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">gtsam_points::FlatContainer::knn_search</a></div><div class="ttdeci">void knn_search(const Eigen::Vector4d &amp;pt, Result &amp;result) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:63</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a216ff7fc0c5f1113255dd6a38b7babb0"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a216ff7fc0c5f1113255dd6a38b7babb0">gtsam_points::FlatContainer::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:30</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a53c589df43553458975bd432153cea4b"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">gtsam_points::FlatContainer::covs</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4d &gt; covs</div><div class="ttdoc">Covariances.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:77</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a5c602bfcce6749d230f51538d521a051"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">gtsam_points::FlatContainer::intensities</a></div><div class="ttdeci">std::vector&lt; double &gt; intensities</div><div class="ttdoc">Intensities.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:78</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a681475082715cf2186eca5cc12f4b342"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">gtsam_points::FlatContainer::normals</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; normals</div><div class="ttdoc">Normals.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:76</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_a8952d415bca1f4f227dd91f8be67f224"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#a8952d415bca1f4f227dd91f8be67f224">gtsam_points::FlatContainer::FlatContainer</a></div><div class="ttdeci">FlatContainer()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:27</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_aab0beb882860193c35bf3313214fe01a"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">gtsam_points::FlatContainer::points</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; points</div><div class="ttdoc">Points.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:75</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_ab5a8cd55821dfc67d5326b6e51177c40"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#ab5a8cd55821dfc67d5326b6e51177c40">gtsam_points::FlatContainer::add</a></div><div class="ttdeci">void add(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</div><div class="ttdoc">Add a point to the container.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:33</div></div>
+<div class="ttc" id="astructgtsam__points_1_1FlatContainer_html_ac177262270d21537ad173452535a9e86"><div class="ttname"><a href="structgtsam__points_1_1FlatContainer.html#ac177262270d21537ad173452535a9e86">gtsam_points::FlatContainer::finalize</a></div><div class="ttdeci">void finalize()</div><div class="ttdoc">Finalize the container (Nothing to do for FlatContainer).</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:57</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a1d898d1fb7984663e6be72e8d5d63496"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud::normals</a></div><div class="ttdeci">Eigen::Vector4d * normals</div><div class="ttdoc">Point normals (nx, ny, nz, 0)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:107</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a62abe6394c4d482ee3bd32d02e699253"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">gtsam_points::PointCloud::covs</a></div><div class="ttdeci">Eigen::Matrix4d * covs</div><div class="ttdoc">Point covariances cov(3, 3) = 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:108</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a79fa5fb881a7c1d9b7ff9c8efe421366"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">gtsam_points::PointCloud::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:43</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a8fdc9c000e50ea2efc0d4b38a7121d6c"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">gtsam_points::PointCloud::intensities</a></div><div class="ttdeci">double * intensities</div><div class="ttdoc">Point intensities.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:109</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+<div class="title">frame_traits.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// #include &lt;type_traits&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;boost/poly_collection/detail/is_invocable.hpp&gt;</span></div>
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+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
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+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits&lt;T&gt;::has_covs</a>(t);</div>
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+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1has__intensities__defined.html">  112</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1has__intensities__defined.html">has_intensities_defined</a> : std::false_type {};</div>
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+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1has__intensities__defined_3_01T_00_01std_1_1enable__if__t_3_01boa0184193f80406c00647a7f451279cb6.html">  115</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1has__intensities__defined.html">has_intensities_defined</a>&lt;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  T,</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  std::enable_if_t&lt;boost::poly_collection::detail::is_invocable&lt;decltype(&amp;traits&lt;T&gt;::has_intensities), const T&amp;&gt;::value&gt;&gt; : std::true_type {};</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;std::enable_if_t&lt;has_intensities_defined&lt;T&gt;::value, <span class="keywordtype">bool</span>&gt; has_intensities(<span class="keyword">const</span> T&amp; t) {</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits&lt;T&gt;::has_intensities</a>(t);</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;std::enable_if_t&lt;!has_intensities_defined&lt;T&gt;::value, <span class="keywordtype">bool</span>&gt; has_intensities(<span class="keyword">const</span> T&amp; t) {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">// Point accessors</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keywordtype">double</span> time(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::time(t, i);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;decltype(<span class="keyword">auto</span>) point(const T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::point(t, i);</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">// Normal</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> = <span class="keywordtype">void</span>&gt;</div>
+<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1normal__defined.html">  142</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1normal__defined.html">normal_defined</a> : std::false_type {};</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1normal__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1pol389870aa79ece316bfbc640f982fd446.html">  145</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1normal__defined.html">normal_defined</a>&lt;T, std::enable_if_t&lt;boost::poly_collection::detail::is_invocable&lt;decltype(&amp;traits&lt;T&gt;::normal), const T&amp;, size_t&gt;::value&gt;&gt;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;: std::true_type {};</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;template &lt;typename T, typename std::enable_if_t&lt;normal_defined&lt;T&gt;::value&gt;* = <span class="keyword">nullptr</span>&gt;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;decltype(<span class="keyword">auto</span>) normal(const T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits&lt;T&gt;::normal</a>(t, i);</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;}</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;template &lt;typename T, typename std::enable_if_t&lt;!normal_defined&lt;T&gt;::value&gt;* = <span class="keyword">nullptr</span>&gt;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;Eigen::Vector4d normal(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  std::cerr &lt;&lt; <span class="stringliteral">&quot;error: undefined point attribute access (normal)!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  abort();</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">return</span> Eigen::Vector4d(0, 0, 0, 0);</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;decltype(<span class="keyword">auto</span>) cov(const T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::cov(t, i);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;decltype(<span class="keyword">auto</span>) intensity(const T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::intensity(t, i);</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;decltype(<span class="keyword">auto</span>) intensity_gradient(const T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::intensity_gradient(t, i);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">auto</span> time_gpu(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::time_gpu(t, i);</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">auto</span> point_gpu(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::point_gpu(t, i);</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;}</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="keyword">auto</span> normal_gpu(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::normal_gpu(t, i);</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="keyword">auto</span> cov_gpu(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::cov_gpu(t, i);</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;}</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">auto</span> intensity_gpu(<span class="keyword">const</span> T&amp; t, <span class="keywordtype">size_t</span> i) {</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">return</span> traits&lt;T&gt;::intensity_gpu(t, i);</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1has__covs__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1has__covs__defined.html">gtsam_points::frame::has_covs_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:94</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1has__intensities__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1has__intensities__defined.html">gtsam_points::frame::has_intensities_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:112</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1has__normals__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1has__normals__defined.html">gtsam_points::frame::has_normals_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:76</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1has__points__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1has__points__defined.html">gtsam_points::frame::has_points_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:58</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1has__times__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1has__times__defined.html">gtsam_points::frame::has_times_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:40</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1normal__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1normal__defined.html">gtsam_points::frame::normal_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:142</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1size__defined_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1size__defined.html">gtsam_points::frame::size_defined</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>add()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+, <a class="el" href="structgtsam__points_1_1FlatContainer.html#ab5a8cd55821dfc67d5326b6e51177c40">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">gtsam_points::LsqBundleAdjustmentFactor</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a284437fb6977415d1eb87eb5c4500312">gtsam_points::NonlinearFactorSetGPU</a>
+, <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>age()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>aux_attribute()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">gtsam_points::PointCloud</a>
+</li>
+<li>aux_attributes
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">gtsam_points::PointCloud</a>
+</li>
+<li>axis
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">gtsam_points::AxisAlignedProjection</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_b.html b/doc_cpp/functions_b.html
new file mode 100644
index 00000000..34189046
--- /dev/null
+++ b/doc_cpp/functions_b.html
@@ -0,0 +1,94 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>BALMFeature()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">gtsam_points::BALMFeature</a>
+</li>
+<li>birthday()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>boost::serialization::access
+: <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::LinearDampingFactor</a>
+, <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::RotateVector3Factor</a>
+</li>
+<li>buckets
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>buffer_size()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>build_tree()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_c.html b/doc_cpp/functions_c.html
new file mode 100644
index 00000000..5908be14
--- /dev/null
+++ b/doc_cpp/functions_c.html
@@ -0,0 +1,145 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_index()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>calc_linear_factors()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>capacity
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>check_covs()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">gtsam_points::PointCloud</a>
+</li>
+<li>check_covs_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">gtsam_points::PointCloud</a>
+</li>
+<li>check_intensities()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">gtsam_points::PointCloud</a>
+</li>
+<li>check_intensities_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">gtsam_points::PointCloud</a>
+</li>
+<li>check_normals()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">gtsam_points::PointCloud</a>
+</li>
+<li>check_normals_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">gtsam_points::PointCloud</a>
+</li>
+<li>check_points()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">gtsam_points::PointCloud</a>
+</li>
+<li>check_points_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">gtsam_points::PointCloud</a>
+</li>
+<li>check_times()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">gtsam_points::PointCloud</a>
+</li>
+<li>check_times_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">gtsam_points::PointCloud</a>
+</li>
+<li>clear()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a3d5b98345e83f002144c8c1c262ed901">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>clear_counts()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#aed92fa7450ccfde7b478dbfe6bd97c0d">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>clone()
+: <a class="el" href="structgtsam__points_1_1PointCloudCPU.html#a56027ef4dd5e5ce5fe3b4eb6684d6d7d">gtsam_points::PointCloudCPU</a>
+</li>
+<li>ContinuousTrajectory()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>coord
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">gtsam_points::VoxelInfo</a>
+</li>
+<li>cov
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">gtsam_points::GaussianVoxel</a>
+</li>
+<li>covs
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">gtsam_points::PointCloud</a>
+</li>
+<li>covs_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">gtsam_points::PointCloud</a>
+</li>
+<li>create_node()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_d.html b/doc_cpp/functions_d.html
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+++ b/doc_cpp/functions_d.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>device_buffer()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a387ce02c73490b2ed301ebef70906b4b">gtsam_points::CUDABuffer</a>
+</li>
+<li>distances
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>download()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_e.html b/doc_cpp/functions_e.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>eig_stats
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>eig_stddev_thresh_scale
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>eigen_values
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">gtsam_points::CovarianceEstimationParams</a>
+</li>
+<li>epsilon
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">gtsam_points::KnnSetting</a>
+</li>
+<li>error()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">gtsam_points::IntegratedMatchingCostFactor</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a952d0571693362362361687c183498d3">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>estimate()
+: <a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">gtsam_points::IntensityGradients</a>
+</li>
+<li>evaluate()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>evaluation_count()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad75382613d16ede4f6414c95e26147f4">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>evaluation_input_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>evaluation_output_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/functions_f.html b/doc_cpp/functions_f.html
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+++ b/doc_cpp/functions_f.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>finalize()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#ac177262270d21537ad173452535a9e86">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>finalized
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">gtsam_points::GaussianVoxel</a>
+</li>
+<li>find_axis()
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">gtsam_points::AxisAlignedProjection</a>
+</li>
+<li>first
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>fit_knots()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>flags
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>flat_voxels
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>FlatContainer()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a8952d415bca1f4f227dd91f8be67f224">gtsam_points::FlatContainer</a>
+</li>
+<li>Fmn()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">gtsam_points::BALMFeature</a>
+</li>
+<li>fulfilled()
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">gtsam_points::KnnSetting</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>add()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9187b4b0e316669299f5159b2d0e652c">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aecb557d789977d27601bcba8833c6d3a">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+, <a class="el" href="structgtsam__points_1_1FlatContainer.html#ab5a8cd55821dfc67d5326b6e51177c40">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a9d682131c840972322b9bd4986f2e565">gtsam_points::LsqBundleAdjustmentFactor</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a284437fb6977415d1eb87eb5c4500312">gtsam_points::NonlinearFactorSetGPU</a>
+, <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>age()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>aux_attribute()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">gtsam_points::PointCloud</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>BALMFeature()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">gtsam_points::BALMFeature</a>
+</li>
+<li>birthday()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>buffer_size()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>build_tree()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>calc_index()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>calc_linear_factors()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a83d5ce13a1fa37d2f4d6d5d2ea4fb68d">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>check_covs()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">gtsam_points::PointCloud</a>
+</li>
+<li>check_covs_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">gtsam_points::PointCloud</a>
+</li>
+<li>check_intensities()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">gtsam_points::PointCloud</a>
+</li>
+<li>check_intensities_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">gtsam_points::PointCloud</a>
+</li>
+<li>check_normals()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">gtsam_points::PointCloud</a>
+</li>
+<li>check_normals_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">gtsam_points::PointCloud</a>
+</li>
+<li>check_points()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">gtsam_points::PointCloud</a>
+</li>
+<li>check_points_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">gtsam_points::PointCloud</a>
+</li>
+<li>check_times()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">gtsam_points::PointCloud</a>
+</li>
+<li>check_times_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">gtsam_points::PointCloud</a>
+</li>
+<li>clear()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a3d5b98345e83f002144c8c1c262ed901">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>clear_counts()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#aed92fa7450ccfde7b478dbfe6bd97c0d">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>clone()
+: <a class="el" href="structgtsam__points_1_1PointCloudCPU.html#a56027ef4dd5e5ce5fe3b4eb6684d6d7d">gtsam_points::PointCloudCPU</a>
+</li>
+<li>ContinuousTrajectory()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#adf987399083dd17b883b4b4e05b634d1">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>create_node()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>device_buffer()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a387ce02c73490b2ed301ebef70906b4b">gtsam_points::CUDABuffer</a>
+</li>
+<li>download()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a2d5e8f79d3956e0398b9fae95aae7aca">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>error()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">gtsam_points::IntegratedMatchingCostFactor</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a952d0571693362362361687c183498d3">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>estimate()
+: <a class="el" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">gtsam_points::IntensityGradients</a>
+</li>
+<li>evaluate()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>evaluation_count()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad75382613d16ede4f6414c95e26147f4">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>evaluation_input_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a0449baf159f7c5480307c0aa9254f60e">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>evaluation_output_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>finalize()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#ac177262270d21537ad173452535a9e86">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>find_axis()
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">gtsam_points::AxisAlignedProjection</a>
+</li>
+<li>fit_knots()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#add4b602e9a51923d08b14ee51c013ea6">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>FlatContainer()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a8952d415bca1f4f227dd91f8be67f224">gtsam_points::FlatContainer</a>
+</li>
+<li>Fmn()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">gtsam_points::BALMFeature</a>
+</li>
+<li>fulfilled()
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">gtsam_points::KnnSetting</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>GaussianVoxel()
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">gtsam_points::GaussianVoxel</a>
+</li>
+<li>GaussianVoxelMapCPU()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>GaussianVoxelMapGPU()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/functions_func_h.html b/doc_cpp/functions_func_h.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>has_covs()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">gtsam_points::PointCloud</a>
+</li>
+<li>has_covs_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">gtsam_points::PointCloud</a>
+</li>
+<li>has_intensities()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">gtsam_points::PointCloud</a>
+</li>
+<li>has_intensities_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">gtsam_points::PointCloud</a>
+</li>
+<li>has_normals()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">gtsam_points::PointCloud</a>
+</li>
+<li>has_normals_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">gtsam_points::PointCloud</a>
+</li>
+<li>has_points()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">gtsam_points::PointCloud</a>
+</li>
+<li>has_points_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">gtsam_points::PointCloud</a>
+</li>
+<li>has_times()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">gtsam_points::PointCloud</a>
+</li>
+<li>has_times_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">gtsam_points::PointCloud</a>
+</li>
+<li>Hij()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">gtsam_points::BALMFeature</a>
+</li>
+<li>host_buffer()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#aeda4a4376ad00d65c51bd302af23e38f">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_func_i.html b/doc_cpp/functions_func_i.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>imu()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>IncrementalCovarianceContainer()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>IncrementalCovarianceVoxelMap()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>IncrementalVoxelMap()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>inlier_fraction()
+: <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>insert()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">gtsam_points::GaussianVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>IntegratedColorConsistencyFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+</li>
+<li>IntegratedCT_GICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedCT_ICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#afa550a452e5ccc589087ef2d703ab82d">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedGICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedMatchingCostFactor()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>IntegratedVGICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>IntegratedVGICPFactorGPU()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>IntensityKdTree()
+: <a class="el" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">gtsam_points::IntensityKdTree</a>
+</li>
+<li>issue_compute_error()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>issue_linearize()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>Ji()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">gtsam_points::BALMFeature</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>KdTreeBuilderOMP()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>knn_search()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+, <a class="el" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">gtsam_points::IntensityKdTree</a>
+, <a class="el" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">gtsam_points::KdTree2&lt; Frame &gt;</a>
+, <a class="el" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">gtsam_points::KdTree</a>
+, <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>knn_search_force()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>KnnResult()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>knot_id()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a21b99f7dcc46e64fb761d0d65600d23b">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>knot_max_id()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4df769ab3e929d8495cfe21e1a45ed7f">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>knot_stamp()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4e45cb299a3e448987690b6a87e178b3">gtsam_points::ContinuousTrajectory</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+</iframe>
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+&#160;
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+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>leaf_size()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>linearization_count()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ae30156e831944b91691e1fd4cfdb5d55">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>linearization_input_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>linearization_output_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>linearize()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>load()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>lookup_voxel()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>lookup_voxel_index()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
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+&#160;
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+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>max()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>mean()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>min()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>nearest_neighbor_search()
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>num_found()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>num_points()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">gtsam_points::LsqBundleAdjustmentFactor</a>
+</li>
+<li>num_voxels()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>gtsam_points: Class Members - Functions</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+ </tbody>
+</table>
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>operator()()
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">gtsam_points::AxisAlignedProjection</a>
+</li>
+<li>operator+=()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">gtsam_points::RunningStatistics&lt; T &gt;</a>
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+<title>gtsam_points: Class Members - Functions</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>point_id()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>PointCloudCPU()
+: <a class="el" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">gtsam_points::PointCloudCPU</a>
+</li>
+<li>pose()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>push()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_func_r.html b/doc_cpp/functions_func_r.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>remove_old_invalid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>resize()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#aa8d36b29450b3771f89c70fba9366f65">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_func_s.html b/doc_cpp/functions_func_s.html
new file mode 100644
index 00000000..d454b84c
--- /dev/null
+++ b/doc_cpp/functions_func_s.html
@@ -0,0 +1,179 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>save()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">gtsam_points::PointCloud</a>
+</li>
+<li>save_compact()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">gtsam_points::PointCloud</a>
+</li>
+<li>set_correspondence_update_tolerance()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_eig_stddev_thresh_scale()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_enable_surface_validation()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>set_evaluation_point()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>set_inlier_update_thresh()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>set_linearization_point()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>set_lowrate_cycles()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_lru_clear_cycle()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_lru_horizon()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_max_correspondence_distance()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_min_num_neighbors()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_neighbor_voxel_mode()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_num_neighbors()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_num_threads()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>set_photometric_term_weight()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+</li>
+<li>set_point_to_plane_distance()
+: <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_remove_invalid_age_thresh()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_scale()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+</li>
+<li>set_valid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>set_voxel_resolution()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_warmup_cycles()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>size()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">gtsam_points::CUDABuffer</a>
+, <a class="el" href="structgtsam__points_1_1FlatContainer.html#a216ff7fc0c5f1113255dd6a38b7babb0">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a74cb38839fdae642b63e86a4c9769337">gtsam_points::NonlinearFactorSetGPU</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">gtsam_points::PointCloud</a>
+, <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>std()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>store_computed_error()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>store_linearized()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>sync()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ab77071c0654a615f60c1d1d98946b0ea">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_func_u.html b/doc_cpp/functions_func_u.html
new file mode 100644
index 00000000..7a5c7751
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UnsafeKdTree()
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>update_correspondences()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>upload()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#ae2465e08c7ccb03ad039b8c6bbb7d6fc">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/functions_func_v.html b/doc_cpp/functions_func_v.html
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--- /dev/null
+++ b/doc_cpp/functions_func_v.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>valid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>valid_indices()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>var()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>voxel_coord()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>voxel_covs()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_id()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_insertion_setting()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_normals()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_points()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_resolution()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">gtsam_points::GaussianVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>VoxelInfo()
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">gtsam_points::VoxelInfo</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_func_w.html b/doc_cpp/functions_func_w.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/functions_func_w.html
@@ -0,0 +1,77 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>worst_distance()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_g.html b/doc_cpp/functions_g.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/functions_g.html
@@ -0,0 +1,83 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>GaussianVoxel()
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">gtsam_points::GaussianVoxel</a>
+</li>
+<li>GaussianVoxelMapCPU()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>GaussianVoxelMapGPU()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_h.html b/doc_cpp/functions_h.html
new file mode 100644
index 00000000..f0a499d8
--- /dev/null
+++ b/doc_cpp/functions_h.html
@@ -0,0 +1,110 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>has_covs()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">gtsam_points::PointCloud</a>
+</li>
+<li>has_covs_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">gtsam_points::PointCloud</a>
+</li>
+<li>has_intensities()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">gtsam_points::PointCloud</a>
+</li>
+<li>has_intensities_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">gtsam_points::PointCloud</a>
+</li>
+<li>has_normals()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">gtsam_points::PointCloud</a>
+</li>
+<li>has_normals_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">gtsam_points::PointCloud</a>
+</li>
+<li>has_points()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">gtsam_points::PointCloud</a>
+</li>
+<li>has_points_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">gtsam_points::PointCloud</a>
+</li>
+<li>has_times()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">gtsam_points::PointCloud</a>
+</li>
+<li>has_times_gpu()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">gtsam_points::PointCloud</a>
+</li>
+<li>Hij()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">gtsam_points::BALMFeature</a>
+</li>
+<li>host_buffer()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#aeda4a4376ad00d65c51bd302af23e38f">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_i.html b/doc_cpp/functions_i.html
new file mode 100644
index 00000000..b5fe14b7
--- /dev/null
+++ b/doc_cpp/functions_i.html
@@ -0,0 +1,149 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>imu()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a383323d30383df793baaab9500d870ce">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>IncrementalCovarianceContainer()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>IncrementalCovarianceVoxelMap()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>IncrementalVoxelMap()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>indices
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>init_num_buckets
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>inlier_fraction()
+: <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>insert()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">gtsam_points::GaussianVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>IntegratedColorConsistencyFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+</li>
+<li>IntegratedCT_GICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">gtsam_points::IntegratedCT_GICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedCT_ICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">gtsam_points::IntegratedCT_ICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedGICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>IntegratedMatchingCostFactor()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>IntegratedVGICPFactor_()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>IntegratedVGICPFactorGPU()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>intensities
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">gtsam_points::PointCloud</a>
+</li>
+<li>intensities_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">gtsam_points::PointCloud</a>
+</li>
+<li>IntensityKdTree()
+: <a class="el" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">gtsam_points::IntensityKdTree</a>
+</li>
+<li>inv_leaf_size
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>issue_compute_error()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>issue_linearize()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_j.html b/doc_cpp/functions_j.html
new file mode 100644
index 00000000..50283cd4
--- /dev/null
+++ b/doc_cpp/functions_j.html
@@ -0,0 +1,77 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>Ji()
+: <a class="el" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">gtsam_points::BALMFeature</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_k.html b/doc_cpp/functions_k.html
new file mode 100644
index 00000000..8774c25c
--- /dev/null
+++ b/doc_cpp/functions_k.html
@@ -0,0 +1,108 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>k_neighbors
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">gtsam_points::CovarianceEstimationParams</a>
+</li>
+<li>KdTreeBuilderOMP()
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>knn_search()
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+, <a class="el" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">gtsam_points::IntensityKdTree</a>
+, <a class="el" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">gtsam_points::KdTree2&lt; Frame &gt;</a>
+, <a class="el" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">gtsam_points::KdTree</a>
+, <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>knn_search_force()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>KnnResult()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>knot_id()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a21b99f7dcc46e64fb761d0d65600d23b">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>knot_max_id()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4df769ab3e929d8495cfe21e1a45ed7f">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>knot_stamp()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#a4e45cb299a3e448987690b6a87e178b3">gtsam_points::ContinuousTrajectory</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_l.html b/doc_cpp/functions_l.html
new file mode 100644
index 00000000..c5cca2a9
--- /dev/null
+++ b/doc_cpp/functions_l.html
@@ -0,0 +1,124 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>last
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>leaf_size()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>left
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a3aeda130c2e70dac5f1830fec2a2a54c">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>linearization_count()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ae30156e831944b91691e1fd4cfdb5d55">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>linearization_input_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>linearization_output_size()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>linearize()
+: <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">gtsam_points::NonlinearFactorSetGPU</a>
+</li>
+<li>load()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>lookup_voxel()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>lookup_voxel_index()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>lowrate_cycles
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>lr
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>lru
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">gtsam_points::VoxelInfo</a>
+</li>
+<li>lru_clear_cycle
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>lru_counter
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>lru_horizon
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_m.html b/doc_cpp/functions_m.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/functions_m.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>max()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>max_bucket_scan_count
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a9279f89c9f33e4b7c5b4438991006ab4">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>max_leaf_size
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>max_num_points_in_cell
+: <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a3c97a96c780188c5e43036760866695d">gtsam_points::FlatContainer::Setting</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">gtsam_points::IncrementalCovarianceContainer::Setting</a>
+</li>
+<li>max_scan_count
+: <a class="el" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">gtsam_points::ProjectionSetting</a>
+</li>
+<li>max_sq_dist
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">gtsam_points::KnnSetting</a>
+</li>
+<li>mean
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>min()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>min_num_neighbors
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>min_sq_dist_in_cell
+: <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a1054f187b28d664d262cd26c25df2150">gtsam_points::FlatContainer::Setting</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">gtsam_points::IncrementalCovarianceContainer::Setting</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_n.html b/doc_cpp/functions_n.html
new file mode 100644
index 00000000..f591cfc9
--- /dev/null
+++ b/doc_cpp/functions_n.html
@@ -0,0 +1,117 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>nearest_neighbor_search()
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>nodes
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>normals
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud</a>
+</li>
+<li>normals_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">gtsam_points::PointCloud</a>
+</li>
+<li>num_buckets
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a712817700d3a72201e43e98a468eacd8">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>num_found()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>num_found_neighbors
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>num_neighbors
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>num_points()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a9c13d94622c19fea0fb0eba59dbb40c4">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#ac2a53469dc4324b65a160442ff885790">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="classgtsam__points_1_1LsqBundleAdjustmentFactor.html#a4f1141818623f12b0e392094dd8c00fb">gtsam_points::LsqBundleAdjustmentFactor</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">gtsam_points::PointCloud</a>
+</li>
+<li>num_threads
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">gtsam_points::CovarianceEstimationParams</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>num_voxels()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+, <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a01f93dde855657175eaf9c4e7c473d48">gtsam_points::VoxelMapInfo</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_o.html b/doc_cpp/functions_o.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>offsets
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>operator()()
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">gtsam_points::AxisAlignedProjection</a>
+</li>
+<li>operator+=()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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new file mode 100644
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--- /dev/null
+++ b/doc_cpp/functions_p.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>point_id()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>point_id_bits
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>PointCloudCPU()
+: <a class="el" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">gtsam_points::PointCloudCPU</a>
+</li>
+<li>points
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>points_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">gtsam_points::PointCloud</a>
+</li>
+<li>pose()
+: <a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html#ad563bd5f2f0ba84789db1713e32c364b">gtsam_points::ContinuousTrajectory</a>
+</li>
+<li>proj
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>projection_setting
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>push()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/functions_r.html b/doc_cpp/functions_r.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>regularization_method
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">gtsam_points::CovarianceEstimationParams</a>
+</li>
+<li>remove_invalid_age_thresh
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>remove_old_invalid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>resize()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#aa8d36b29450b3771f89c70fba9366f65">gtsam_points::CUDABuffer</a>
+</li>
+<li>right
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>root
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Related Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>boost::serialization::access
+: <a class="el" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::LinearDampingFactor</a>
+, <a class="el" href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::RotateVector3Factor</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_s.html b/doc_cpp/functions_s.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/functions_s.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>save()
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">gtsam_points::PointCloud</a>
+</li>
+<li>save_compact()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">gtsam_points::PointCloud</a>
+</li>
+<li>set_correspondence_update_tolerance()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_eig_stddev_thresh_scale()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_enable_surface_validation()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>set_evaluation_point()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>set_inlier_update_thresh()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">gtsam_points::IntegratedVGICPFactorGPU</a>
+</li>
+<li>set_linearization_point()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1efe9f2fc92e154dd20f97eebf1e969a">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>set_lowrate_cycles()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_lru_clear_cycle()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_lru_horizon()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_max_correspondence_distance()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_min_num_neighbors()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_neighbor_voxel_mode()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_num_neighbors()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_num_threads()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">gtsam_points::IntegratedGICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+, <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">gtsam_points::IntegratedVGICPFactor_&lt; SourceFrame &gt;</a>
+</li>
+<li>set_photometric_term_weight()
+: <a class="el" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">gtsam_points::IntegratedColorConsistencyFactor_&lt; TargetFrame, SourceFrame, IntensityGradients &gt;</a>
+</li>
+<li>set_point_to_plane_distance()
+: <a class="el" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">gtsam_points::IntegratedICPFactor_&lt; TargetFrame, SourceFrame &gt;</a>
+</li>
+<li>set_remove_invalid_age_thresh()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>set_scale()
+: <a class="el" href="classgtsam__points_1_1BundleAdjustmentFactorBase.html#a974d47c6ebbec55940f0c0a395c04207">gtsam_points::BundleAdjustmentFactorBase</a>
+, <a class="el" href="classgtsam__points_1_1EVMBundleAdjustmentFactorBase.html#aff4d980cb8732f918182ae8c821af128">gtsam_points::EVMBundleAdjustmentFactorBase</a>
+</li>
+<li>set_valid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>set_voxel_resolution()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>set_warmup_cycles()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>size()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#a9566c1e83375399b4e444326f2023c82">gtsam_points::CUDABuffer</a>
+, <a class="el" href="structgtsam__points_1_1FlatContainer.html#a216ff7fc0c5f1113255dd6a38b7babb0">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorSetGPU.html#a74cb38839fdae642b63e86a4c9769337">gtsam_points::NonlinearFactorSetGPU</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">gtsam_points::PointCloud</a>
+, <a class="el" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>std()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>store_computed_error()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a1ebabcb1b37a4a3ed60e82a6b150e434">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>store_linearized()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">gtsam_points::NonlinearFactorGPU</a>
+</li>
+<li>sub
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>sync()
+: <a class="el" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ab77071c0654a615f60c1d1d98946b0ea">gtsam_points::IntegratedVGICPFactorGPU</a>
+, <a class="el" href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2">gtsam_points::NonlinearFactorGPU</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_t.html b/doc_cpp/functions_t.html
new file mode 100644
index 00000000..ebec843e
--- /dev/null
+++ b/doc_cpp/functions_t.html
@@ -0,0 +1,86 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>target_points_drop_rate
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>thresh
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>times
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">gtsam_points::PointCloud</a>
+</li>
+<li>times_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">gtsam_points::PointCloud</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_u.html b/doc_cpp/functions_u.html
new file mode 100644
index 00000000..a5d3ac43
--- /dev/null
+++ b/doc_cpp/functions_u.html
@@ -0,0 +1,83 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UnsafeKdTree()
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>update_correspondences()
+: <a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">gtsam_points::IntegratedMatchingCostFactor</a>
+</li>
+<li>upload()
+: <a class="el" href="classgtsam__points_1_1CUDABuffer.html#ae2465e08c7ccb03ad039b8c6bbb7d6fc">gtsam_points::CUDABuffer</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_v.html b/doc_cpp/functions_v.html
new file mode 100644
index 00000000..f7b86dc5
--- /dev/null
+++ b/doc_cpp/functions_v.html
@@ -0,0 +1,129 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>valid()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>valid_indices()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>var()
+: <a class="el" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">gtsam_points::RunningStatistics&lt; T &gt;</a>
+</li>
+<li>voxel_coord()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">gtsam_points::GaussianVoxelMapCPU</a>
+</li>
+<li>voxel_covs
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_id()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_id_bits
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_insertion_setting()
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_means
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxel_normals()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_points()
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>voxel_resolution()
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">gtsam_points::GaussianVoxelMap</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">gtsam_points::GaussianVoxelMapCPU</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>voxel_setting
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>VoxelInfo()
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">gtsam_points::VoxelInfo</a>
+</li>
+<li>voxelmap_info
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxelmap_info_ptr
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxels
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_vars.html b/doc_cpp/functions_vars.html
new file mode 100644
index 00000000..3de0035a
--- /dev/null
+++ b/doc_cpp/functions_vars.html
@@ -0,0 +1,375 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>aux_attributes
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">gtsam_points::PointCloud</a>
+</li>
+<li>axis
+: <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">gtsam_points::AxisAlignedProjection</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>buckets
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>capacity
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>coord
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">gtsam_points::VoxelInfo</a>
+</li>
+<li>cov
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">gtsam_points::GaussianVoxel</a>
+</li>
+<li>covs
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">gtsam_points::PointCloud</a>
+</li>
+<li>covs_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">gtsam_points::PointCloud</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>distances
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>eig_stats
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>eig_stddev_thresh_scale
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>eigen_values
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">gtsam_points::CovarianceEstimationParams</a>
+</li>
+<li>epsilon
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">gtsam_points::KnnSetting</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>finalized
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">gtsam_points::GaussianVoxel</a>
+</li>
+<li>first
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>flags
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">gtsam_points::IncrementalCovarianceContainer</a>
+</li>
+<li>flat_voxels
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>indices
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>init_num_buckets
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>intensities
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">gtsam_points::PointCloud</a>
+</li>
+<li>intensities_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">gtsam_points::PointCloud</a>
+</li>
+<li>inv_leaf_size
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>k_neighbors
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">gtsam_points::CovarianceEstimationParams</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>last
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>left
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a3aeda130c2e70dac5f1830fec2a2a54c">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>lowrate_cycles
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>lr
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>lru
+: <a class="el" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">gtsam_points::VoxelInfo</a>
+</li>
+<li>lru_clear_cycle
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>lru_counter
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>lru_horizon
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>max_bucket_scan_count
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a9279f89c9f33e4b7c5b4438991006ab4">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>max_leaf_size
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>max_num_points_in_cell
+: <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a3c97a96c780188c5e43036760866695d">gtsam_points::FlatContainer::Setting</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">gtsam_points::IncrementalCovarianceContainer::Setting</a>
+</li>
+<li>max_scan_count
+: <a class="el" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">gtsam_points::ProjectionSetting</a>
+</li>
+<li>max_sq_dist
+: <a class="el" href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">gtsam_points::KnnSetting</a>
+</li>
+<li>mean
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">gtsam_points::GaussianVoxel</a>
+</li>
+<li>min_num_neighbors
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>min_sq_dist_in_cell
+: <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a1054f187b28d664d262cd26c25df2150">gtsam_points::FlatContainer::Setting</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">gtsam_points::IncrementalCovarianceContainer::Setting</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>nodes
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>normals
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud</a>
+</li>
+<li>normals_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">gtsam_points::PointCloud</a>
+</li>
+<li>num_buckets
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a712817700d3a72201e43e98a468eacd8">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>num_found_neighbors
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+<li>num_neighbors
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>num_points
+: <a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">gtsam_points::GaussianVoxel</a>
+, <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">gtsam_points::GaussianVoxelMapGPU</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">gtsam_points::PointCloud</a>
+</li>
+<li>num_threads
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">gtsam_points::CovarianceEstimationParams</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">gtsam_points::IncrementalCovarianceVoxelMap</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+<li>num_voxels
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#a01f93dde855657175eaf9c4e7c473d48">gtsam_points::VoxelMapInfo</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>offsets
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>point_id_bits
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>points
+: <a class="el" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">gtsam_points::FlatContainer</a>
+, <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">gtsam_points::IncrementalCovarianceContainer</a>
+, <a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud</a>
+, <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+<li>points_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">gtsam_points::PointCloud</a>
+</li>
+<li>proj
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>projection_setting
+: <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">gtsam_points::KdTreeBuilder</a>
+, <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">gtsam_points::KdTreeBuilderOMP</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>regularization_method
+: <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">gtsam_points::CovarianceEstimationParams</a>
+</li>
+<li>remove_invalid_age_thresh
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>right
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>root
+: <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>sub
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>target_points_drop_rate
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>thresh
+: <a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">gtsam_points::KdTreeNode&lt; Projection &gt;</a>
+</li>
+<li>times
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">gtsam_points::PointCloud</a>
+</li>
+<li>times_gpu
+: <a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">gtsam_points::PointCloud</a>
+</li>
+</ul>
+
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>voxel_covs
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxel_id_bits
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxel_means
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxel_resolution
+: <a class="el" href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">gtsam_points::VoxelMapInfo</a>
+</li>
+<li>voxel_setting
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+<li>voxelmap_info
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxelmap_info_ptr
+: <a class="el" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">gtsam_points::GaussianVoxelMapGPU</a>
+</li>
+<li>voxels
+: <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>warmup_cycles
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/functions_w.html b/doc_cpp/functions_w.html
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+++ b/doc_cpp/functions_w.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>warmup_cycles
+: <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">gtsam_points::IncrementalCovarianceVoxelMap</a>
+</li>
+<li>worst_distance()
+: <a class="el" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/gaussian__voxelmap_8hpp_source.html b/doc_cpp/gaussian__voxelmap_8hpp_source.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/gaussian_voxelmap.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gaussian_voxelmap.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// forward declaration</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMap.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;GaussianVoxelMap&gt;;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const GaussianVoxelMap&gt;;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a>() {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a>() {}</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">   25</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">voxel_resolution</a>() <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">   28</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) = 0;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;};</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keywordtype">double</span> overlap(<span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> Eigen::Isometry3d&amp; T_target_source);</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keywordtype">double</span> overlap(</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt;&amp; targets,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; Ts_target_source);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelMapPtr&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;std::enable_if_t&lt;!std::is_same_v&lt;VoxelMapPtr, GaussianVoxelMap::ConstPtr&gt;, <span class="keywordtype">double</span>&gt;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;overlap(<span class="keyword">const</span> std::vector&lt;VoxelMapPtr&gt;&amp; targets, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; Ts_target_source) {</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt; targets_(targets.begin(), targets.end());</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">return</span> overlap(targets_, source, Ts_target_source);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keywordtype">double</span> overlap_gpu(</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target,</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3f* delta_gpu,</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="keywordtype">double</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;overlap_gpu(<span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> Eigen::Isometry3d&amp; delta, CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keywordtype">double</span> overlap_gpu(<span class="keyword">const</span> PointCloud::ConstPtr&amp; target, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> Eigen::Isometry3d&amp; delta, CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keywordtype">double</span> overlap_gpu(</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt;&amp; targets,</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; deltas,</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelMapPtr&gt;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;std::enable_if_t&lt;!std::is_same_v&lt;VoxelMapPtr, GaussianVoxelMap::ConstPtr&gt;, <span class="keywordtype">double</span>&gt; overlap_gpu(</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keyword">const</span> std::vector&lt;VoxelMapPtr&gt;&amp; targets,</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; deltas,</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  CUstream_st* stream = 0) {</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt; targets_(targets.begin(), targets.end());</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">return</span> overlap_gpu(targets_, source, deltas, stream);</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">// Automatically select CPU or GPU method</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keywordtype">double</span> overlap_auto(<span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> Eigen::Isometry3d&amp; delta);</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keywordtype">double</span> overlap_auto(</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt;&amp; targets,</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; deltas);</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelMapPtr&gt;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;std::enable_if_t&lt;!std::is_same_v&lt;VoxelMapPtr, GaussianVoxelMap::ConstPtr&gt;, <span class="keywordtype">double</span>&gt;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;overlap_auto(<span class="keyword">const</span> std::vector&lt;VoxelMapPtr&gt;&amp; targets, <span class="keyword">const</span> PointCloud::ConstPtr&amp; source, <span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; deltas) {</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">const</span> std::vector&lt;GaussianVoxelMap::ConstPtr&gt; targets_(targets.begin(), targets.end());</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> overlap_auto(targets_, source, deltas);</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMap_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></div><div class="ttdoc">Gaussian distribution voxelmap.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMap_html_a358221ea7cd675c7cab4648612f29e77"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMap.html#a358221ea7cd675c7cab4648612f29e77">gtsam_points::GaussianVoxelMap::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;frame)=0</div><div class="ttdoc">Insert a point cloud frame into the voxelmap.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMap_html_aeafbf9f3f252efe438902baaccf82399"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMap.html#aeafbf9f3f252efe438902baaccf82399">gtsam_points::GaussianVoxelMap::voxel_resolution</a></div><div class="ttdeci">virtual double voxel_resolution() const =0</div><div class="ttdoc">Voxel resolution.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">gaussian_voxelmap_cpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/gaussian_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;GaussianVoxel&gt;;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const GaussianVoxel&gt;;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">   18</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a> {};</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">   21</a></span>&#160;  <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">GaussianVoxel</a>() : <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">finalized</a>(false), <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">num_points</a>(0), <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a>(Eigen::Vector4d::Zero()), <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">cov</a>(Eigen::Matrix4d::Zero()) {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">   24</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 1; }</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">   32</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">add</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a>&amp; setting, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points, <span class="keywordtype">size_t</span> i);</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">   35</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">finalize</a>();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Result&gt;</div>
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+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> sq_dist = (pt - <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a>).squaredNorm();</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    result.push(0, sq_dist);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  }</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
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+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">   48</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">num_points</a>;     </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">   49</a></span>&#160;  Eigen::Vector4d <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a>;  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">   50</a></span>&#160;  Eigen::Matrix4d <a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">cov</a>;   </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;};</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">   56</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&gt; {</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> size(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">size</a>(); }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a>; }</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> Eigen::Vector4d::Zero(); }</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">cov</a>; }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> 0.0; }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;};</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">   72</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a>, <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt;GaussianVoxel&gt; {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;GaussianVoxelMapCPU&gt;;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const GaussianVoxelMapCPU&gt;;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">   79</a></span>&#160;  <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">GaussianVoxelMapCPU</a>(<span class="keywordtype">double</span> resolution);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>();</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">   83</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">voxel_resolution</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">   86</a></span>&#160;  Eigen::Vector3i <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">voxel_coord</a>(<span class="keyword">const</span> Eigen::Vector4d&amp; x) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">   89</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">lookup_voxel_index</a>(<span class="keyword">const</span> Eigen::Vector3i&amp; coord) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">   92</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a>&amp; <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">lookup_voxel</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">   95</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">  101</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">save_compact</a>(<span class="keyword">const</span> std::string&amp; path) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">  107</a></span>&#160;  <span class="keyword">static</span> GaussianVoxelMapCPU::Ptr <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">load</a>(<span class="keyword">const</span> std::string&amp; path);</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;};</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">  113</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&gt; {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_points(); }</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_normals(); }</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_covs(); }</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_intensities(); }</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">static</span> decltype(<span class="keyword">auto</span>) point(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.point(i); }</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keyword">static</span> decltype(<span class="keyword">auto</span>) normal(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.normal(i); }</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keyword">static</span> decltype(<span class="keyword">auto</span>) cov(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.cov(i); }</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">static</span> decltype(<span class="keyword">auto</span>) intensity(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.intensity(i); }</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;};</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:72</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_a1b3e2320eb0277a07579e1c0ad9b3f1b"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">gtsam_points::GaussianVoxelMapCPU::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;frame) override</div><div class="ttdoc">Insert a point cloud frame into the voxelmap.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_a41ea68a3626e0e5c8628dd151997e3ff"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a41ea68a3626e0e5c8628dd151997e3ff">gtsam_points::GaussianVoxelMapCPU::load</a></div><div class="ttdeci">static GaussianVoxelMapCPU::Ptr load(const std::string &amp;path)</div><div class="ttdoc">Save a voxelmap from a file.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_a8ee106c94dcf8232a70385fd528cd44f"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a8ee106c94dcf8232a70385fd528cd44f">gtsam_points::GaussianVoxelMapCPU::save_compact</a></div><div class="ttdeci">void save_compact(const std::string &amp;path) const</div><div class="ttdoc">Save the voxelmap.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_aa501569c1b7e3f3aa22751f4ea0e1fd3"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aa501569c1b7e3f3aa22751f4ea0e1fd3">gtsam_points::GaussianVoxelMapCPU::GaussianVoxelMapCPU</a></div><div class="ttdeci">GaussianVoxelMapCPU(double resolution)</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_ab914295f587adf977b7c623651b0bbca"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#ab914295f587adf977b7c623651b0bbca">gtsam_points::GaussianVoxelMapCPU::voxel_coord</a></div><div class="ttdeci">Eigen::Vector3i voxel_coord(const Eigen::Vector4d &amp;x) const</div><div class="ttdoc">Compute the voxel index corresponding to a point.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_abb98e37fdf3134bdb3eb7e961ccc006b"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abb98e37fdf3134bdb3eb7e961ccc006b">gtsam_points::GaussianVoxelMapCPU::voxel_resolution</a></div><div class="ttdeci">virtual double voxel_resolution() const override</div><div class="ttdoc">Voxel resolution.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_abca5ca5380793a041c0606564f6fb114"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#abca5ca5380793a041c0606564f6fb114">gtsam_points::GaussianVoxelMapCPU::lookup_voxel_index</a></div><div class="ttdeci">int lookup_voxel_index(const Eigen::Vector3i &amp;coord) const</div><div class="ttdoc">Look up a voxel index. If the voxel does not exist, return -1.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html_aca34514c052a3eef5fc1264fa9bdbfeb"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html#aca34514c052a3eef5fc1264fa9bdbfeb">gtsam_points::GaussianVoxelMapCPU::lookup_voxel</a></div><div class="ttdeci">const GaussianVoxel &amp; lookup_voxel(int voxel_id) const</div><div class="ttdoc">Look up a voxel.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMap_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></div><div class="ttdoc">Gaussian distribution voxelmap.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:16</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_1_1Setting_html"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">gtsam_points::GaussianVoxel::Setting</a></div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:18</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></div><div class="ttdoc">Gaussian voxel that computes and stores voxel mean and covariance.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:13</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_a3a8be606f3e7ce460e1ae63c0378b718"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">gtsam_points::GaussianVoxel::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points in the voxel (Always 1 for GaussianVoxel).</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:24</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_a3d5f9596e1faa0f1504d5e0ac3b8009e"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">gtsam_points::GaussianVoxel::GaussianVoxel</a></div><div class="ttdeci">GaussianVoxel()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_a699891ab62f03f3517f3f5794f42ea39"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">gtsam_points::GaussianVoxel::finalized</a></div><div class="ttdeci">bool finalized</div><div class="ttdoc">If true, mean and cov are finalized, otherwise they represent the sum of input points.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:47</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_ab285e78795fa03084566e6d2ef08b914"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">gtsam_points::GaussianVoxel::cov</a></div><div class="ttdeci">Eigen::Matrix4d cov</div><div class="ttdoc">Covariance.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:50</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_abf4e4949bfa7983520d04b82cc118ee0"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">gtsam_points::GaussianVoxel::finalize</a></div><div class="ttdeci">void finalize()</div><div class="ttdoc">Finalize the voxel mean and covariance.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_ac774247946255c1f200d9404756f2430"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">gtsam_points::GaussianVoxel::mean</a></div><div class="ttdeci">Eigen::Vector4d mean</div><div class="ttdoc">Mean.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:49</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_ae23000e13e4b4652d0d702c5c1e9b390"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">gtsam_points::GaussianVoxel::knn_search</a></div><div class="ttdeci">void knn_search(const Eigen::Vector4d &amp;pt, Result &amp;result) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:41</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_ae74d6fae8a249addf77449ebcd003c13"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">gtsam_points::GaussianVoxel::num_points</a></div><div class="ttdeci">size_t num_points</div><div class="ttdoc">Number of input points.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:48</div></div>
+<div class="ttc" id="astructgtsam__points_1_1GaussianVoxel_html_afbef5bb526091958635e49fc011ed252"><div class="ttname"><a href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">gtsam_points::GaussianVoxel::add</a></div><div class="ttdeci">void add(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</div><div class="ttdoc">Add a point to the voxel.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a445ebdb7ae249c21af2b3af8423ec8e9"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;::voxel_id</a></div><div class="ttdeci">size_t voxel_id(const size_t i) const</div><div class="ttdoc">Extract the point ID from a global index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:85</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+<div class="title">gaussian_voxelmap_gpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/gaussian_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// forward declaration</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelMapInfo.html">   19</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a> {</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelMapInfo.html#a01f93dde855657175eaf9c4e7c473d48">   20</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html#a01f93dde855657175eaf9c4e7c473d48">num_voxels</a>;             </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelMapInfo.html#a712817700d3a72201e43e98a468eacd8">   21</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html#a712817700d3a72201e43e98a468eacd8">num_buckets</a>;            </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelMapInfo.html#a9279f89c9f33e4b7c5b4438991006ab4">   22</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html#a9279f89c9f33e4b7c5b4438991006ab4">max_bucket_scan_count</a>;  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">   23</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">voxel_resolution</a>;     </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;};</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelBucket.html">   29</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a> {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  Eigen::Vector3i first;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">int</span> second;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;};</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">   37</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMap.html">GaussianVoxelMap</a> {</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;GaussianVoxelMapGPU&gt;;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const GaussianVoxelMapGPU&gt;;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">   50</a></span>&#160;  <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">GaussianVoxelMapGPU</a>(</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">float</span> resolution,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">init_num_buckets</a> = 8192 * 2,</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">int</span> max_bucket_scan_count = 10,</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">target_points_drop_rate</a> = 1e-3,</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a>();</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">   59</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">voxel_resolution</a>()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">voxelmap_info</a>.<a class="code" href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">voxel_resolution</a>; }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">   63</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> create_bucket_table(CUstream_st* stream, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame);</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  CUstream_st* stream;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">   71</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">init_num_buckets</a>;                   </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">   72</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">target_points_drop_rate</a>;         </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">   73</a></span>&#160;  <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">voxelmap_info</a>;                   </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">   74</a></span>&#160;  <a class="code" href="structgtsam__points_1_1VoxelMapInfo.html">VoxelMapInfo</a>* <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">voxelmap_info_ptr</a>;              </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">   76</a></span>&#160;  <a class="code" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a>* <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">buckets</a>;                         </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// voxel data</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">   79</a></span>&#160;  <span class="keywordtype">int</span>* <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">num_points</a>;               </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">   80</a></span>&#160;  Eigen::Vector3f* <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">voxel_means</a>;  </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">   81</a></span>&#160;  Eigen::Matrix3f* <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">voxel_covs</a>;   </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;};</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;std::vector&lt;Eigen::Vector3f&gt; download_voxel_means(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a>&amp; voxelmap, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;std::vector&lt;Eigen::Matrix3f&gt; download_voxel_covs(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1GaussianVoxelMapGPU.html">GaussianVoxelMapGPU</a>&amp; voxelmap, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html">gtsam_points::GaussianVoxelMapGPU</a></div><div class="ttdoc">Gaussian distribution voxelmap on GPU.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:37</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_a01a1f08d323133e9740ae485ebb81ae1"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a01a1f08d323133e9740ae485ebb81ae1">gtsam_points::GaussianVoxelMapGPU::voxelmap_info_ptr</a></div><div class="ttdeci">VoxelMapInfo * voxelmap_info_ptr</div><div class="ttdoc">Voxelmap information on GPU memory.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:74</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_a1b444d7ecbc588a61b90802b072daa62"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a1b444d7ecbc588a61b90802b072daa62">gtsam_points::GaussianVoxelMapGPU::buckets</a></div><div class="ttdeci">VoxelBucket * buckets</div><div class="ttdoc">Voxel buckets for hashing.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:76</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_a52f5dbaf13938ca0b961f42b8ae6acd4"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a52f5dbaf13938ca0b961f42b8ae6acd4">gtsam_points::GaussianVoxelMapGPU::GaussianVoxelMapGPU</a></div><div class="ttdeci">GaussianVoxelMapGPU(float resolution, int init_num_buckets=8192 *2, int max_bucket_scan_count=10, double target_points_drop_rate=1e-3, CUstream_st *stream=0)</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_a73c126d95a5dac89389a5133f53056f3"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#a73c126d95a5dac89389a5133f53056f3">gtsam_points::GaussianVoxelMapGPU::init_num_buckets</a></div><div class="ttdeci">const int init_num_buckets</div><div class="ttdoc">Initial number of buckets.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:71</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_aa628d67d5a067d5726072817f63e2a7c"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa628d67d5a067d5726072817f63e2a7c">gtsam_points::GaussianVoxelMapGPU::target_points_drop_rate</a></div><div class="ttdeci">const double target_points_drop_rate</div><div class="ttdoc">Allowable points drop rate.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:72</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_aa6c4489a0c885b95da1066ff7a5283a3"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aa6c4489a0c885b95da1066ff7a5283a3">gtsam_points::GaussianVoxelMapGPU::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;frame) override</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_aba7aadf9ceb821593d56073df02d68d4"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aba7aadf9ceb821593d56073df02d68d4">gtsam_points::GaussianVoxelMapGPU::voxelmap_info</a></div><div class="ttdeci">VoxelMapInfo voxelmap_info</div><div class="ttdoc">Voxelmap information.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:73</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_acc4e65aaea0735bf4ea64d23ba286473"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#acc4e65aaea0735bf4ea64d23ba286473">gtsam_points::GaussianVoxelMapGPU::voxel_means</a></div><div class="ttdeci">Eigen::Vector3f * voxel_means</div><div class="ttdoc">Voxel means.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:80</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_aec86f464d6205dff3a6b0faed46012d8"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#aec86f464d6205dff3a6b0faed46012d8">gtsam_points::GaussianVoxelMapGPU::voxel_resolution</a></div><div class="ttdeci">virtual double voxel_resolution() const override</div><div class="ttdoc">Voxel resolution.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:59</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_af24e8cda94d46b122f9152c67f21ad0a"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af24e8cda94d46b122f9152c67f21ad0a">gtsam_points::GaussianVoxelMapGPU::voxel_covs</a></div><div class="ttdeci">Eigen::Matrix3f * voxel_covs</div><div class="ttdoc">Voxel covariances.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:81</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapGPU_html_af7e253a5a2f09c800402a63f42c96cf5"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapGPU.html#af7e253a5a2f09c800402a63f42c96cf5">gtsam_points::GaussianVoxelMapGPU::num_points</a></div><div class="ttdeci">int * num_points</div><div class="ttdoc">Number of points in eac voxel.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:79</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMap_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMap.html">gtsam_points::GaussianVoxelMap</a></div><div class="ttdoc">Gaussian distribution voxelmap.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:16</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelBucket_html"><div class="ttname"><a href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a></div><div class="ttdoc">Voxel bucket (avoid using thrust::pair for CUDA compatibility)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:29</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelMapInfo_html"><div class="ttname"><a href="structgtsam__points_1_1VoxelMapInfo.html">gtsam_points::VoxelMapInfo</a></div><div class="ttdoc">Voxel hashmap information.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelMapInfo_html_a01f93dde855657175eaf9c4e7c473d48"><div class="ttname"><a href="structgtsam__points_1_1VoxelMapInfo.html#a01f93dde855657175eaf9c4e7c473d48">gtsam_points::VoxelMapInfo::num_voxels</a></div><div class="ttdeci">int num_voxels</div><div class="ttdoc">Number of voxels.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:20</div></div>
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+<div class="ttc" id="astructgtsam__points_1_1VoxelMapInfo_html_addcd7f37b3d1fbd34fc9f7e9f5485aa8"><div class="ttname"><a href="structgtsam__points_1_1VoxelMapInfo.html#addcd7f37b3d1fbd34fc9f7e9f5485aa8">gtsam_points::VoxelMapInfo::voxel_resolution</a></div><div class="ttdeci">float voxel_resolution</div><div class="ttdoc">Voxel resolution.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_gpu.hpp:23</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_9ee62e8752b729f33015cc364b81e6d7.html">cuda</a></li>  </ul>
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+<div class="title">gl_buffer_map.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;cstdlib&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">struct </span>cudaGraphicsResource;</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1GLBufferMap.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1GLBufferMap.html">GLBufferMap</a> {</div>
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+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
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+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is used by the Inherited class */</span></div>
+<div class="line"><span class="keyword">class </span>Used { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Super class that inherits a number of other classes */</span></div>
+<div class="line"><span class="keyword">class </span>Inherited : <span class="keyword">public</span> PublicBase,</div>
+<div class="line">                  <span class="keyword">protected</span> ProtectedBase,</div>
+<div class="line">                  <span class="keyword">private</span> PrivateBase,</div>
+<div class="line">                  <span class="keyword">public</span> Undocumented,</div>
+<div class="line">                  <span class="keyword">public</span> Templ&lt;int&gt;</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">private</span>:</div>
+<div class="line">    Used *m_usedClass;</div>
+<div class="line">};</div>
+</div><!-- fragment --><p> This will result in the following graph:</p>
+<center><img src="graph_legend.png" alt="" class="inline"/></center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
+A dark blue arrow is used to visualize a public inheritance relation between two classes. </li>
+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible. </li>
+<li>
+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. </li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/graph_legend.md5 b/doc_cpp/graph_legend.md5
new file mode 100644
index 00000000..8fcdccd1
--- /dev/null
+++ b/doc_cpp/graph_legend.md5
@@ -0,0 +1 @@
+f51bf6e9a10430aafef59831b08dcbfe
\ No newline at end of file
diff --git a/doc_cpp/graph_legend.png b/doc_cpp/graph_legend.png
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+<title>gtsam_points: Class Hierarchy</title>
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+   <div id="projectname">gtsam_points
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+<div class="title">Class Hierarchy</div>  </div>
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+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html" target="_self">gtsam_points::AxisAlignedProjection</a></td><td class="desc">Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance) </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1BALMFeature.html" target="_self">gtsam_points::BALMFeature</a></td><td class="desc">Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021 </td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html" target="_self">gtsam_points::TempBufferManager::Buffer</a></td><td class="desc"></td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1ContinuousTrajectory.html" target="_self">gtsam_points::ContinuousTrajectory</a></td><td class="desc">Continuous trajectory class for offline batch optimization </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html" target="_self">gtsam_points::CovarianceEstimationParams</a></td><td class="desc">Covariance estimation parameters </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1CUDABuffer.html" target="_self">gtsam_points::CUDABuffer</a></td><td class="desc">Device buffer for asynchronous data transfer </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1CUDAGraphExec.html" target="_self">gtsam_points::CUDAGraphExec</a></td><td class="desc"></td></tr>
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+<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1EasyProfiler.html" target="_self">gtsam_points::EasyProfiler</a></td><td class="desc"></td></tr>
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+<tr id="row_11_5_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1normal__defined.html" target="_self">gtsam_points::frame::normal_defined&lt; T, typename &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_11_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1frame_1_1size__defined.html" target="_self">gtsam_points::frame::size_defined&lt; T, typename &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_12_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1FlatContainer.html" target="_self">gtsam_points::FlatContainer</a></td><td class="desc">Point container with a flat vector </td></tr>
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+<tr id="row_14_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_14_" class="arrow" onclick="toggleFolder('14_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1GaussianVoxelMap.html" target="_self">gtsam_points::GaussianVoxelMap</a></td><td class="desc">Gaussian distribution voxelmap </td></tr>
+<tr id="row_14_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html" target="_self">gtsam_points::GaussianVoxelMapCPU</a></td><td class="desc"></td></tr>
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+<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1GLBufferMap.html" target="_self">gtsam_points::GLBufferMap</a></td><td class="desc"></td></tr>
+<tr id="row_16_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1identity__transform.html" target="_self">gtsam_points::identity_transform</a></td><td class="desc">Identity transformation function. (use std::identity instead in C++20) </td></tr>
+<tr id="row_17_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html" target="_self">gtsam_points::IncrementalCovarianceContainer</a></td><td class="desc">Linear container for incremental covariance and normal estimation </td></tr>
+<tr id="row_18_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntensityGradients.html" target="_self">gtsam_points::IntensityGradients</a></td><td class="desc">Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017 </td></tr>
+<tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html" target="_self">gtsam_points::KdTreeBuilder</a></td><td class="desc">Single thread Kd-tree builder </td></tr>
+<tr id="row_20_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html" target="_self">gtsam_points::KdTreeBuilderOMP</a></td><td class="desc">Kd-tree builder with OpenMP </td></tr>
+<tr id="row_21_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KdTreeNode.html" target="_self">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="desc"><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> node </td></tr>
+<tr id="row_22_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html" target="_self">nanoflann::KDTreeSingleIndexAdaptor&lt; Distance, DatasetAdaptor, DIM, IndexType &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_23_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KnnResult.html" target="_self">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="desc">K-nearest neighbor search result container </td></tr>
+<tr id="row_24_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1KnnSetting.html" target="_self">gtsam_points::KnnSetting</a></td><td class="desc">K-nearest neighbor search setting </td></tr>
+<tr id="row_25_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classnanoflann_1_1L2__Simple__Adaptor.html" target="_self">nanoflann::L2_Simple_Adaptor&lt; T, DataSource, _DistanceType &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_26_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_26_" class="arrow" onclick="toggleFolder('26_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>gtsam::LinearContainerFactor</b></td><td class="desc"></td></tr>
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+<tr id="row_27_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_27_" class="arrow" onclick="toggleFolder('27_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html" target="_self">gtsam_points::NearestNeighborSearch</a></td><td class="desc">Nearest neighbor search interface </td></tr>
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+<tr id="row_30_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_30_" class="arrow" onclick="toggleFolder('30_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>gtsam::NonlinearFactor</b></td><td class="desc"></td></tr>
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+<tr id="row_30_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_30_3_" class="arrow" onclick="toggleFolder('30_3_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html" target="_self">gtsam_points::IntegratedMatchingCostFactor</a></td><td class="desc">Abstraction of LSQ-based scan matching constraints between point clouds </td></tr>
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+<tr id="row_58_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structgtsam__points_1_1VoxelBucket.html" target="_self">gtsam_points::VoxelBucket</a></td><td class="desc">Voxel bucket (avoid using thrust::pair for CUDA compatibility) </td></tr>
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+<div class="title">incremental_covariance_container.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">   11</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">   14</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a> {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordtype">void</span> set_min_dist_in_cell(<span class="keywordtype">double</span> dist) { this-&gt;<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">min_sq_dist_in_cell</a> = dist * dist; }</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordtype">void</span> set_max_num_points_in_cell(<span class="keywordtype">size_t</span> num_points) { this-&gt;<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">max_num_points_in_cell</a> = num_points; }</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">   18</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">min_sq_dist_in_cell</a> = 0.1 * 0.1;  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">   19</a></span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">max_num_points_in_cell</a> = 20;      </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  };</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">   23</a></span>&#160;  <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">IncrementalCovarianceContainer</a>();</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">   26</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.size(); }</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">   29</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">add</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a>&amp; setting, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>, <span class="keywordtype">size_t</span> i);</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">   32</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">finalize</a>() {}</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Result&gt;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">   38</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">knn_search</a>(<span class="keyword">const</span> Eigen::Vector4d&amp; pt, Result&amp; result)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.empty()) {</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.size(); i++) {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">valid</a>(<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a>[i])) {</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      }</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      result.push(i, (<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>[i] - pt).squaredNorm());</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Result&gt;</div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">   56</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">knn_search_force</a>(<span class="keyword">const</span> Eigen::Vector4d&amp; pt, Result&amp; result)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.empty()) {</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.size(); i++) {</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      result.push(i, (<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>[i] - pt).squaredNorm());</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">   67</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">set_valid</a>(<span class="keywordtype">int</span> i) { <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a>[i] |= VALID_BIT; }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">   70</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">valid</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a>[i] &amp; VALID_BIT; }</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">   73</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">birthday</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a>[i] &amp; BIRTHDAY_MASK; }</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">   76</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">age</a>(<span class="keywordtype">int</span> i, <span class="keywordtype">size_t</span> lru)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> lru - <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">birthday</a>(i); }</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">   79</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">remove_old_invalid</a>(<span class="keywordtype">int</span> age_thresh, <span class="keywordtype">size_t</span> lru);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">size_t</span> VALID_BIT = 1ull &lt;&lt; 63;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">size_t</span> BIRTHDAY_MASK = (VALID_BIT &gt;&gt; 1) - 1;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">   85</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>;  </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">   87</a></span>&#160;  std::vector&lt;size_t&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a>;             </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">   88</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">normals</a>;  </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">   89</a></span>&#160;  std::vector&lt;Eigen::Matrix4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">covs</a>;     </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;};</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">   95</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&gt; {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> size(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">size</a>(); }</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame) { <span class="keywordflow">return</span> !frame.<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>.empty(); }</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>[i]; }</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">normals</a>[i]; }</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">covs</a>[i]; }</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> 0.0; }</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;};</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a></div><div class="ttdoc">FlatContainer setting.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting_html_a88d0a004290a8f1d6d980436bd8fc6c3"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">gtsam_points::IncrementalCovarianceContainer::Setting::max_num_points_in_cell</a></div><div class="ttdeci">size_t max_num_points_in_cell</div><div class="ttdoc">Maximum number of points in a cell.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting_html_ab5555727bb5bd911de09a95937a04932"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">gtsam_points::IncrementalCovarianceContainer::Setting::min_sq_dist_in_cell</a></div><div class="ttdeci">double min_sq_dist_in_cell</div><div class="ttdoc">Minimum squared distance between points in a cell.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:18</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></div><div class="ttdoc">Linear container for incremental covariance and normal estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:11</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a360961579221ee357d4618054ef176f2"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">gtsam_points::IncrementalCovarianceContainer::finalize</a></div><div class="ttdeci">void finalize()</div><div class="ttdoc">Finalize the container (Nothing to do for FlatContainer).</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:32</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a3632e8367f8be830768870751490924c"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">gtsam_points::IncrementalCovarianceContainer::age</a></div><div class="ttdeci">size_t age(int i, size_t lru) const</div><div class="ttdoc">Get the time since the i-th point was inserted.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:76</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a4b54004c56a5fd92843d5144b9bd91b3"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">gtsam_points::IncrementalCovarianceContainer::points</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; points</div><div class="ttdoc">Points.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:85</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a4b99fa3407a3751cc3e72d0b466e3c39"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">gtsam_points::IncrementalCovarianceContainer::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points in the container.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:26</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a4ed822e2a152e2e8846f3b6e3881f31c"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">gtsam_points::IncrementalCovarianceContainer::flags</a></div><div class="ttdeci">std::vector&lt; size_t &gt; flags</div><div class="ttdoc">State flags.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:87</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a54092f6444fa51362a18c2eafa1d7918"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">gtsam_points::IncrementalCovarianceContainer::remove_old_invalid</a></div><div class="ttdeci">size_t remove_old_invalid(int age_thresh, size_t lru)</div><div class="ttdoc">Remove old invalid points.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a5c900079f526b92aae3b9e3a1ff92670"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">gtsam_points::IncrementalCovarianceContainer::covs</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4d &gt; covs</div><div class="ttdoc">Covariances.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:89</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a6aaa4d85b5af7690dbee11204816a4dc"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">gtsam_points::IncrementalCovarianceContainer::IncrementalCovarianceContainer</a></div><div class="ttdeci">IncrementalCovarianceContainer()</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a6abb771659c29345fea03299e7547c95"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">gtsam_points::IncrementalCovarianceContainer::knn_search_force</a></div><div class="ttdeci">void knn_search_force(const Eigen::Vector4d &amp;pt, Result &amp;result) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:56</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a772f5e3173e676a73446c7683bd343f4"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">gtsam_points::IncrementalCovarianceContainer::birthday</a></div><div class="ttdeci">size_t birthday(int i) const</div><div class="ttdoc">Get the time when the i-th point was inserted.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:73</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a7fcca25c0a7065e86cac6d8e8a955a33"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">gtsam_points::IncrementalCovarianceContainer::normals</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; normals</div><div class="ttdoc">Normals.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:88</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_a90ec02437910242020af81a337d5428c"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">gtsam_points::IncrementalCovarianceContainer::set_valid</a></div><div class="ttdeci">void set_valid(int i)</div><div class="ttdoc">Set the i-th point as valid.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:67</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_aaef72d7cfcb91ef0bd1c40e993ca611b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">gtsam_points::IncrementalCovarianceContainer::valid</a></div><div class="ttdeci">bool valid(int i) const</div><div class="ttdoc">Check if the i-th point is valid.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:70</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_ad5a4cad7be27470aa38e7681a2667c98"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">gtsam_points::IncrementalCovarianceContainer::knn_search</a></div><div class="ttdeci">void knn_search(const Eigen::Vector4d &amp;pt, Result &amp;result) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_container.hpp:38</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceContainer_html_ad856633f5278334cf946e75ea6c6b884"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">gtsam_points::IncrementalCovarianceContainer::add</a></div><div class="ttdeci">void add(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</div><div class="ttdoc">Add a point to the container.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
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+<div class="title">incremental_covariance_voxelmap.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;deque&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/util/runnning_statistics.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_covariance_container.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt;IncrementalCovarianceContainer&gt; {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">   17</a></span>&#160;  <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">IncrementalCovarianceVoxelMap</a>(<span class="keywordtype">double</span> voxel_resolution);</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>();</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">   21</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">set_num_neighbors</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">num_neighbors</a>);</div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">   23</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">set_min_num_neighbors</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">min_num_neighbors</a>);</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">   25</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">set_warmup_cycles</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">warmup_cycles</a>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">   27</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">set_lowrate_cycles</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">lowrate_cycles</a>);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">   29</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">set_remove_invalid_age_thresh</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">remove_invalid_age_thresh</a>);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">   31</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">set_eig_stddev_thresh_scale</a>(<span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">eig_stddev_thresh_scale</a>);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">   33</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">set_num_threads</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">   36</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">clear</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">   39</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">   42</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">knn_search</a>(</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span>* pt,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">size_t</span> k,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">size_t</span>* k_indices,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">double</span>* k_sq_dists,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max()) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">   50</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">knn_search_force</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* pt, <span class="keywordtype">size_t</span> k, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists, <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max())</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">   54</a></span>&#160;  std::vector&lt;size_t&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">valid_indices</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a> = -1) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">   56</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">voxel_points</a>(<span class="keyword">const</span> std::vector&lt;size_t&gt;&amp; indices) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">   58</a></span>&#160;  std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">voxel_normals</a>(<span class="keyword">const</span> std::vector&lt;size_t&gt;&amp; indices) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">   60</a></span>&#160;  std::vector&lt;Eigen::Matrix4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">voxel_covs</a>(<span class="keyword">const</span> std::vector&lt;size_t&gt;&amp; indices) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a80522ddda706a7508ee530b4ca168546">   63</a></span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a80522ddda706a7508ee530b4ca168546">voxel_points</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">   65</a></span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Vector4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">voxel_normals</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a91e514089732ff49c1296900093dd3e2">   67</a></span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Matrix4d&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a91e514089732ff49c1296900093dd3e2">voxel_covs</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">   70</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">num_neighbors</a>;               </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">   71</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">min_num_neighbors</a>;           </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">   72</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">warmup_cycles</a>;               </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">   73</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">lowrate_cycles</a>;              </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">   74</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">remove_invalid_age_thresh</a>;   </div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">   75</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">eig_stddev_thresh_scale</a>;  </div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">   76</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a>;                 </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">   78</a></span>&#160;  std::deque&lt;RunningStatistics&lt;Eigen::Array3d&gt;&gt; <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">eig_stats</a>;  </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;};</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">   84</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&gt; {</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_points(); }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_normals(); }</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_covs(); }</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_intensities(); }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.point(i); }</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.normal(i); }</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.cov(i); }</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.intensity(i); }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;};</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></div><div class="ttdoc">Incremental voxelmap with online covariance and normal estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:13</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a0560243bd692503b06008cdeb47d5f2e"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">gtsam_points::IncrementalCovarianceVoxelMap::knn_search_force</a></div><div class="ttdeci">size_t knn_search_force(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</div><div class="ttdoc">Find k-nearest neighbors. This finds neighbors regardless of the validity of covariances.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a30386d9a99dd9402fc983ec9dd830356"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">gtsam_points::IncrementalCovarianceVoxelMap::eig_stddev_thresh_scale</a></div><div class="ttdeci">double eig_stddev_thresh_scale</div><div class="ttdoc">Threshold scale for normal validation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:75</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a3faaf009055f4a79a147e2cee677e078"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">gtsam_points::IncrementalCovarianceVoxelMap::voxel_points</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; voxel_points(const std::vector&lt; size_t &gt; &amp;indices) const</div><div class="ttdoc">Get points from indices.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a4331f9824f490bea0d85444a4f94c79f"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">gtsam_points::IncrementalCovarianceVoxelMap::voxel_normals</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector4d &gt; voxel_normals(const std::vector&lt; size_t &gt; &amp;indices) const</div><div class="ttdoc">Get normals from indices.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a73c98c571508b62dbc91c0044c95c80a"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">gtsam_points::IncrementalCovarianceVoxelMap::remove_invalid_age_thresh</a></div><div class="ttdeci">int remove_invalid_age_thresh</div><div class="ttdoc">Age threshold for removing invalid points.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:74</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a804a26308a0de921871aa2ffca4c159d"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">gtsam_points::IncrementalCovarianceVoxelMap::set_num_threads</a></div><div class="ttdeci">void set_num_threads(int num_threads)</div><div class="ttdoc">Set the number of threads for normal estimation.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a80522ddda706a7508ee530b4ca168546"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a80522ddda706a7508ee530b4ca168546">gtsam_points::IncrementalCovarianceVoxelMap::voxel_points</a></div><div class="ttdeci">virtual std::vector&lt; Eigen::Vector4d &gt; voxel_points() const override</div><div class="ttdoc">Get voxel points.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a81f4cb7004bd5cae277d1de256c40343"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">gtsam_points::IncrementalCovarianceVoxelMap::set_lowrate_cycles</a></div><div class="ttdeci">void set_lowrate_cycles(int lowrate_cycles)</div><div class="ttdoc">Set the number of lowrate update cycles. Covariances of invalid points are re-evaluated every this pe...</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a82e02958175825295090296bef76d57c"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">gtsam_points::IncrementalCovarianceVoxelMap::set_min_num_neighbors</a></div><div class="ttdeci">void set_min_num_neighbors(int min_num_neighbors)</div><div class="ttdoc">Set the minimum number of neighbors for covariance estimation.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a8cad37f0ccceca957e7508ccfb62b04a"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">gtsam_points::IncrementalCovarianceVoxelMap::valid_indices</a></div><div class="ttdeci">std::vector&lt; size_t &gt; valid_indices(int num_threads=-1) const</div><div class="ttdoc">Get valid point indices. If num_threads is -1, the member variable num_threads is used.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a91e514089732ff49c1296900093dd3e2"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a91e514089732ff49c1296900093dd3e2">gtsam_points::IncrementalCovarianceVoxelMap::voxel_covs</a></div><div class="ttdeci">virtual std::vector&lt; Eigen::Matrix4d &gt; voxel_covs() const override</div><div class="ttdoc">Get voxel covariances.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a95b5a5c0b7e141bbd52bcbe4be0c4538"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">gtsam_points::IncrementalCovarianceVoxelMap::warmup_cycles</a></div><div class="ttdeci">int warmup_cycles</div><div class="ttdoc">Number of cycles for covariance warmup.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:72</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_a9dace7ca4fd7c88e2ed07ebb8a4836a0"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">gtsam_points::IncrementalCovarianceVoxelMap::set_eig_stddev_thresh_scale</a></div><div class="ttdeci">void set_eig_stddev_thresh_scale(double eig_stddev_thresh_scale)</div><div class="ttdoc">Set the threshold scale for normal validation.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_aa1b3ba3b5fa8a265e32b2801591cc189"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">gtsam_points::IncrementalCovarianceVoxelMap::set_remove_invalid_age_thresh</a></div><div class="ttdeci">void set_remove_invalid_age_thresh(int remove_invalid_age_thresh)</div><div class="ttdoc">Set the age threshold for removing invalid points. Invalid points older than this are removed.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_ab1e56ab8f93ea309a895df47f1038b4e"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">gtsam_points::IncrementalCovarianceVoxelMap::set_warmup_cycles</a></div><div class="ttdeci">void set_warmup_cycles(int warmup_cycles)</div><div class="ttdoc">Set the number of warmup cycles. Covariances of new points in this period are not re-evaluated every ...</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_ab20b8a69ccfcd39d311e02baa1688eaf"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">gtsam_points::IncrementalCovarianceVoxelMap::clear</a></div><div class="ttdeci">virtual void clear() override</div><div class="ttdoc">Clear the voxelmap.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_abdec741292e2fb009ddbd143d7ec823b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">gtsam_points::IncrementalCovarianceVoxelMap::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">Find k-nearest neighbors. This only finds neighbors with valid covariances.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_ac989a7bd9d2245cd621bf3774390a915"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">gtsam_points::IncrementalCovarianceVoxelMap::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;points) override</div><div class="ttdoc">Insert point into the voxelmap.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_ac9eecb309a3e78f4c2013b91d3506128"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">gtsam_points::IncrementalCovarianceVoxelMap::min_num_neighbors</a></div><div class="ttdeci">int min_num_neighbors</div><div class="ttdoc">Minimum number of neighbors for covariance estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:71</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_acee8999653929e3221cf25355b14de32"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">gtsam_points::IncrementalCovarianceVoxelMap::voxel_normals</a></div><div class="ttdeci">virtual std::vector&lt; Eigen::Vector4d &gt; voxel_normals() const override</div><div class="ttdoc">Get voxel normals.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_acf7424845bf64ad46d0b7cb178d5f1ff"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">gtsam_points::IncrementalCovarianceVoxelMap::eig_stats</a></div><div class="ttdeci">std::deque&lt; RunningStatistics&lt; Eigen::Array3d &gt; &gt; eig_stats</div><div class="ttdoc">Running statistics for eigenvalues.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:78</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_add5e4d661c445a3776ca779cd6987a02"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">gtsam_points::IncrementalCovarianceVoxelMap::set_num_neighbors</a></div><div class="ttdeci">void set_num_neighbors(int num_neighbors)</div><div class="ttdoc">Set the number of neighbors for covariance estimation.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_add6cdaa1562d78590f55c1fc16b72c3e"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">gtsam_points::IncrementalCovarianceVoxelMap::IncrementalCovarianceVoxelMap</a></div><div class="ttdeci">IncrementalCovarianceVoxelMap(double voxel_resolution)</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_aee2af800a50d75b2d0812880d9ccf0f4"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">gtsam_points::IncrementalCovarianceVoxelMap::lowrate_cycles</a></div><div class="ttdeci">int lowrate_cycles</div><div class="ttdoc">Number of cycles for lowrate covariance estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:73</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_af037c856245778d170a237b046c19965"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">gtsam_points::IncrementalCovarianceVoxelMap::voxel_covs</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix4d &gt; voxel_covs(const std::vector&lt; size_t &gt; &amp;indices) const</div><div class="ttdoc">Get covariances from indices.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_af18cb7811fdb7e0bfdbb8b2792dd6080"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">gtsam_points::IncrementalCovarianceVoxelMap::num_threads</a></div><div class="ttdeci">int num_threads</div><div class="ttdoc">Number of threads for normal estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:76</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalCovarianceVoxelMap_html_af9a5e477371009e0e2e2a237e1cdd199"><div class="ttname"><a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">gtsam_points::IncrementalCovarianceVoxelMap::num_neighbors</a></div><div class="ttdeci">int num_neighbors</div><div class="ttdoc">Number of neighbors for covariance estimation.</div><div class="ttdef"><b>Definition:</b> incremental_covariance_voxelmap.hpp:70</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<div class="title">incremental_voxelmap.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/util/vector3i_hash.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud_cpu.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelInfo.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a> {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">   16</a></span>&#160;  <a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">VoxelInfo</a>() : <a class="code" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>(0), <a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>(-1, -1, -1) {}</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">   21</a></span>&#160;  <a class="code" href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">VoxelInfo</a>(<span class="keyword">const</span> Eigen::Vector3i&amp; <a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>, <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>) : <a class="code" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>(<a class="code" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>), <a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>(<a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>) {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">   24</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>;             </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">   25</a></span>&#160;  Eigen::Vector3i <a class="code" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>;  </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;};</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html">   35</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;IncrementalVoxelMap&gt;;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const IncrementalVoxelMap&gt;;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a>(<span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>();</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">   46</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>) { <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a> = 1.0 / <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>; }</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">   48</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>) { this-&gt;lru_clear_cycle = <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>; }</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">   50</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>) { this-&gt;lru_horizon = <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>; }</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">   52</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> mode) { <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a> = neighbor_offsets(mode); }</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">   54</a></span>&#160;  <span class="keyword">typename</span> VoxelContents::Setting&amp; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a>() { <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a>; }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">   57</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 1.0 / <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a>; }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">   60</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">num_voxels</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>.size(); }</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">clear</a>();</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points);</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">knn_search</a>(</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span>* pt,</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">size_t</span> k,</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">size_t</span>* k_indices,</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span>* k_sq_dists,</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max()) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">   84</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">calc_index</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>, <span class="keyword">const</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a> &lt;&lt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a>) | <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>; }</div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">   85</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> i &gt;&gt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a>; }                 </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">   86</a></span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> i &amp; ((1ull &lt;&lt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a>) - 1); }  </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">bool</span> has_points() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">bool</span> has_normals() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">bool</span> has_covs() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">bool</span> has_intensities() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  decltype(<span class="keyword">auto</span>) point(const <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> frame::point(<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>[<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(i)]-&gt;second, <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(i)); }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  decltype(<span class="keyword">auto</span>) normal(const <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> frame::normal(<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>[<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(i)]-&gt;second, <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(i)); }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  decltype(<span class="keyword">auto</span>) cov(const <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> frame::cov(<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>[<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(i)]-&gt;second, <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(i)); }</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  decltype(<span class="keyword">auto</span>) intensity(const <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> frame::intensity(<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>[<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(i)]-&gt;second, <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(i)); }</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Vector4d&gt; voxel_points() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Vector4d&gt; voxel_normals() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">virtual</span> std::vector&lt;Eigen::Matrix4d&gt; voxel_covs() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">virtual</span> std::vector&lt;double&gt; voxel_intensities() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">virtual</span> PointCloudCPU::Ptr voxel_data() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  std::vector&lt;Eigen::Vector3i&gt; neighbor_offsets(<span class="keyword">const</span> <span class="keywordtype">int</span> neighbor_voxel_mode) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Func&gt;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">void</span> visit_points(<span class="keyword">const</span> Func&amp; f)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel : <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>) {</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(voxel-&gt;second); i++) {</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        f(voxel-&gt;second, i);</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      }</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  static_assert(<span class="keyword">sizeof</span>(<span class="keywordtype">size_t</span>) == 8, <span class="stringliteral">&quot;size_t must be 64-bit&quot;</span>);</div>
+<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">  119</a></span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a> = 32;                  </div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">  120</a></span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a> = 64 - <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a>;  </div>
+<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">  121</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a>;                                     </div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">  122</a></span>&#160;  std::vector&lt;Eigen::Vector3i&gt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a>;                     </div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">  124</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>;      </div>
+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">  125</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>;  </div>
+<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">  126</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a>;      </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">  128</a></span>&#160;  <span class="keyword">typename</span> VoxelContents::Setting <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a>;                                  </div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">  129</a></span>&#160;  std::vector&lt;std::shared_ptr&lt;std::pair&lt;VoxelInfo, VoxelContents&gt;&gt;&gt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a>;  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">  130</a></span>&#160;  std::unordered_map&lt;Eigen::Vector3i, size_t, XORVector3iHash&gt; <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a>;            </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;};</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">  136</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt;VoxelContents&gt;&gt; {</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_points(); }</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_normals(); }</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_covs(); }</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox) { <span class="keywordflow">return</span> ivox.has_intensities(); }</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.point(i); }</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.normal(i); }</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.cov(i); }</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;</a>&amp; ivox, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> ivox.intensity(i); }</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;};</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a04f366016bcdcf99a6d2688d70956c65"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">gtsam_points::IncrementalVoxelMap::inv_leaf_size</a></div><div class="ttdeci">double inv_leaf_size</div><div class="ttdoc">Inverse of the voxel size.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:121</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a16625ca1ce92157055a3a378c2beb1b3"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">gtsam_points::IncrementalVoxelMap::num_voxels</a></div><div class="ttdeci">size_t num_voxels() const</div><div class="ttdoc">Number of voxels in the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:60</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a17b6a12d685baf35559a7975591c85fd"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">gtsam_points::IncrementalVoxelMap::point_id</a></div><div class="ttdeci">size_t point_id(const size_t i) const</div><div class="ttdoc">Extract the voxel ID from a global index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:86</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a23f102e6ad88d9269fd5f39853a63b9b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">gtsam_points::IncrementalVoxelMap::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:24</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a2a7438b9d26d033f62cdd4ecfa18fd03"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">gtsam_points::IncrementalVoxelMap::offsets</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3i &gt; offsets</div><div class="ttdoc">Neighbor voxel offsets.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:122</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a316d9f2671876d93e0bd94800fe99b14"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">gtsam_points::IncrementalVoxelMap::set_neighbor_voxel_mode</a></div><div class="ttdeci">void set_neighbor_voxel_mode(const int mode)</div><div class="ttdoc">Neighboring voxel search mode (1, 7, 19, or 27).</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:52</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a445ebdb7ae249c21af2b3af8423ec8e9"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">gtsam_points::IncrementalVoxelMap::voxel_id</a></div><div class="ttdeci">size_t voxel_id(const size_t i) const</div><div class="ttdoc">Extract the point ID from a global index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:85</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a46c51e0007ae9883bbc702c1b86971a9"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">gtsam_points::IncrementalVoxelMap::set_lru_horizon</a></div><div class="ttdeci">void set_lru_horizon(const int lru_horizon)</div><div class="ttdoc">LRU cache horizon.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:50</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a4705cb737c77acdcb97e10899a08f6fb"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">gtsam_points::IncrementalVoxelMap::set_voxel_resolution</a></div><div class="ttdeci">void set_voxel_resolution(const double leaf_size)</div><div class="ttdoc">Voxel resolution.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:46</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a4c7f4629f42fac6532259dbb83251b5a"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">gtsam_points::IncrementalVoxelMap::lru_counter</a></div><div class="ttdeci">size_t lru_counter</div><div class="ttdoc">LRU counter. Incremented every step.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:126</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a4e8f10d43973d573b1e5bd99ba91dcc0"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">gtsam_points::IncrementalVoxelMap::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;points)</div><div class="ttdoc">Insert points to the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:31</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a5a572eb934aca763a0f386e4739eae04"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">gtsam_points::IncrementalVoxelMap::voxels</a></div><div class="ttdeci">std::unordered_map&lt; Eigen::Vector3i, size_t, XORVector3iHash &gt; voxels</div><div class="ttdoc">Voxel index map.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:130</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a6f3879cdf400b3d9e8f288f8272e5e8b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">gtsam_points::IncrementalVoxelMap::point_id_bits</a></div><div class="ttdeci">static constexpr int point_id_bits</div><div class="ttdoc">Use the first 32 bits for point id.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:119</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a86d624f37c2f2f717468a4861ef21392"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">gtsam_points::IncrementalVoxelMap::lru_horizon</a></div><div class="ttdeci">size_t lru_horizon</div><div class="ttdoc">LRU horizon size. Voxels that have not been accessed for lru_horizon steps are deleted.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:124</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a985e94ab0de7517bcb597f925fb34da8"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">gtsam_points::IncrementalVoxelMap::IncrementalVoxelMap</a></div><div class="ttdeci">IncrementalVoxelMap(double leaf_size)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:13</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_aa7fb935ee171f3aa1a638c7f5a00cf31"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">gtsam_points::IncrementalVoxelMap::voxel_setting</a></div><div class="ttdeci">VoxelContents::Setting voxel_setting</div><div class="ttdoc">Voxel setting.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:128</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_aa85d8d43e5ef3b78db2b3af32b1c92be"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">gtsam_points::IncrementalVoxelMap::leaf_size</a></div><div class="ttdeci">double leaf_size() const</div><div class="ttdoc">Voxel size.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:57</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_abae7c8dbec4ac33add69d7345c39bb73"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">gtsam_points::IncrementalVoxelMap::calc_index</a></div><div class="ttdeci">size_t calc_index(const size_t voxel_id, const size_t point_id) const</div><div class="ttdoc">Calculate the global point index from the voxel index and the point index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:84</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ac89d90c1c844821e8cf33dd79c736f7d"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">gtsam_points::IncrementalVoxelMap::lru_clear_cycle</a></div><div class="ttdeci">size_t lru_clear_cycle</div><div class="ttdoc">LRU clear cycle. Voxel deletion is performed every lru_clear_cycle steps.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:125</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_acec16db641994783ab61ac705b65a53d"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">gtsam_points::IncrementalVoxelMap::set_lru_clear_cycle</a></div><div class="ttdeci">void set_lru_clear_cycle(const int lru_clear_cycle)</div><div class="ttdoc">LRU cache clearing cycle.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:48</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ad618fcc1f351eed2239873aaa7caf66b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:71</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ad7b32a252f510a8d1adbe2f00ea43420"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">gtsam_points::IncrementalVoxelMap::flat_voxels</a></div><div class="ttdeci">std::vector&lt; std::shared_ptr&lt; std::pair&lt; VoxelInfo, VoxelContents &gt; &gt; &gt; flat_voxels</div><div class="ttdoc">Voxel contents.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:129</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ae1dc28f2574de3baf638905d2e9d227e"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">gtsam_points::IncrementalVoxelMap::voxel_insertion_setting</a></div><div class="ttdeci">VoxelContents::Setting &amp; voxel_insertion_setting()</div><div class="ttdoc">Voxel setting.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:54</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ae2e6a3df1bba51789fba319a4420461f"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">gtsam_points::IncrementalVoxelMap::voxel_id_bits</a></div><div class="ttdeci">static constexpr int voxel_id_bits</div><div class="ttdoc">Use the remaining bits for voxel id.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:120</div></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></div><div class="ttdoc">Nearest neighbor search interface.</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></div><div class="ttdoc">Voxel meta information.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:13</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html_a3af5f13ab826b46bd5c8b52ef1567adf"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">gtsam_points::VoxelInfo::VoxelInfo</a></div><div class="ttdeci">VoxelInfo()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:16</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html_a3bc4f78d461ba17ab4c80d947b2396d0"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">gtsam_points::VoxelInfo::coord</a></div><div class="ttdeci">Eigen::Vector3i coord</div><div class="ttdoc">Voxel coordinate.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:25</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html_ab506627ea1655fd205154a7d5befac87"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">gtsam_points::VoxelInfo::VoxelInfo</a></div><div class="ttdeci">VoxelInfo(const Eigen::Vector3i &amp;coord, size_t lru)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html_adeb146d9e19b4b876a71fbb0013dcdf6"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">gtsam_points::VoxelInfo::lru</a></div><div class="ttdeci">size_t lru</div><div class="ttdoc">Last used time.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:24</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<div class="title">incremental_voxelmap_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/knn_result.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/util/fast_floor.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">   13</a></span>&#160;<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap&lt;VoxelContents&gt;::IncrementalVoxelMap</a>(<span class="keywordtype">double</span> leaf_size)</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;: inv_leaf_size(1.0 / leaf_size),</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  lru_horizon(10),</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  lru_clear_cycle(10),</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  lru_counter(0),</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  offsets(neighbor_offsets(7)) {}</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap&lt;VoxelContents&gt;::~IncrementalVoxelMap</a>() {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">   24</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">IncrementalVoxelMap&lt;VoxelContents&gt;::clear</a>() {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  lru_counter = 0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  flat_voxels.clear();</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  voxels.clear();</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">   31</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">IncrementalVoxelMap&lt;VoxelContents&gt;::insert</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points) {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">// Insert points to the voxelmap</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; points.<a class="code" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>(); i++) {</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">const</span> Eigen::Vector3i coord = fast_floor(points.<a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>[i] * inv_leaf_size).template head&lt;3&gt;();</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">auto</span> found = voxels.find(coord);</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">if</span> (found == voxels.end()) {</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">auto</span> voxel = std::make_shared&lt;std::pair&lt;VoxelInfo, VoxelContents&gt;&gt;(<a class="code" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a>(coord, lru_counter), VoxelContents());</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      found = voxels.emplace_hint(found, coord, flat_voxels.size());</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      flat_voxels.emplace_back(voxel);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">   42</a></span>&#160;    }</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">auto</span>&amp; [info, voxel] = *flat_voxels[found-&gt;second];</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    info.lru = lru_counter;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    voxel.add(voxel_setting, points, i);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">if</span> ((++lru_counter) % lru_clear_cycle == 0) {</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">// Remove least recently used voxels</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">auto</span> remove_counter =</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      std::remove_if(flat_voxels.begin(), flat_voxels.end(), [&amp;](<span class="keyword">const</span> std::shared_ptr&lt;std::pair&lt;VoxelInfo, VoxelContents&gt;&gt;&amp; voxel) {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        return voxel-&gt;first.lru + lru_horizon &lt; lru_counter;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      });</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    flat_voxels.erase(remove_counter, flat_voxels.end());</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// Rehash</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    voxels.clear();</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; flat_voxels.size(); i++) {</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      voxels[flat_voxels[i]-&gt;first.coord] = i;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    }</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">   63</a></span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Finalize voxel means and covs</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; voxel : flat_voxels) {</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    voxel-&gt;second.finalize();</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">   68</a></span>&#160;}</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">   71</a></span>&#160;<span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">IncrementalVoxelMap&lt;VoxelContents&gt;::knn_search</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* pt, <span class="keywordtype">size_t</span> k, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists, <span class="keywordtype">double</span> max_sq_dist)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">const</span> Eigen::Vector4d query = (Eigen::Vector4d() &lt;&lt; pt[0], pt[1], pt[2], 1.0).finished();</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">const</span> Eigen::Vector3i center = fast_floor(query * inv_leaf_size).template head&lt;3&gt;();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">size_t</span> voxel_index = 0;</div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">   76</a></span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> index_transform = [&amp;](<span class="keyword">const</span> <span class="keywordtype">size_t</span> point_index) { <span class="keywordflow">return</span> calc_index(voxel_index, point_index); };</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="structgtsam__points_1_1KnnResult.html">KnnResult</a>&lt;-1, decltype(index_transform)&gt; result(k_indices, k_sq_dists, k, index_transform, max_sq_dist);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; offset : offsets) {</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">const</span> Eigen::Vector3i coord = center + offset;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> found = voxels.find(coord);</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">if</span> (found == voxels.end()) {</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    }</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    voxel_index = found-&gt;second;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel = flat_voxels[voxel_index]-&gt;second;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    voxel.knn_search(query, result);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">return</span> result.num_found();</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;std::vector&lt;Eigen::Vector3i&gt; IncrementalVoxelMap&lt;VoxelContents&gt;::neighbor_offsets(<span class="keyword">const</span> <span class="keywordtype">int</span> neighbor_voxel_mode)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">switch</span> (neighbor_voxel_mode) {</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">case</span> 1:</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">return</span> std::vector&lt;Eigen::Vector3i&gt;{Eigen::Vector3i(0, 0, 0)};</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">case</span> 7:</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">return</span> std::vector&lt;Eigen::Vector3i&gt;{</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        Eigen::Vector3i(0, 0, 0),</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        Eigen::Vector3i(1, 0, 0),</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        Eigen::Vector3i(-1, 0, 0),</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        Eigen::Vector3i(0, 1, 0),</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        Eigen::Vector3i(0, -1, 0),</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        Eigen::Vector3i(0, 0, 1),</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        Eigen::Vector3i(0, 0, -1)};</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">case</span> 19: {</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      std::vector&lt;Eigen::Vector3i&gt; offsets;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -1; i &lt;= 1; i++) {</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = -1; j &lt;= 1; j++) {</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = -1; k &lt;= 1; k++) {</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">if</span> (std::abs(i) == 1 &amp;&amp; std::abs(j) == 1 &amp;&amp; std::abs(k) == 1) {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;              <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            }</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            offsets.push_back(Eigen::Vector3i(i, j, k));</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          }</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">return</span> offsets;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">case</span> 27: {</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      std::vector&lt;Eigen::Vector3i&gt; offsets;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -1; i &lt;= 1; i++) {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = -1; j &lt;= 1; j++) {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = -1; k &lt;= 1; k++) {</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            offsets.push_back(Eigen::Vector3i(i, j, k));</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          }</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">return</span> offsets;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    }</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">default</span>:</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;error: invalid neighbor voxel mode &quot;</span> &lt;&lt; neighbor_voxel_mode &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;     : neighbor voxel mode must be 1, 7, 19, or 27&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordflow">return</span> std::vector&lt;Eigen::Vector3i&gt;();</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;}</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keywordtype">bool</span> IncrementalVoxelMap&lt;VoxelContents&gt;::has_points()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">return</span> flat_voxels.empty() ? false : frame::has_points(flat_voxels.front()-&gt;second);</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keywordtype">bool</span> IncrementalVoxelMap&lt;VoxelContents&gt;::has_normals()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">return</span> flat_voxels.empty() ? false : frame::has_normals(flat_voxels.front()-&gt;second);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keywordtype">bool</span> IncrementalVoxelMap&lt;VoxelContents&gt;::has_covs()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">return</span> flat_voxels.empty() ? false : frame::has_covs(flat_voxels.front()-&gt;second);</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="keywordtype">bool</span> IncrementalVoxelMap&lt;VoxelContents&gt;::has_intensities()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordflow">return</span> flat_voxels.empty() ? false : frame::has_intensities(flat_voxels.front()-&gt;second);</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;std::vector&lt;Eigen::Vector4d&gt; IncrementalVoxelMap&lt;VoxelContents&gt;::voxel_points()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; points;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  points.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  visit_points([&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel, <span class="keyword">const</span> <span class="keywordtype">int</span> i) { points.emplace_back(frame::point(voxel, i)); });</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">return</span> points;</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;std::vector&lt;Eigen::Vector4d&gt; IncrementalVoxelMap&lt;VoxelContents&gt;::voxel_normals()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; normals;</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  normals.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  visit_points([&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel, <span class="keyword">const</span> <span class="keywordtype">int</span> i) { normals.emplace_back(frame::normal(voxel, i)); });</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">return</span> normals;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;std::vector&lt;Eigen::Matrix4d&gt; IncrementalVoxelMap&lt;VoxelContents&gt;::voxel_covs()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  std::vector&lt;Eigen::Matrix4d&gt; covs;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  covs.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  visit_points([&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel, <span class="keyword">const</span> <span class="keywordtype">int</span> i) { covs.emplace_back(frame::cov(voxel, i)); });</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">return</span> covs;</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;}</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;std::vector&lt;double&gt; IncrementalVoxelMap&lt;VoxelContents&gt;::voxel_intensities()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  std::vector&lt;double&gt; intensities;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  intensities.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  visit_points([&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel, <span class="keyword">const</span> <span class="keywordtype">int</span> i) { intensities.emplace_back(frame::intensity(voxel, i)); });</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">return</span> intensities;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> VoxelContents&gt;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;PointCloudCPU::Ptr IncrementalVoxelMap&lt;VoxelContents&gt;::voxel_data()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">auto</span> frame = std::make_shared&lt;PointCloudCPU&gt;();</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  frame-&gt;points_storage.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">if</span> (has_normals()) {</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    frame-&gt;normals_storage.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  }</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">if</span> (has_covs()) {</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    frame-&gt;covs_storage.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  }</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordflow">if</span> (has_intensities()) {</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    frame-&gt;intensities_storage.reserve(flat_voxels.size() * 10);</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  visit_points([&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; voxel, <span class="keyword">const</span> <span class="keywordtype">int</span> i) {</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    frame-&gt;points_storage.emplace_back(frame::point(voxel, i));</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">if</span> (frame::has_normals(voxel)) {</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      frame-&gt;normals_storage.emplace_back(frame::normal(voxel, i));</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">if</span> (frame::has_covs(voxel)) {</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      frame-&gt;covs_storage.emplace_back(frame::cov(voxel, i));</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">if</span> (frame::has_intensities(voxel)) {</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      frame-&gt;intensities_storage.emplace_back(frame::intensity(voxel, i));</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  });</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  frame-&gt;num_points = frame-&gt;points_storage.size();</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  frame-&gt;points = frame-&gt;points_storage.data();</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  frame-&gt;normals = frame-&gt;normals_storage.empty() ? nullptr : frame-&gt;normals_storage.data();</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  frame-&gt;covs = frame-&gt;covs_storage.empty() ? nullptr : frame-&gt;covs_storage.data();</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  frame-&gt;intensities = frame-&gt;intensities_storage.empty() ? nullptr : frame-&gt;intensities_storage.data();</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">return</span> frame;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;}</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a23f102e6ad88d9269fd5f39853a63b9b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">gtsam_points::IncrementalVoxelMap::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">Clear the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:24</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a4e8f10d43973d573b1e5bd99ba91dcc0"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">gtsam_points::IncrementalVoxelMap::insert</a></div><div class="ttdeci">virtual void insert(const PointCloud &amp;points)</div><div class="ttdoc">Insert points to the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:31</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_a985e94ab0de7517bcb597f925fb34da8"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">gtsam_points::IncrementalVoxelMap::IncrementalVoxelMap</a></div><div class="ttdeci">IncrementalVoxelMap(double leaf_size)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:13</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IncrementalVoxelMap_html_ad618fcc1f351eed2239873aaa7caf66b"><div class="ttname"><a href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap_impl.hpp:71</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult</a></div><div class="ttdoc">K-nearest neighbor search result container.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a79fa5fb881a7c1d9b7ff9c8efe421366"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">gtsam_points::PointCloud::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:43</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a9204af535708df67d32ecbcec2c635c4"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud::points</a></div><div class="ttdeci">Eigen::Vector4d * points</div><div class="ttdoc">Point coordinates (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:106</div></div>
+<div class="ttc" id="astructgtsam__points_1_1VoxelInfo_html"><div class="ttname"><a href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></div><div class="ttdoc">Voxel meta information.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:13</div></div>
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+  <div class="headertitle">
+<div class="title">gtsam_points </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="md__home_runner_work_gtsam_points_gtsam_points_README"></a> This is a collection of <a href="https://gtsam.org/">GTSAM</a> factors and optimizers for range-based SLAM.</p>
+<p>Tested on Ubuntu 22.04 / 24.04 and CUDA 12.2, and NVIDIA Jetson Orin with <b>GTSAM 4.2a9</b>.</p>
+<p><a href="https://koide3.github.io/gtsam_points/doc_cpp/index.html"><img src="https://img.shields.io/badge/API_list-Doxygen-blue" alt="Doc" class="inline"/></a> <a href="https://github.com/koide3/gtsam_points/actions/workflows/build.yml"><img src="https://github.com/koide3/gtsam_points/actions/workflows/build.yml/badge.svg" alt="Build" style="pointer-events: none;" class="inline"/></a></p>
+<h1><a class="anchor" id="autotoc_md1"></a>
+Factors</h1>
+<h2><a class="anchor" id="autotoc_md2"></a>
+Scan Matching Factors</h2>
+<ul>
+<li><b>IntegratedICPFactor &amp; IntegratedPointToPlaneICPFactor</b> <br  />
+ The conventional point-to-point and point-to-plane ICP <a href="#ICP">[1]</a>.</li>
+<li><b>IntegratedGICPFactor</b> <br  />
+ Generalized ICP based on the distribution-to-distribution distance <a href="#GICP">[2]</a>.</li>
+<li><b>IntegratedVGICPFactor</b> <br  />
+ GICP with voxel-based data association and multi-distribution-correspondence <a href="#VGICP1">[3]</a><a href="#VGICP2">[4]</a>.</li>
+<li><b>IntegratedVGICPFactorGPU</b> <br  />
+ GPU implementation of VGICP <a href="#VGICP1">[3]</a><a href="#VGICP2">[4]</a>. <br  />
+ To enable this factor, set <code>-DBUILD_WITH_CUDA=ON</code>.</li>
+<li><b>IntegratedLOAMFactor</b> <br  />
+ Matching cost factor based on the combination of point-to-plane and point-to-edge distances <a href="#LOAM">[5]</a><a href="#LEGO">[6]</a>.</li>
+</ul>
+<h2><a class="anchor" id="autotoc_md3"></a>
+Colored Scan Matching Factors</h2>
+<ul>
+<li><b>IntegratedColorConsistencyFactor</b> <br  />
+ Photometric ICP error <a href="#COLORED">[7]</a>.</li>
+<li><b>IntegratedColoredGICPFactor</b> <br  />
+ Photometric ICP error + GICP geometric error <a href="#GICP">[2]</a><a href="#COLORED">[7]</a>.</li>
+</ul>
+<h2><a class="anchor" id="autotoc_md4"></a>
+Continuous-time ICP Factors</h2>
+<ul>
+<li><b>IntegratedCT_ICPFactor</b> <br  />
+ Continuous Time ICP Factor <a href="#CTICP">[8]</a>.</li>
+<li><b>IntegratedCT_GICPFactor</b> <br  />
+ Continuous Time ICP with GICP's D2D matching cost <a href="#GICP">[2]</a><a href="#CTICP">[8]</a>.</li>
+</ul>
+<h2><a class="anchor" id="autotoc_md5"></a>
+Bundle Adjustment Factors</h2>
+<ul>
+<li><b>PlaneEVMFactor and EdgeEVMFactor</b> <br  />
+ Bundle adjustment factor based on Eigenvalue minimization <a href="#BA_EVM">[9]</a>.</li>
+<li><b>LsqBundleAdjustmentFactor</b> <br  />
+ Bundle adjustment factor based on EVM and EF optimal condition satisfaction <a href="#BA_LSQ">[10]</a>.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md6"></a>
+Optimizers for GPU Factors</h1>
+<p>All the following optimizers were derived from the implementations in GTSAM.</p>
+<ul>
+<li><b>LevenbergMarquardtOptimizerExt</b></li>
+<li><b>ISAM2Ext</b></li>
+<li><b>IncrementalFixedLagSmootherExt</b></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md7"></a>
+Nearest Neighbor Search</h1>
+<ul>
+<li><b>KdTree</b> KdTree with parallel tree construction. Derived from <a href="https://github.com/jlblancoc/nanoflann">nanoflann</a>.</li>
+<li><b>IncrementalVoxelMap</b> Incremental voxel-based nearest neighbor search (iVox) <a href="#IVOX">[11]</a>.</li>
+<li><b>IncrementalCovarianceVoxelMap</b> Incremental voxelmap with online normal and covariance estimation.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md8"></a>
+Continuous-Time Trajectory (Under development)</h1>
+<ul>
+<li><b>B-Spline</b> Cubic B-Spline-based interpolation and linear acceleration and angular velocity expressions <a href="#BSPLINE_D">[12]</a>.</li>
+<li><b>ContinuousTrajectory</b> Cubic B-Spline-based continuous trajectory representation for offline batch optimization.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md9"></a>
+Installation</h1>
+<h2><a class="anchor" id="autotoc_md10"></a>
+Install from source</h2>
+<div class="fragment"><div class="line"># Install gtsam</div>
+<div class="line">git clone https://github.com/borglab/gtsam</div>
+<div class="line">cd gtsam</div>
+<div class="line">git checkout 4.2a9</div>
+<div class="line"> </div>
+<div class="line">mkdir build &amp;&amp; cd build</div>
+<div class="line">cmake .. \</div>
+<div class="line">  -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \</div>
+<div class="line">  -DGTSAM_BUILD_TESTS=OFF \</div>
+<div class="line">  -DGTSAM_WITH_TBB=OFF \</div>
+<div class="line">  -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF</div>
+<div class="line"> </div>
+<div class="line">make -j$(nproc)</div>
+<div class="line">sudo make install</div>
+<div class="line"> </div>
+<div class="line"># [optional] Install iridescence visualization library</div>
+<div class="line"># This is required for only demo programs</div>
+<div class="line">sudo apt install -y libglm-dev libglfw3-dev libpng-dev</div>
+<div class="line">git clone https://github.com/koide3/iridescence --recursive</div>
+<div class="line">mkdir iridescence/build &amp;&amp; cd iridescence/build</div>
+<div class="line">cmake .. -DCMAKE_BUILD_TYPE=Release</div>
+<div class="line">make -j$(nproc)</div>
+<div class="line">sudo make install</div>
+<div class="line"> </div>
+<div class="line">## Build gtsam_points</div>
+<div class="line">git clone https://github.com/koide3/gtsam_points</div>
+<div class="line">mkdir gtsam_points/build &amp;&amp; cd gtsam_points/build</div>
+<div class="line">cmake .. -DCMAKE_BUILD_TYPE=Release</div>
+<div class="line"> </div>
+<div class="line"># Optional cmake arguments</div>
+<div class="line"># cmake .. \</div>
+<div class="line">#   -DBUILD_DEMO=OFF \</div>
+<div class="line">#   -DBUILD_TESTS=OFF \</div>
+<div class="line">#   -DBUILD_WITH_CUDA=OFF \</div>
+<div class="line">#   -DBUILD_WITH_MARCH_NATIVE=OFF</div>
+<div class="line"> </div>
+<div class="line">make -j$(nproc)</div>
+<div class="line">sudo make install</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md11"></a>
+Install from &lt;a href="https://github.com/koide3/ppa"&gt;PPA&lt;/a&gt; [AMD64, ARM64]</h2>
+<h3><a class="anchor" id="autotoc_md12"></a>
+Setup PPA</h3>
+<h4><a class="anchor" id="autotoc_md13"></a>
+Ubuntu 24.04</h4>
+<div class="fragment"><div class="line">curl -s --compressed &quot;https://koide3.github.io/ppa/ubuntu2404/KEY.gpg&quot; | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg &gt;/dev/null</div>
+<div class="line">echo &quot;deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2404 ./&quot; | sudo tee /etc/apt/sources.list.d/koide3_ppa.list</div>
+</div><!-- fragment --><h4><a class="anchor" id="autotoc_md14"></a>
+Ubuntu 22.04</h4>
+<div class="fragment"><div class="line">curl -s --compressed &quot;https://koide3.github.io/ppa/ubuntu2204/KEY.gpg&quot; | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg &gt;/dev/null</div>
+<div class="line">echo &quot;deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./&quot; | sudo tee /etc/apt/sources.list.d/koide3_ppa.list</div>
+</div><!-- fragment --><h4><a class="anchor" id="autotoc_md15"></a>
+Ubuntu 20.04</h4>
+<div class="fragment"><div class="line">curl -s --compressed &quot;https://koide3.github.io/ppa/ubuntu2004/KEY.gpg&quot; | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg &gt;/dev/null</div>
+<div class="line">echo &quot;deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2004 ./&quot; | sudo tee /etc/apt/sources.list.d/koide3_ppa.list</div>
+</div><!-- fragment --><h3><a class="anchor" id="autotoc_md16"></a>
+Install GTSAM and gtsam_points</h3>
+<h4><a class="anchor" id="autotoc_md17"></a>
+Without CUDA</h4>
+<div class="fragment"><div class="line">sudo apt update &amp;&amp; sudo apt install -y libgtsam-points-dev</div>
+</div><!-- fragment --><h4><a class="anchor" id="autotoc_md18"></a>
+With CUDA 12.2</h4>
+<div class="fragment"><div class="line">sudo apt update &amp;&amp; sudo apt install -y libgtsam-points-cuda12.2-dev</div>
+</div><!-- fragment --><h4><a class="anchor" id="autotoc_md19"></a>
+With CUDA 12.5</h4>
+<div class="fragment"><div class="line">sudo apt update &amp;&amp; sudo apt install -y libgtsam-points-cuda12.5-dev</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md20"></a>
+Demo</h1>
+<div class="fragment"><div class="line">cd gtsam_points</div>
+<div class="line">./build/demo_matching_cost_factors</div>
+<div class="line">./build/demo_bundle_adjustment</div>
+<div class="line">./build/demo_continuous_time</div>
+<div class="line">./build/demo_continuous_trajectory</div>
+<div class="line">./build/demo_colored_registration</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md21"></a>
+Videos</h1>
+<ul>
+<li><a href="https://youtu.be/HCXCWlx_VOM">Multi-scan registration of 5 frames (= A graph with 10 registration factors)</a></li>
+<li><a href="https://youtu.be/tuDV0GCOZXg">Bundle adjustment factor</a></li>
+<li><a href="https://youtu.be/Xv2-qDlzQYM">Continuous-time ICP factor</a></li>
+<li><a href="https://youtu.be/xEQmiFV79LU">Colored ICP factor</a></li>
+<li><a href="https://youtu.be/gDiKqQDc7yo">Incremental voxel mapping and normal estimation</a></li>
+<li><a href="https://youtu.be/etAI8go3b8U">SE3 BSpline interpolation</a></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md22"></a>
+License</h1>
+<p>This library is released under the MIT license.</p>
+<h1><a class="anchor" id="autotoc_md23"></a>
+Dependencies</h1>
+<ul>
+<li><a href="https://eigen.tuxfamily.org/index.php">Eigen</a></li>
+<li><a href="https://github.com/jlblancoc/nanoflann">nanoflann</a></li>
+<li><a href="https://gtsam.org/">GTSAM</a></li>
+<li>[optional] <a href="https://www.openmp.org/">OpenMP</a></li>
+<li>[optional] <a href="https://developer.nvidia.com/cuda-toolkit">CUDA</a></li>
+<li>[optional] <a href="https://github.com/koide3/iridescence">iridescence</a></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md24"></a>
+Disclaimer</h1>
+<p>The test data in <code>data</code> directory are generated from <a href="http://www.cvlibs.net/datasets/kitti/">The KITTI Vision Benchmark Suite</a> and <a href="https://ori-drs.github.io/newer-college-dataset/">The Newer College Dataset</a>. Because they employ <code>Creative Commons BY-NC-SA License 3.0 and 4.0</code>, the test data must not be used for commercial purposes.</p>
+<h1><a class="anchor" id="autotoc_md25"></a>
+References</h1>
+<p><a class="anchor" id="ICP"></a> [1] Zhang, "Iterative Point Matching for Registration of Free-Form Curve", IJCV1994 <br  />
+ <a class="anchor" id="GICP"></a> [2] Segal et al., "Generalized-ICP", RSS2005 <br  />
+ <a class="anchor" id="VGICP1"></a> [3] Koide et al., "Voxelized GICP for Fast and Accurate 3D Point Cloud Registration", ICRA2021 <br  />
+ <a class="anchor" id="VGICP2"></a> [4] Koide et al., "Globally Consistent 3D LiDAR Mapping with GPU-accelerated GICP Matching Cost Factors", RA-L2021 <br  />
+ <a class="anchor" id="LOAM"></a> [5] Zhang and Singh, "Low-drift and real-time lidar odometry and mapping", Autonomous Robots, 2017 <br  />
+ <a class="anchor" id="LEGO"></a> [6] Tixiao and Brendan, "LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain", IROS2018 <br  />
+ <a class="anchor" id="COLORED"></a> [7] Park et al., "Colored Point Cloud Registration Revisited", ICCV2017 <br  />
+ <a class="anchor" id="CTICP"></a> [8] Bellenbach et al., "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure", 2021 <br  />
+ <a class="anchor" id="BA_EVM"></a> [9] Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021 <br  />
+ <a class="anchor" id="BA_LSQ"></a> [10] Huang et al, "On Bundle Adjustment for Multiview Point Cloud Registration", IEEE RA-L, 2021 <br  />
+ <a class="anchor" id="IVOX"></a> [11] Bai et al., "Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels", IEEE RA-L, 2022 <br  />
+ <a class="anchor" id="BSPLINE_D"></a> [12] Sommer et al., "Efficient Derivative Computation for Cumulative B-Splines on Lie Groups", CVPR2020 </p>
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diff --git a/doc_cpp/inherit_graph_32.map b/doc_cpp/inherit_graph_32.map
new file mode 100644
index 00000000..b40feee9
--- /dev/null
+++ b/doc_cpp/inherit_graph_32.map
@@ -0,0 +1,3 @@
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+</map>
diff --git a/doc_cpp/inherit_graph_32.md5 b/doc_cpp/inherit_graph_32.md5
new file mode 100644
index 00000000..048899d5
--- /dev/null
+++ b/doc_cpp/inherit_graph_32.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/inherit_graph_32.png b/doc_cpp/inherit_graph_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..683c679add700c70f4e2a69ee021f263c34cd7b3
GIT binary patch
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+<div class="title">integrated_color_consistency_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/intensity_gradients.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
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+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">   33</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_</a>(</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_</a>(</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">   77</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">set_num_threads</a>(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">   81</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">set_max_correspondence_distance</a>(<span class="keywordtype">double</span> d) { max_correspondence_distance_sq = d * d; }</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">   84</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">set_photometric_term_weight</a>(<span class="keywordtype">double</span> w) { photometric_term_weight = w; }</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">   88</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">set_correspondence_update_tolerance</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordtype">double</span> photometric_term_weight;  <span class="comment">// [0, 1]</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  std::shared_ptr&lt;const NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  std::shared_ptr&lt;const IntensityGradients&gt; target_gradients;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;long&gt; correspondences;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;};</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">using</span> IntegratedColorConsistencyFactor = IntegratedColorConsistencyFactor_&lt;&gt;;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a></div><div class="ttdoc">Photometric consistency factor between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:33</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_a3223c385013a3e4c77525cef2b63e66e"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a3223c385013a3e4c77525cef2b63e66e">gtsam_points::IntegratedColorConsistencyFactor_::set_num_threads</a></div><div class="ttdeci">void set_num_threads(int n)</div><div class="ttdoc">Set the number of thread used for linearization of this factor.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:77</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_a5aa900a0f327f0ed4be3d1a4c289d445"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a5aa900a0f327f0ed4be3d1a4c289d445">gtsam_points::IntegratedColorConsistencyFactor_::set_max_correspondence_distance</a></div><div class="ttdeci">void set_max_correspondence_distance(double d)</div><div class="ttdoc">Set the maximum distance between corresponding points. Correspondences with distances larger than thi...</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:81</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_a72bfa71fe982017245a68846128d4961"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a72bfa71fe982017245a68846128d4961">gtsam_points::IntegratedColorConsistencyFactor_::set_photometric_term_weight</a></div><div class="ttdeci">void set_photometric_term_weight(double w)</div><div class="ttdoc">Set the weight for the photometric error term.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:84</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_ac7f7859f61afdf9420dba98b4281017b"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">gtsam_points::IntegratedColorConsistencyFactor_::IntegratedColorConsistencyFactor_</a></div><div class="ttdeci">IntegratedColorConsistencyFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients)</div><div class="ttdoc">Create a binary color consistency factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor_impl.hpp:12</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_ad68b689ea07183c5f4e723746bb29e92"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ad68b689ea07183c5f4e723746bb29e92">gtsam_points::IntegratedColorConsistencyFactor_::set_correspondence_update_tolerance</a></div><div class="ttdeci">void set_correspondence_update_tolerance(double angle, double trans)</div><div class="ttdoc">Correspondences are updated only when the displacement from the last update point is larger than thes...</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:88</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntensityGradients_html"><div class="ttname"><a href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></div><div class="ttdoc">Intensity gradients for colored ICP Park et al., &quot;Colored Point Cloud Registration Revisited&quot;,...</div><div class="ttdef"><b>Definition:</b> intensity_gradients.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_color_consistency_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_color_consistency_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">   12</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::IntegratedColorConsistencyFactor_</a>(</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients)</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(target_key, source_key),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  photometric_term_weight(1.0),</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  target(target),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  source(source),</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  target_tree(target_tree),</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  target_gradients(target_gradients) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_normals(*target) || !frame::has_intensities(*target)) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    abort();</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_intensities(*source)) {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    abort();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#a862fcf9507d5c555e936edc1161b5205">   42</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::IntegratedColorConsistencyFactor_</a>(</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients)</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(fixed_target_pose, source_key),</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  photometric_term_weight(1.0),</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  target(target),</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  source(source),</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  target_tree(target_tree),</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  target_gradients(target_gradients) {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_normals(*target) || !frame::has_intensities(*target)) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    abort();</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_intensities(*source)) {</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    abort();</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::~IntegratedColorConsistencyFactor_</a>() {}</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">bool</span> do_update = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      do_update = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">if</span> (do_update) {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      pt[3] = frame::intensity(*source, i);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">double</span> k_sq_dist = -1;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 1, &amp;k_index, &amp;k_sq_dist, max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      correspondences[i] = (num_found &amp;&amp; k_sq_dist &lt; max_correspondence_distance_sq) ? k_index : -1;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  last_correspondence_point = delta;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keywordtype">double</span> IntegratedColorConsistencyFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::evaluate(</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  }</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordtype">double</span> sum_errors_photo = 0.0;</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors_photo) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">// source atributes</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_A = frame::point(*source, i);</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> intensity_A = frame::intensity(*source, i);</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// target attributes</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_B = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; normal_B = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; gradient_B = frame::intensity_gradient(*target_gradients, target_index);</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> intensity_B = frame::intensity(*target, target_index);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d transed_A = delta * mean_A;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">// photometric error</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d projected = transed_A - (transed_A - mean_B).dot(normal_B) * normal_B;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d offset = projected - mean_B;</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> error_photo = intensity_B + gradient_B.dot(offset) - intensity_A;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    sum_errors_photo += 0.5 * error_photo * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (!H_target) {</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_transed_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    J_transed_target.block&lt;3, 3&gt;(0, 0) = gtsam::SO3::Hat(transed_A.head&lt;3&gt;());</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    J_transed_target.block&lt;3, 3&gt;(0, 3) = -Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_transed_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    J_transed_source.block&lt;3, 3&gt;(0, 0) = -delta.linear() * gtsam::SO3::Hat(mean_A.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    J_transed_source.block&lt;3, 3&gt;(0, 3) = delta.linear();</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">// photometric error derivatives</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    Eigen::Matrix&lt;double, 4, 4&gt; J_projected_transed = Eigen::Matrix4d::Identity() - normal_B * normal_B.transpose();</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    J_projected_transed(3, 3) = 0.0;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; J_offset_transed = J_projected_transed;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    Eigen::Matrix&lt;double, 1, 4&gt; J_ephoto_offset = gradient_B;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    Eigen::Matrix&lt;double, 1, 4&gt; J_ephoto_transed = J_ephoto_offset * J_offset_transed;</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    Eigen::Matrix&lt;double, 1, 6&gt; J_ephoto_target = J_ephoto_transed * J_transed_target;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    Eigen::Matrix&lt;double, 1, 6&gt; J_ephoto_source = J_ephoto_transed * J_transed_source;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    Hs_target[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * J_ephoto_target;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    Hs_source[thread_num] += J_ephoto_source.transpose() * photometric_term_weight * J_ephoto_source;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    Hs_target_source[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * J_ephoto_source;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    bs_target[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    bs_source[thread_num] += J_ephoto_source.transpose() * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    }</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  }</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordflow">return</span> sum_errors_photo;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html">gtsam_points::IntegratedColorConsistencyFactor_</a></div><div class="ttdoc">Photometric consistency factor between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor.hpp:33</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColorConsistencyFactor___html_ac7f7859f61afdf9420dba98b4281017b"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColorConsistencyFactor__.html#ac7f7859f61afdf9420dba98b4281017b">gtsam_points::IntegratedColorConsistencyFactor_::IntegratedColorConsistencyFactor_</a></div><div class="ttdeci">IntegratedColorConsistencyFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; const NearestNeighborSearch &gt; &amp;target_tree, const std::shared_ptr&lt; const IntensityGradients &gt; &amp;target_gradients)</div><div class="ttdoc">Create a binary color consistency factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_color_consistency_factor_impl.hpp:12</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_colored_gicp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/intensity_gradients.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">template</span> &lt;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">typename</span> TargetFrame = <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>,</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">typename</span> SourceFrame = <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>,</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">typename</span> IntensityGradients = <a class="code" href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a>&gt;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">   34</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a>(</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a>(</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> set_num_threads(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> set_max_correspondence_distance(<span class="keywordtype">double</span> d) { max_correspondence_distance_sq = d * d; }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> set_photometric_term_weight(<span class="keywordtype">double</span> w) { photometric_term_weight = w; }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> set_correspondence_update_tolerance(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  }</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">double</span> photometric_term_weight;  <span class="comment">// [0, 1]</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  std::shared_ptr&lt;const NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  std::shared_ptr&lt;const IntensityGradients&gt; target_gradients;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;long&gt; correspondences;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;Eigen::Matrix4d&gt; mahalanobis;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;};</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">IntegratedColoredGICPFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedColoredGICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedColoredGICPFactor__.html">gtsam_points::IntegratedColoredGICPFactor_</a></div><div class="ttdoc">Colored GICP matching cost factor.</div><div class="ttdef"><b>Definition:</b> integrated_colored_gicp_factor.hpp:34</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntensityGradients_html"><div class="ttname"><a href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></div><div class="ttdoc">Intensity gradients for colored ICP Park et al., &quot;Colored Point Cloud Registration Revisited&quot;,...</div><div class="ttdef"><b>Definition:</b> intensity_gradients.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_colored_gicp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_colored_gicp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::IntegratedColoredGICPFactor_(</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients)</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;: IntegratedMatchingCostFactor(target_key, source_key),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  photometric_term_weight(0.25),</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  target(target),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  source(source),</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  target_tree(target_tree),</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  target_gradients(target_gradients) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_normals(*target) || !frame::has_covs(*target) || !frame::has_intensities(*target)) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    abort();</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_covs(*source) || !frame::has_intensities(*source)) {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    abort();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::IntegratedColoredGICPFactor_(</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const IntensityGradients&gt;&amp; target_gradients)</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;: IntegratedMatchingCostFactor(fixed_target_pose, source_key),</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  photometric_term_weight(0.25),</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  target(target),</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  source(source),</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  target_tree(target_tree),</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  target_gradients(target_gradients) {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_normals(*target) || !frame::has_covs(*target) || !frame::has_intensities(*target)) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    abort();</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_covs(*source) || !frame::has_intensities(*source)) {</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for colored_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    abort();</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::~IntegratedColoredGICPFactor_() {}</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">bool</span> do_update = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      do_update = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  mahalanobis.resize(frame::size(*source));</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">if</span> (do_update) {</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      pt[3] = frame::intensity(*source, i);</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">double</span> k_sq_dist = -1;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 1, &amp;k_index, &amp;k_sq_dist, max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      correspondences[i] = (num_found &amp;&amp; k_sq_dist &lt; max_correspondence_distance_sq) ? k_index : -1;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span> (correspondences[i] &lt; 0) {</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      mahalanobis[i].setIdentity();</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_cov = frame::cov(*target, correspondences[i]);</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      Eigen::Matrix4d RCR = (target_cov + delta.matrix() * frame::cov(*source, i) * delta.matrix().transpose());</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      RCR(3, 3) = 1.0;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      mahalanobis[i] = RCR.inverse();</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      mahalanobis[i](3, 3) = 0.0;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  last_correspondence_point = delta;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;}</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame, <span class="keyword">typename</span> IntensityGradients&gt;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keywordtype">double</span> IntegratedColoredGICPFactor_&lt;TargetFrame, SourceFrame, IntensityGradients&gt;::evaluate(</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> geometric_term_weight = 1.0 - photometric_term_weight;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordtype">double</span> sum_errors_geom = 0.0;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">double</span> sum_errors_photo = 0.0;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors_geom) reduction(+ : sum_errors_photo) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="comment">// source atributes</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_A = frame::point(*source, i);</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_A = frame::cov(*source, i);</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> intensity_A = frame::intensity(*source, i);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">// target attributes</span></div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_B = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_B = frame::cov(*target, target_index);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; normal_B = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; gradient_B = frame::intensity_gradient(*target_gradients, target_index);</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> intensity_B = frame::intensity(*target, target_index);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d transed_A = delta * mean_A;</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">// geometric error</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d error_geom = transed_A - mean_B;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    sum_errors_geom += 0.5 * error_geom.transpose() * geometric_term_weight * mahalanobis[i] * error_geom;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// photometric error</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d projected = transed_A - (transed_A - mean_B).dot(normal_B) * normal_B;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d offset = projected - mean_B;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> error_photo = intensity_B + gradient_B.dot(offset) - intensity_A;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    sum_errors_photo += 0.5 * error_photo * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (!H_target) {</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    }</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_transed_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    J_transed_target.block&lt;3, 3&gt;(0, 0) = gtsam::SO3::Hat(transed_A.head&lt;3&gt;());</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    J_transed_target.block&lt;3, 3&gt;(0, 3) = -Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_transed_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    J_transed_source.block&lt;3, 3&gt;(0, 0) = -delta.linear() * gtsam::SO3::Hat(mean_A.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    J_transed_source.block&lt;3, 3&gt;(0, 3) = delta.linear();</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">// geometric error derivatives</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; J_egeom_target = J_transed_target;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; J_egeom_source = J_transed_source;</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    Hs_target[thread_num] += J_egeom_target.transpose() * geometric_term_weight * mahalanobis[i] * J_egeom_target;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    Hs_source[thread_num] += J_egeom_source.transpose() * geometric_term_weight * mahalanobis[i] * J_egeom_source;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    Hs_target_source[thread_num] += J_egeom_target.transpose() * geometric_term_weight * mahalanobis[i] * J_egeom_source;</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    bs_target[thread_num] += J_egeom_target.transpose() * geometric_term_weight * mahalanobis[i] * error_geom;</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    bs_source[thread_num] += J_egeom_source.transpose() * geometric_term_weight * mahalanobis[i] * error_geom;</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// photometric error derivatives</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    Eigen::Matrix&lt;double, 4, 4&gt; J_projected_transed = Eigen::Matrix4d::Identity() - normal_B * normal_B.transpose();</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    J_projected_transed(3, 3) = 0.0;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; J_offset_transed = J_projected_transed;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Eigen::Matrix&lt;double, 1, 4&gt; J_ephoto_offset = gradient_B;</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    Eigen::Matrix&lt;double, 1, 4&gt; J_ephoto_transed = J_ephoto_offset * J_offset_transed;</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    Eigen::Matrix&lt;double, 1, 6&gt; J_ephoto_target = J_ephoto_transed * J_transed_target;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    Eigen::Matrix&lt;double, 1, 6&gt; J_ephoto_source = J_ephoto_transed * J_transed_source;</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    Hs_target[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * J_ephoto_target;</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    Hs_source[thread_num] += J_ephoto_source.transpose() * photometric_term_weight * J_ephoto_source;</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    Hs_target_source[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * J_ephoto_source;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    bs_target[thread_num] += J_ephoto_target.transpose() * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    bs_source[thread_num] += J_ephoto_source.transpose() * photometric_term_weight * error_photo;</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
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+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    b_source-&gt;setZero();</div>
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+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    }</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  }</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">return</span> sum_errors_geom + sum_errors_photo;</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_ct_gicp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_ct_icp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>&lt;TargetFrame, SourceFrame&gt; {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">IntegratedCT_GICPFactor_</a>(</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">IntegratedCT_GICPFactor_</a>(</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;Eigen::Matrix4d&gt; mahalanobis;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__GICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_</a></div><div class="ttdoc">Continuous Time ICP with GICP's D2D cost Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry...</div><div class="ttdef"><b>Definition:</b> integrated_ct_gicp_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__GICPFactor___html_ad847e8351d4dd883d1f1015611bc0367"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">gtsam_points::IntegratedCT_GICPFactor_::IntegratedCT_GICPFactor_</a></div><div class="ttdeci">IntegratedCT_GICPFactor_(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> integrated_ct_gicp_factor_impl.hpp:12</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a></div><div class="ttdoc">Continuous Time ICP Factor Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry with Loop Clo...</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor.hpp:20</div></div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">integrated_ct_gicp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_ct_gicp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">   12</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedCT_GICPFactor_</a>(</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>&lt;TargetFrame, SourceFrame&gt;(source_t0_key, source_t1_key, target, source, target_tree) {</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_covs(*target)) {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for ct_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    abort();</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  }</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_covs(*source)) {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for ct_gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    abort();</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  }</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#a08012f2a81ce567f20755c7ec40e62f5">   32</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedCT_GICPFactor_</a>(</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_</a>(source_t0_key, source_t1_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedCT_GICPFactor_</a>() {}</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keywordtype">double</span> IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::error(<span class="keyword">const</span> gtsam::Values&amp; values)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  this-&gt;update_poses(values);</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">if</span> (this-&gt;correspondences.size() != frame::size(*this-&gt;source)) {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    this-&gt;update_correspondences();</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#pragma omp parallel for reduction(+ : sum_errors) schedule(guided, 8) num_threads(this-&gt;num_threads)</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*this-&gt;source); i++) {</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = this-&gt;correspondences[i];</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    }</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = this-&gt;time_indices[i];</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d pose(this-&gt;source_poses[time_index].matrix());</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; source_pt = frame::point(*this-&gt;source, i);</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_pt = frame::point(*this-&gt;target, target_index);</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    Eigen::Vector4d transed_source_pt = pose * source_pt;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    Eigen::Vector4d error = transed_source_pt - target_pt;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    sum_errors += 0.5 * error.transpose() * mahalanobis[i] * error;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;boost::shared_ptr&lt;gtsam::GaussianFactor&gt; IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::linearize(<span class="keyword">const</span> gtsam::Values&amp; values)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  this-&gt;update_poses(values);</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  this-&gt;update_correspondences();</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  std::vector&lt;gtsam::Matrix6&gt; Hs_00(this-&gt;num_threads, gtsam::Matrix6::Zero());</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  std::vector&lt;gtsam::Matrix6&gt; Hs_01(this-&gt;num_threads, gtsam::Matrix6::Zero());</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::vector&lt;gtsam::Matrix6&gt; Hs_11(this-&gt;num_threads, gtsam::Matrix6::Zero());</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  std::vector&lt;gtsam::Vector6&gt; bs_0(this-&gt;num_threads, gtsam::Vector6::Zero());</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::vector&lt;gtsam::Vector6&gt; bs_1(this-&gt;num_threads, gtsam::Vector6::Zero());</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  gtsam::Matrix6 H_00 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  gtsam::Matrix6 H_01 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  gtsam::Matrix6 H_11 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  gtsam::Vector6 b_0 = gtsam::Vector6::Zero();</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  gtsam::Vector6 b_1 = gtsam::Vector6::Zero();</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="preprocessor">#pragma omp parallel for reduction(+ : sum_errors) schedule(guided, 8) num_threads(this-&gt;num_threads)</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*this-&gt;source); i++) {</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = this-&gt;correspondences[i];</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = this-&gt;time_indices[i];</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d pose(this-&gt;source_poses[time_index].matrix());</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_pose_0 = this-&gt;pose_derivatives_t0[time_index];</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_pose_1 = this-&gt;pose_derivatives_t1[time_index];</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; source_pt = frame::point(*this-&gt;source, i);</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_pt = frame::point(*this-&gt;target, target_index);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    gtsam::Matrix46 H_transed_pose = gtsam::Matrix46::Zero();</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    H_transed_pose.block&lt;3, 3&gt;(0, 0) = pose.linear() * -gtsam::SO3::Hat(source_pt.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    H_transed_pose.block&lt;3, 3&gt;(0, 3) = pose.linear();</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d transed_source_pt = pose * source_pt;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_error_pose = H_transed_pose;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d error = transed_source_pt - target_pt;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">const</span> gtsam::Matrix46 H_0 = H_error_pose * H_pose_0;</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">const</span> gtsam::Matrix46 H_1 = H_error_pose * H_pose_1;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">const</span> gtsam::Vector4 mahalanobis_error = mahalanobis[i] * error;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">const</span> gtsam::Matrix64 H_0_mahalanobis = H_0.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">const</span> gtsam::Matrix64 H_1_mahalanobis = H_1.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    sum_errors += 0.5 * error.transpose() * mahalanobis_error;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    Hs_00[thread_num] += H_0_mahalanobis * H_0;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    Hs_11[thread_num] += H_1_mahalanobis * H_1;</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    Hs_01[thread_num] += H_0_mahalanobis * H_1;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    bs_0[thread_num] += H_0.transpose() * mahalanobis_error;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    bs_1[thread_num] += H_1.transpose() * mahalanobis_error;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; Hs_00.size(); i++) {</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    Hs_00[0] += Hs_00[i];</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    Hs_11[0] += Hs_11[i];</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    Hs_01[0] += Hs_01[i];</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    bs_0[0] += bs_0[i];</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    bs_1[0] += bs_1[i];</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  }</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">auto</span> factor = gtsam::HessianFactor::shared_ptr(</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">new</span> gtsam::HessianFactor(this-&gt;keys_[0], this-&gt;keys_[1], Hs_00[0], Hs_01[0], -bs_0[0], Hs_11[0], -bs_1[0], sum_errors));</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">return</span> factor;</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="keywordtype">void</span> IntegratedCT_GICPFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  this-&gt;correspondences.resize(frame::size(*this-&gt;source));</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  this-&gt;mahalanobis.resize(frame::size(*this-&gt;source));</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#pragma omp parallel for schedule(guided, 8) num_threads(this-&gt;num_threads)</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*this-&gt;source); i++) {</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = this-&gt;time_indices[i];</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">const</span> Eigen::Matrix4d pose = this-&gt;source_poses[time_index].matrix();</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt = frame::point(*this-&gt;source, i);</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d transed_pt = pose * pt;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">double</span> k_sq_dist = std::numeric_limits&lt;double&gt;::max();</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordtype">size_t</span> num_found = this-&gt;target_tree-&gt;knn_search(transed_pt.data(), 1, &amp;k_index, &amp;k_sq_dist, this-&gt;max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">if</span> (num_found == 0 || k_sq_dist &gt; this-&gt;max_correspondence_distance_sq) {</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      this-&gt;correspondences[i] = -1;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      this-&gt;mahalanobis[i].setZero();</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      this-&gt;correspondences[i] = k_index;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = this-&gt;correspondences[i];</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_A = frame::cov(*this-&gt;source, i);</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_B = frame::cov(*this-&gt;target, target_index);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">const</span> Eigen::Matrix4d RCR = (cov_B + pose * cov_A * pose.transpose());</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      mahalanobis[i].setZero();</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      mahalanobis[i].block&lt;3, 3&gt;(0, 0) = RCR.block&lt;3, 3&gt;(0, 0).inverse();</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    }</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__GICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html">gtsam_points::IntegratedCT_GICPFactor_</a></div><div class="ttdoc">Continuous Time ICP with GICP's D2D cost Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry...</div><div class="ttdef"><b>Definition:</b> integrated_ct_gicp_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__GICPFactor___html_ad847e8351d4dd883d1f1015611bc0367"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__GICPFactor__.html#ad847e8351d4dd883d1f1015611bc0367">gtsam_points::IntegratedCT_GICPFactor_::IntegratedCT_GICPFactor_</a></div><div class="ttdeci">IntegratedCT_GICPFactor_(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> integrated_ct_gicp_factor_impl.hpp:12</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a></div><div class="ttdoc">Continuous Time ICP Factor Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry with Loop Clo...</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor.hpp:20</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_ct_icp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactorGraph.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a> : <span class="keyword">public</span> gtsam::NonlinearFactor {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_</a>(</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_</a>(</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> dim()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> 6; }</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> set_num_threads(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> set_max_correspondence_distance(<span class="keywordtype">double</span> dist) { max_correspondence_distance_sq = dist * dist; }</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">const</span> std::vector&lt;double&gt;&amp; get_time_table()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> time_table; }</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt;&amp; get_time_indices()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> time_indices; }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">const</span> std::vector&lt;gtsam::Pose3&gt;&amp; get_source_poses()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> source_poses; }</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; deskewed_source_points(<span class="keyword">const</span> gtsam::Values&amp; values, <span class="keywordtype">bool</span> local = <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_poses(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  std::shared_ptr&lt;NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::vector&lt;double&gt; time_table;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;gtsam::Pose3&gt; source_poses;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;gtsam::Matrix6&gt; pose_derivatives_t0;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;gtsam::Matrix6&gt; pose_derivatives_t1;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  std::vector&lt;int&gt; time_indices;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;long&gt; correspondences;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;};</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a></div><div class="ttdoc">Continuous Time ICP Factor Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry with Loop Clo...</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor.hpp:20</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html_abca655dcbff5b84d9308b2d4ab0a252d"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">gtsam_points::IntegratedCT_ICPFactor_::IntegratedCT_ICPFactor_</a></div><div class="ttdeci">IntegratedCT_ICPFactor_(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor_impl.hpp:12</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_ct_icp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_ct_icp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/kdtree2.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">   12</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedCT_ICPFactor_</a>(</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;: gtsam::NonlinearFactor(gtsam::KeyVector{source_t0_key, source_t1_key}),</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  target(target),</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target)) {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for ct_icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    abort();</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  }</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_times(*source)) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for ct_icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    abort();</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  }</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">   33</a></span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  time_table.reserve(frame::size(*source) / 10);</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  time_indices.reserve(frame::size(*source));</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> time_eps = 1e-3;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> t = frame::time(*source, i);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">if</span> (time_table.empty() || t - time_table.back() &gt; time_eps) {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      time_table.push_back(t);</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    }</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    time_indices.push_back(time_table.size() - 1);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  }</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; t : time_table) {</div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#afa550a452e5ccc589087ef2d703ab82d">   47</a></span>&#160;    t = t / std::max(1e-9, time_table.back());</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> KdTree2&lt;TargetFrame&gt;(target));</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#afa550a452e5ccc589087ef2d703ab82d">   58</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedCT_ICPFactor_</a>(</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  gtsam::Key source_t0_key,</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  gtsam::Key source_t1_key,</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_</a>(source_t0_key, source_t1_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedCT_ICPFactor_</a>() {}</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keywordtype">double</span> IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::error(<span class="keyword">const</span> gtsam::Values&amp; values)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  update_poses(values);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    update_correspondences();</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  }</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = time_indices[i];</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pose = source_poses[time_index];</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; source_pt = frame::point(*source, i);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_pt = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_normal = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    gtsam::Point3 transed_source_pt = pose.transformFrom(source_pt.template head&lt;3&gt;().eval());</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    gtsam::Point3 residual = transed_source_pt - target_pt.template head&lt;3&gt;();</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">double</span> error = gtsam::dot(residual, target_normal.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    sum_errors += 0.5 * error * error;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;boost::shared_ptr&lt;gtsam::GaussianFactor&gt; IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::linearize(<span class="keyword">const</span> gtsam::Values&amp; values)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (!frame::has_normals(*target)) {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target cloud doesn&#39;t have normals!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    abort();</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  }</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  update_poses(values);</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  update_correspondences();</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  gtsam::Matrix6 H_00 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  gtsam::Matrix6 H_01 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  gtsam::Matrix6 H_11 = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  gtsam::Vector6 b_0 = gtsam::Vector6::Zero();</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  gtsam::Vector6 b_1 = gtsam::Vector6::Zero();</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = time_indices[i];</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pose = source_poses[time_index];</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_pose_0 = pose_derivatives_t0[time_index];</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_pose_1 = pose_derivatives_t1[time_index];</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; source_pt = frame::point(*source, i);</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_pt = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_normal = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    gtsam::Matrix36 H_transed_pose;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    gtsam::Point3 transed_source_pt = pose.transformFrom(source_pt.template head&lt;3&gt;(), H_transed_pose);</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    gtsam::Point3 residual = transed_source_pt - target_pt.template head&lt;3&gt;();</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    gtsam::Matrix13 H_error_transed;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">double</span> error = gtsam::dot(residual, target_normal.template head&lt;3&gt;(), H_error_transed);</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    gtsam::Matrix16 H_error_pose = H_error_transed * H_transed_pose;</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    gtsam::Matrix16 H_0 = H_error_pose * H_pose_0;</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    gtsam::Matrix16 H_1 = H_error_pose * H_pose_1;</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    sum_errors += 0.5 * error * error;</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    H_00 += H_0.transpose() * H_0;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    H_11 += H_1.transpose() * H_1;</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    H_01 += H_0.transpose() * H_1;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    b_0 += H_0.transpose() * error;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    b_1 += H_1.transpose() * error;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">auto</span> factor = gtsam::HessianFactor::shared_ptr(<span class="keyword">new</span> gtsam::HessianFactor(keys_[0], keys_[1], H_00, H_01, -b_0, H_11, -b_1, sum_errors));</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">return</span> factor;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keywordtype">void</span> IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::update_poses(<span class="keyword">const</span> gtsam::Values&amp; values)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  gtsam::Pose3 pose0 = values.at&lt;gtsam::Pose3&gt;(keys_[0]);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  gtsam::Pose3 pose1 = values.at&lt;gtsam::Pose3&gt;(keys_[1]);</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  gtsam::Matrix6 H_delta_0, H_delta_1;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  gtsam::Pose3 delta = pose0.between(pose1, H_delta_0, H_delta_1);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  gtsam::Matrix6 H_vel_delta;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  gtsam::Vector6 vel = gtsam::Pose3::Logmap(delta, H_vel_delta);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  source_poses.resize(time_table.size());</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  pose_derivatives_t0.resize(time_table.size());</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  pose_derivatives_t1.resize(time_table.size());</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; time_table.size(); i++) {</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> t = time_table[i];</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    gtsam::Matrix6 H_inc_vel;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    gtsam::Pose3 inc = gtsam::Pose3::Expmap(t * vel, H_inc_vel);</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    gtsam::Matrix6 H_pose_0_a, H_pose_inc;</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    source_poses[i] = pose0.compose(inc, H_pose_0_a, H_pose_inc);</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    gtsam::Matrix6 H_pose_delta = H_pose_inc * H_inc_vel * t * H_vel_delta;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    pose_derivatives_t0[i] = H_pose_0_a + H_pose_delta * H_delta_0;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    pose_derivatives_t1[i] = H_pose_delta * H_delta_1;</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  }</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keywordtype">void</span> IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = time_indices[i];</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt = frame::point(*source, i);</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    gtsam::Point3 transed_pt = source_poses[time_index] * pt.template head&lt;3&gt;();</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordtype">double</span> k_sq_dist = -1;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(transed_pt.data(), 1, &amp;k_index, &amp;k_sq_dist, max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">if</span> (num_found == 0 || k_sq_dist &gt; max_correspondence_distance_sq) {</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      correspondences[i] = -1;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      correspondences[i] = k_index;</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;std::vector&lt;Eigen::Vector4d&gt; IntegratedCT_ICPFactor_&lt;TargetFrame, SourceFrame&gt;::deskewed_source_points(<span class="keyword">const</span> gtsam::Values&amp; values, <span class="keywordtype">bool</span> local) {</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  update_poses(values);</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">if</span> (local) {</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; pose : source_poses) {</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      pose = values.at&lt;gtsam::Pose3&gt;(keys_[0]).inverse() * pose;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    }</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  }</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; deskewed(frame::size(*source));</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> time_index = time_indices[i];</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pose = source_poses[time_index];</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    deskewed[i] = pose.matrix() * (Eigen::Vector4d() &lt;&lt; frame::point(*source, i).template head&lt;3&gt;(), 1.0).finished();</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">return</span> deskewed;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html">gtsam_points::IntegratedCT_ICPFactor_</a></div><div class="ttdoc">Continuous Time ICP Factor Bellenbach et al., &quot;CT-ICP: Real-time Elastic LiDAR Odometry with Loop Clo...</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor.hpp:20</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedCT__ICPFactor___html_abca655dcbff5b84d9308b2d4ab0a252d"><div class="ttname"><a href="classgtsam__points_1_1IntegratedCT__ICPFactor__.html#abca655dcbff5b84d9308b2d4ab0a252d">gtsam_points::IntegratedCT_ICPFactor_::IntegratedCT_ICPFactor_</a></div><div class="ttdeci">IntegratedCT_ICPFactor_(gtsam::Key source_t0_key, gtsam::Key source_t1_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> integrated_ct_icp_factor_impl.hpp:12</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_gicp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html">   21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedGICPFactor_&gt;;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">   75</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">set_num_threads</a>(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">   79</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">set_max_correspondence_distance</a>(<span class="keywordtype">double</span> dist) { max_correspondence_distance_sq = dist * dist; }</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">   83</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">set_correspondence_update_tolerance</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">   89</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">inlier_fraction</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> outliers = std::count(correspondences.begin(), correspondences.end(), -1);</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> inliers = correspondences.size() - outliers;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(inliers) / correspondences.size();</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::shared_ptr&lt;NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// I&#39;m unhappy to have mutable members...</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;long&gt; correspondences;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;Eigen::Matrix4d&gt; mahalanobis;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;};</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">using</span> IntegratedGICPFactor = IntegratedGICPFactor_&lt;&gt;;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a></div><div class="ttdoc">Generalized ICP matching cost factor Segal et al., &quot;Generalized-ICP&quot;, RSS2005.</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:21</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_a01ce3cb4191bcad6d4eeada1dacc758f"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a01ce3cb4191bcad6d4eeada1dacc758f">gtsam_points::IntegratedGICPFactor_::set_correspondence_update_tolerance</a></div><div class="ttdeci">void set_correspondence_update_tolerance(double angle, double trans)</div><div class="ttdoc">Correspondences are updated only when the displacement from the last update point is larger than thes...</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:83</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_a1d79191611a7ce47a7aa713b7fe9946b"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a1d79191611a7ce47a7aa713b7fe9946b">gtsam_points::IntegratedGICPFactor_::inlier_fraction</a></div><div class="ttdeci">double inlier_fraction() const</div><div class="ttdoc">Compute the fraction of inlier points that have correspondences with a distance smaller than the trim...</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:89</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_a4e8d415fb3cc0395377ecda182088d3f"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a4e8d415fb3cc0395377ecda182088d3f">gtsam_points::IntegratedGICPFactor_::set_max_correspondence_distance</a></div><div class="ttdeci">void set_max_correspondence_distance(double dist)</div><div class="ttdoc">Set the maximum distance between corresponding points. Correspondences with distances larger than thi...</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:79</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_a7a7f185d016205299c25e2c0bdd76ce8"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">gtsam_points::IntegratedGICPFactor_::IntegratedGICPFactor_</a></div><div class="ttdeci">IntegratedGICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Create a binary ICP factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor_impl.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_ac7914e915015ebd9e41cd3a7148263ef"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#ac7914e915015ebd9e41cd3a7148263ef">gtsam_points::IntegratedGICPFactor_::set_num_threads</a></div><div class="ttdeci">void set_num_threads(int n)</div><div class="ttdoc">Set the number of thread used for linearization of this factor.</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:75</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
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+<div class="title">integrated_gicp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_gicp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/kdtree2.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">   14</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(target_key, source_key),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  target(target),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_covs(*target)) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    abort();</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_covs(*source)) {</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    abort();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  }</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> <a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2&lt;TargetFrame&gt;</a>(target));</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;}</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a>(target_key, source_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedGICPFactor__.html#aba1456276dc22862dc7c1dcfe2c29a58">   54</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(fixed_target_pose, source_key),</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  target(target),</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_covs(*target)) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    abort();</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source) || !frame::has_covs(*source)) {</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for gicp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    abort();</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> <a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2&lt;TargetFrame&gt;</a>(target));</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedGICPFactor_</a>(</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;: <a class="code" href="classgtsam__points_1_1IntegratedGICPFactor__.html">IntegratedGICPFactor_</a>(fixed_target_pose, source_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedGICPFactor_() {}</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keywordtype">void</span> IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">bool</span> do_update = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      do_update = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">if</span> (do_update) {</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    last_correspondence_point = delta;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  mahalanobis.resize(frame::size(*source));</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">if</span> (do_update) {</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">double</span> k_sq_dist = -1;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 1, &amp;k_index, &amp;k_sq_dist, max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      correspondences[i] = (num_found &amp;&amp; k_sq_dist &lt; max_correspondence_distance_sq) ? k_index : -1;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">if</span> (correspondences[i] &lt; 0) {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      mahalanobis[i].setZero();</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_cov = frame::cov(*target, correspondences[i]);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      Eigen::Matrix4d RCR = (target_cov + delta.matrix() * frame::cov(*source, i) * delta.matrix().transpose());</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      RCR(3, 3) = 1.0;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      mahalanobis[i] = RCR.inverse();</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      mahalanobis[i](3, 3) = 0.0;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keywordtype">double</span> IntegratedGICPFactor_&lt;TargetFrame, SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_A = frame::point(*source, i);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_A = frame::cov(*source, i);</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_B = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_B = frame::cov(*target, target_index);</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    Eigen::Vector4d transed_mean_A = delta * mean_A;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    Eigen::Vector4d error = mean_B - transed_mean_A;</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    sum_errors += 0.5 * error.transpose() * mahalanobis[i] * error;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">if</span> (Hs_target.empty()) {</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    J_target.block&lt;3, 3&gt;(0, 0) = -gtsam::SO3::Hat(transed_mean_A.head&lt;3&gt;());</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    J_target.block&lt;3, 3&gt;(0, 3) = Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    J_source.block&lt;3, 3&gt;(0, 0) = delta.linear() * gtsam::SO3::Hat(mean_A.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    J_source.block&lt;3, 3&gt;(0, 3) = -delta.linear();</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    Eigen::Matrix&lt;double, 6, 4&gt; J_target_mahalanobis = J_target.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    Eigen::Matrix&lt;double, 6, 4&gt; J_source_mahalanobis = J_source.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    Hs_target[thread_num] += J_target_mahalanobis * J_target;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    Hs_source[thread_num] += J_source_mahalanobis * J_source;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    Hs_target_source[thread_num] += J_target_mahalanobis * J_source;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    bs_target[thread_num] += J_target_mahalanobis * error;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    bs_source[thread_num] += J_source_mahalanobis * error;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;}</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html">gtsam_points::IntegratedGICPFactor_</a></div><div class="ttdoc">Generalized ICP matching cost factor Segal et al., &quot;Generalized-ICP&quot;, RSS2005.</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor.hpp:21</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedGICPFactor___html_a7a7f185d016205299c25e2c0bdd76ce8"><div class="ttname"><a href="classgtsam__points_1_1IntegratedGICPFactor__.html#a7a7f185d016205299c25e2c0bdd76ce8">gtsam_points::IntegratedGICPFactor_::IntegratedGICPFactor_</a></div><div class="ttdeci">IntegratedGICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree)</div><div class="ttdoc">Create a binary ICP factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_gicp_factor_impl.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree2_html"><div class="ttname"><a href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2</a></div><div class="ttdoc">KdTree-based nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> kdtree2.hpp:20</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_icp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html">   21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedICPFactor_&lt;PointCloud&gt;&gt;;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordtype">bool</span> use_point_to_plane = <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">bool</span> use_point_to_plane = <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">bool</span> use_point_to_plane = <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">bool</span> use_point_to_plane = <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">   81</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">set_num_threads</a>(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">   85</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">set_max_correspondence_distance</a>(<span class="keywordtype">double</span> dist) { max_correspondence_distance_sq = dist * dist; }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">   88</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">set_point_to_plane_distance</a>(<span class="keywordtype">bool</span> use) { use_point_to_plane = use; }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">   92</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">set_correspondence_update_tolerance</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">bool</span> use_point_to_plane;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  std::shared_ptr&lt;NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// I&#39;m unhappy to have mutable members...</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;long&gt; correspondences;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;};</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">  129</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a>&lt;TargetFrame, SourceFrame&gt; {</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedPointToPlaneICPFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a>(</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  : <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;</a>(target_key, source_key, target, source, target_tree, <span class="keyword">true</span>) {}</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_</a>(</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  : <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;</a>(target_key, source_key, target, source, <span class="keyword">true</span>) {}</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;};</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">IntegratedPointToPlaneICPFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a></div><div class="ttdoc">Naive point-to-point ICP matching cost factor Zhang, &quot;Iterative Point Matching for Registration of Fr...</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:21</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_a11f87b97cdcc6d4467cead53d17b2f94"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#a11f87b97cdcc6d4467cead53d17b2f94">gtsam_points::IntegratedICPFactor_::set_max_correspondence_distance</a></div><div class="ttdeci">void set_max_correspondence_distance(double dist)</div><div class="ttdoc">Set the maximum distance between corresponding points. Correspondences with distances larger than thi...</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:85</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_a13fa8c7dc98d374277a969edde348103"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#a13fa8c7dc98d374277a969edde348103">gtsam_points::IntegratedICPFactor_::set_point_to_plane_distance</a></div><div class="ttdeci">void set_point_to_plane_distance(bool use)</div><div class="ttdoc">Enable or disable point-to-plane distance computation.</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:88</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_a1ffe1ed7717fe7ec2644852b6b0a4dd2"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#a1ffe1ed7717fe7ec2644852b6b0a4dd2">gtsam_points::IntegratedICPFactor_::set_correspondence_update_tolerance</a></div><div class="ttdeci">void set_correspondence_update_tolerance(double angle, double trans)</div><div class="ttdoc">Correspondences are updated only when the displacement from the last update point is larger than thes...</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:92</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_ada8db0420efcfd577222f1a030732895"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">gtsam_points::IntegratedICPFactor_::IntegratedICPFactor_</a></div><div class="ttdeci">IntegratedICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</div><div class="ttdoc">Create a binary ICP factor between two poses.</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor_impl.hpp:15</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_ae02f2a4f65432424bfae43ba2d8d31dc"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#ae02f2a4f65432424bfae43ba2d8d31dc">gtsam_points::IntegratedICPFactor_::set_num_threads</a></div><div class="ttdeci">void set_num_threads(int n)</div><div class="ttdoc">Set the number of thread used for linearization of this factor.</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:81</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedPointToPlaneICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedPointToPlaneICPFactor__.html">gtsam_points::IntegratedPointToPlaneICPFactor_</a></div><div class="ttdoc">Point-to-plane ICP factor.</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:129</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_icp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_icp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/kdtree2.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">   15</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordtype">bool</span> use_point_to_plane)</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(target_key, source_key),</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  use_point_to_plane(use_point_to_plane),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  target(target),</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || (use_point_to_plane &amp;&amp; !frame::has_normals(*target))) {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    abort();</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">   35</a></span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source)) {</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    abort();</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">   44</a></span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> <a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2&lt;TargetFrame&gt;</a>(target));</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  }</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;}</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#ad2316dceba23668ece545e29d803b4f4">   49</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">bool</span> use_point_to_plane)</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a>&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target, source, nullptr, use_point_to_plane) {}</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">   58</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a3fb899af3e8f2d87f9ef9e0873d59701">   60</a></span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree,</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">bool</span> use_point_to_plane)</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(fixed_target_pose, source_key),</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  use_point_to_plane(use_point_to_plane),</div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">   69</a></span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  target(target),</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || (use_point_to_plane &amp;&amp; !frame::has_normals(*target))) {</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    abort();</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source)) {</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for icp&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    abort();</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> <a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2&lt;TargetFrame&gt;</a>(target));</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedICPFactor__.html#a98f39fa3e70ea482f8f634d64fab2a8a">   92</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedICPFactor_</a>(</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">bool</span> use_point_to_plane)</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_</a>&lt;TargetFrame, SourceFrame&gt;(fixed_target_pose, source_key, target, source, nullptr, use_point_to_plane) {}</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedICPFactor__.html">IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedICPFactor_</a>() {}</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keywordtype">void</span> IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">size_t</span> k_index = -1;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">double</span> k_sq_dist = -1;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 1, &amp;k_index, &amp;k_sq_dist, max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">if</span> (num_found == 0 || k_sq_dist &gt; max_correspondence_distance_sq) {</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      correspondences[i] = -1;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      correspondences[i] = k_index;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    }</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  last_correspondence_point = delta;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;}</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keywordtype">double</span> IntegratedICPFactor_&lt;TargetFrame, SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  }</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">long</span> target_index = correspondences[i];</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">if</span> (target_index &lt; 0) {</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_A = frame::point(*source, i);</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_B = frame::point(*target, target_index);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    Eigen::Vector4d transed_mean_A = delta * mean_A;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    Eigen::Vector4d error = mean_B - transed_mean_A;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordflow">if</span> (use_point_to_plane) {</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; normal_B = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      error = normal_B.array() * error.array();</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    sum_errors += 0.5 * error.transpose() * error;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">if</span> (Hs_target.empty()) {</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    J_target.block&lt;3, 3&gt;(0, 0) = -gtsam::SO3::Hat(transed_mean_A.head&lt;3&gt;());</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    J_target.block&lt;3, 3&gt;(0, 3) = Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    J_source.block&lt;3, 3&gt;(0, 0) = delta.linear() * gtsam::SO3::Hat(mean_A.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    J_source.block&lt;3, 3&gt;(0, 3) = -delta.linear();</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">if</span> (use_point_to_plane) {</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; normal_B = frame::normal(*target, target_index);</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      J_target = normal_B.asDiagonal() * J_target;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      J_source = normal_B.asDiagonal() * J_source;</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    }</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    Hs_target[thread_num] += J_target.transpose() * J_target;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    Hs_source[thread_num] += J_source.transpose() * J_source;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    Hs_target_source[thread_num] += J_target.transpose() * J_source;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    bs_target[thread_num] += J_target.transpose() * error;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    bs_source[thread_num] += J_source.transpose() * error;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;}</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html">gtsam_points::IntegratedICPFactor_</a></div><div class="ttdoc">Naive point-to-point ICP matching cost factor Zhang, &quot;Iterative Point Matching for Registration of Fr...</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor.hpp:21</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedICPFactor___html_ada8db0420efcfd577222f1a030732895"><div class="ttname"><a href="classgtsam__points_1_1IntegratedICPFactor__.html#ada8db0420efcfd577222f1a030732895">gtsam_points::IntegratedICPFactor_::IntegratedICPFactor_</a></div><div class="ttdeci">IntegratedICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const std::shared_ptr&lt; const TargetFrame &gt; &amp;target, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source, const std::shared_ptr&lt; NearestNeighborSearch &gt; &amp;target_tree, bool use_point_to_plane=false)</div><div class="ttdoc">Create a binary ICP factor between two poses.</div><div class="ttdef"><b>Definition:</b> integrated_icp_factor_impl.hpp:15</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree2_html"><div class="ttname"><a href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2</a></div><div class="ttdoc">KdTree-based nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> kdtree2.hpp:20</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">integrated_loam_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">struct </span>NearestNeighborSearch;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">class </span>IntegratedPointToPlaneFactor_;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>IntegratedPointToEdgeFactor_;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">   29</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>(</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_edges,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_planes,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_edges,</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_planes,</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_edges_tree,</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_planes_tree);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>(</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_edges,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_planes,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_edges,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_planes);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  ~<a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>();</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// note: If your GTSAM is built with TBB, linearization is already multi-threaded</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">//     : and setting n&gt;1 can rather affect the processing speed</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">void</span> set_num_threads(<span class="keywordtype">int</span> n);</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> set_max_correspondence_distance(<span class="keywordtype">double</span> dist_edge, <span class="keywordtype">double</span> dist_plane);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> set_correspondence_update_tolerance(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans);</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> set_enable_correspondence_validation(<span class="keywordtype">bool</span> enable);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// This method is called after update_correspondences()</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// You can override this to reject invalid correspondences</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// (e.g., rejecting edge correspondences in a same scan line)</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> validate_correspondences() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">bool</span> enable_correspondence_validation;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::unique_ptr&lt;IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;&gt; edge_factor;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  std::unique_ptr&lt;IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;&gt; plane_factor;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;};</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">// Point-to-plane distance</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">   86</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>&lt;TargetFrame, SourceFrame&gt;;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a>(</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a>(</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  ~<a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor_</a>();</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">void</span> set_num_threads(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">void</span> set_max_correspondence_distance(<span class="keywordtype">double</span> dist) { max_correspondence_distance_sq = dist * dist; }</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">void</span> set_correspondence_update_tolerance(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  std::shared_ptr&lt;NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="comment">// I&#39;m unhappy to have mutable members...</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;std::tuple&lt;long, long, long&gt;&gt; correspondences;</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;};</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">// Point-to-edge distance</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">  144</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;&gt;;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor_</a>&lt;TargetFrame, SourceFrame&gt;;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a>(</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree);</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a>(</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  ~<a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor_</a>();</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordtype">void</span> set_num_threads(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordtype">void</span> set_max_correspondence_distance(<span class="keywordtype">double</span> dist) { max_correspondence_distance_sq = dist * dist; }</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordtype">void</span> set_correspondence_update_tolerance(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    correspondence_update_tolerance_rot = angle;</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    correspondence_update_tolerance_trans = trans;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">double</span> max_correspondence_distance_sq;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  std::shared_ptr&lt;NearestNeighborSearch&gt; target_tree;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// I&#39;m unhappy to have mutable members...</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_rot;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordtype">double</span> correspondence_update_tolerance_trans;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3d last_correspondence_point;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;std::tuple&lt;long, long&gt;&gt; correspondences;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  std::shared_ptr&lt;const TargetFrame&gt; target;</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;};</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">IntegratedLOAMFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">IntegratedPointToPlaneFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword">using</span> <a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">IntegratedPointToEdgeFactor</a> = <a class="code" href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_&lt;&gt;</a>;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedLOAMFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedLOAMFactor__.html">gtsam_points::IntegratedLOAMFactor_</a></div><div class="ttdoc">Scan matching factor based on the combination of point-to-plane and point-to-edge distances.</div><div class="ttdef"><b>Definition:</b> integrated_loam_factor.hpp:29</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedPointToEdgeFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedPointToEdgeFactor__.html">gtsam_points::IntegratedPointToEdgeFactor_</a></div><div class="ttdef"><b>Definition:</b> integrated_loam_factor.hpp:144</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedPointToPlaneFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedPointToPlaneFactor__.html">gtsam_points::IntegratedPointToPlaneFactor_</a></div><div class="ttdef"><b>Definition:</b> integrated_loam_factor.hpp:86</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_loam_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_loam_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/SO3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/kdtree2.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedPointToPlaneFactor_(</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  target(target),</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target)) {</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target frame doesn&#39;t have required attributes for loam&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    abort();</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  }</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source)) {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source frame doesn&#39;t have required attributes for loam&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    abort();</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> KdTree2&lt;TargetFrame&gt;(target));</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  }</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedPointToPlaneFactor_(</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;: IntegratedPointToPlaneFactor_(target_key, source_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedPointToPlaneFactor_() {}</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keywordtype">void</span> IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    }</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    std::array&lt;size_t, 3&gt; k_indices;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    std::array&lt;double, 3&gt; k_sq_dists;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 3, k_indices.data(), k_sq_dists.data(), max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">if</span> (num_found &lt; 3 || k_sq_dists.back() &gt; max_correspondence_distance_sq) {</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      correspondences[i] = std::make_tuple(-1, -1, -1);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      correspondences[i] = std::make_tuple(k_indices[0], k_indices[1], k_indices[2]);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  last_correspondence_point = delta;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keywordtype">double</span> IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keyword">auto</span> target_indices = correspondences[i];</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">if</span> (std::get&lt;0&gt;(target_indices) &lt; 0) {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_i = frame::point(*source, i);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_j = frame::point(*target, std::get&lt;0&gt;(target_indices));</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_l = frame::point(*target, std::get&lt;1&gt;(target_indices));</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_m = frame::point(*target, std::get&lt;2&gt;(target_indices));</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    Eigen::Vector4d transed_x_i = delta * x_i;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    Eigen::Vector4d normal = Eigen::Vector4d::Zero();</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    normal.head&lt;3&gt;() = (x_j - x_l).template head&lt;3&gt;().cross((x_j - x_m).<span class="keyword">template</span> head&lt;3&gt;());</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    normal = normal / normal.norm();</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    Eigen::Vector4d error = x_j - transed_x_i;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    Eigen::Vector4d plane_error = error.array() * normal.array();</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    sum_errors += 0.5 * plane_error.transpose() * plane_error;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">if</span> (Hs_target.empty()) {</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    J_target.block&lt;3, 3&gt;(0, 0) = -gtsam::SO3::Hat(transed_x_i.head&lt;3&gt;());</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    J_target.block&lt;3, 3&gt;(0, 3) = Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    J_source.block&lt;3, 3&gt;(0, 0) = delta.linear() * gtsam::SO3::Hat(x_i.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    J_source.block&lt;3, 3&gt;(0, 3) = -delta.linear();</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    J_target = normal.asDiagonal() * J_target;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    J_source = normal.asDiagonal() * J_source;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    Hs_target[thread_num] += J_target.transpose() * J_target;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    Hs_source[thread_num] += J_source.transpose() * J_source;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    Hs_target_source[thread_num] += J_target.transpose() * J_source;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    bs_target[thread_num] += J_target.transpose() * plane_error;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    bs_source[thread_num] += J_source.transpose() * plane_error;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  }</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedPointToEdgeFactor_(</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source,</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_tree)</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  max_correspondence_distance_sq(1.0),</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  correspondence_update_tolerance_rot(0.0),</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  correspondence_update_tolerance_trans(0.0),</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  target(target),</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*target) || !frame::has_points(*source)) {</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target or source points has not been allocated!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    abort();</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  }</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">if</span> (target_tree) {</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    this-&gt;target_tree = target_tree;</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    this-&gt;target_tree.reset(<span class="keyword">new</span> KdTree2&lt;TargetFrame&gt;(target));</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedPointToEdgeFactor_(</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target,</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;: gtsam_points::IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target, source, nullptr) {}</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedPointToEdgeFactor_() {}</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="keywordtype">void</span> IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() == frame::size(*source) &amp;&amp; (correspondence_update_tolerance_trans &gt; 0.0 || correspondence_update_tolerance_rot &gt; 0.0)) {</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    Eigen::Isometry3d diff = delta.inverse() * last_correspondence_point;</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keywordtype">double</span> diff_rot = Eigen::AngleAxisd(diff.linear()).angle();</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordtype">double</span> diff_trans = diff.translation().norm();</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">if</span> (diff_rot &lt; correspondence_update_tolerance_rot &amp;&amp; diff_trans &lt; correspondence_update_tolerance_trans) {</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    }</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  }</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    std::array&lt;size_t, 2&gt; k_indices;</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    std::array&lt;double, 2&gt; k_sq_dists;</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">size_t</span> num_found = target_tree-&gt;knn_search(pt.data(), 2, k_indices.data(), k_sq_dists.data(), max_correspondence_distance_sq);</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordflow">if</span> (num_found &lt; 2 || k_sq_dists.back() &gt; max_correspondence_distance_sq) {</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      correspondences[i] = std::make_tuple(-1, -1);</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      correspondences[i] = std::make_tuple(k_indices[0], k_indices[1]);</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    }</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  }</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  last_correspondence_point = delta;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;}</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="keywordtype">double</span> IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordflow">if</span> (correspondences.size() != frame::size(*source)) {</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    update_correspondences(delta);</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  }</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">auto</span> target_indices = correspondences[i];</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordflow">if</span> (std::get&lt;0&gt;(target_indices) &lt; 0) {</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_i = frame::point(*source, i);</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_j = frame::point(*target, std::get&lt;0&gt;(target_indices));</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x_l = frame::point(*target, std::get&lt;1&gt;(target_indices));</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    Eigen::Vector4d transed_x_i = delta * x_i;</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordtype">double</span> c_inv = 1.0 / (x_j - x_l).norm();</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    Eigen::Vector4d x_ij = transed_x_i - x_j;</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    Eigen::Vector4d x_il = transed_x_i - x_l;</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    Eigen::Vector4d error = Eigen::Vector4d::Zero();</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    error.head&lt;3&gt;() = x_ij.head&lt;3&gt;().cross(x_il.head&lt;3&gt;()) * c_inv;</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    sum_errors += 0.5 * error.dot(error);</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (Hs_target.empty()) {</div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    }</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    J_target.block&lt;3, 3&gt;(0, 0) = -gtsam::SO3::Hat(transed_x_i.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    J_target.block&lt;3, 3&gt;(0, 3) = Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    J_source.block&lt;3, 3&gt;(0, 0) = delta.linear() * gtsam::SO3::Hat(x_i.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    J_source.block&lt;3, 3&gt;(0, 3) = -delta.linear();</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    Eigen::Matrix&lt;double, 4, 4&gt; J_e = Eigen::Matrix4d::Zero();</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    J_e.block&lt;1, 3&gt;(0, 0) &lt;&lt; 0.0, -x_j[2] + x_l[2], x_j[1] - x_l[1];</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    J_e.block&lt;1, 3&gt;(1, 0) &lt;&lt; x_j[2] - x_l[2], 0.0, -x_j[0] + x_l[0];</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    J_e.block&lt;1, 3&gt;(2, 0) &lt;&lt; -x_j[1] + x_l[1], x_j[0] - x_l[0], 0.0;</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    J_target = c_inv * J_e * J_target;</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    J_source = c_inv * J_e * J_source;</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    Hs_target[thread_num] += J_target.transpose() * J_target;</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    Hs_source[thread_num] += J_source.transpose() * J_source;</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    Hs_target_source[thread_num] += J_target.transpose() * J_source;</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    bs_target[thread_num] += J_target.transpose() * error;</div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    bs_source[thread_num] += J_source.transpose() * error;</div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  }</div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    }</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  }</div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;}</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedLOAMFactor_(</div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_edges,</div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_planes,</div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_edges,</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_planes,</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_edges_tree,</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;NearestNeighborSearch&gt;&amp; target_planes_tree)</div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  enable_correspondence_validation(false) {</div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  edge_factor.reset(</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keyword">new</span> IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target_edges, source_edges, target_edges_tree));</div>
+<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  plane_factor.reset(</div>
+<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="keyword">new</span> IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target_planes, source_planes, target_planes_tree));</div>
+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;}</div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::IntegratedLOAMFactor_(</div>
+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_edges,</div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const TargetFrame&gt;&amp; target_planes,</div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_edges,</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source_planes)</div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;: gtsam_points::IntegratedMatchingCostFactor(target_key, source_key),</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  enable_correspondence_validation(false) {</div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  edge_factor.reset(<span class="keyword">new</span> IntegratedPointToEdgeFactor_&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target_edges, source_edges));</div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  plane_factor.reset(<span class="keyword">new</span> IntegratedPointToPlaneFactor_&lt;TargetFrame, SourceFrame&gt;(target_key, source_key, target_planes, source_planes));</div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;}</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::~IntegratedLOAMFactor_() {}</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::set_num_threads(<span class="keywordtype">int</span> n) {</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  edge_factor-&gt;set_num_threads(n);</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  plane_factor-&gt;set_num_threads(n);</div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;}</div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::set_max_correspondence_distance(<span class="keywordtype">double</span> dist_edge, <span class="keywordtype">double</span> dist_plane) {</div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  edge_factor-&gt;set_max_correspondence_distance(dist_edge);</div>
+<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  plane_factor-&gt;set_max_correspondence_distance(dist_plane);</div>
+<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;}</div>
+<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
+<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::set_enable_correspondence_validation(<span class="keywordtype">bool</span> enable) {</div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  enable_correspondence_validation = enable;</div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;}</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  edge_factor-&gt;update_correspondences(delta);</div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  plane_factor-&gt;update_correspondences(delta);</div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  validate_correspondences();</div>
+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;}</div>
+<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;<span class="keywordtype">double</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="keywordtype">double</span> error = edge_factor-&gt;evaluate(delta, H_target, H_source, H_target_source, b_target, b_source);</div>
+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt; H_t, H_s, H_ts;</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; b_t, b_s;</div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    error += plane_factor-&gt;evaluate(delta, &amp;H_t, &amp;H_s, &amp;H_ts, &amp;b_t, &amp;b_s);</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    (*H_target) += H_t;</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    (*H_source) += H_s;</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    (*H_target_source) += H_ts;</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    (*b_target) += b_t;</div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    (*b_source) += b_s;</div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    error += plane_factor-&gt;evaluate(delta);</div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  }</div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
+<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keywordflow">return</span> error;</div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;}</div>
+<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
+<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::set_correspondence_update_tolerance(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> trans) {</div>
+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  plane_factor-&gt;set_correspondence_update_tolerance(angle, trans);</div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  edge_factor-&gt;set_correspondence_update_tolerance(angle, trans);</div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;}</div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> TargetFrame, <span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;<span class="keywordtype">void</span> IntegratedLOAMFactor_&lt;TargetFrame, SourceFrame&gt;::validate_correspondences()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="keywordflow">if</span> (!enable_correspondence_validation) {</div>
+<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  }</div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="comment">// Validate edge correspondences</span></div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; corr : edge_factor-&gt;correspondences) {</div>
+<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keywordflow">if</span> (std::get&lt;0&gt;(corr) &lt; 0) {</div>
+<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    }</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt1 = frame::point(*edge_factor-&gt;target, std::get&lt;0&gt;(corr));</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt2 = frame::point(*edge_factor-&gt;target, std::get&lt;1&gt;(corr));</div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> v_theta1 = std::atan2(pt1.z(), pt1.template head&lt;2&gt;().norm());</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> v_theta2 = std::atan2(pt2.z(), pt2.template head&lt;2&gt;().norm());</div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="comment">// Reject pairs in a same scan line</span></div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <span class="keywordflow">if</span> (std::abs(v_theta1 - v_theta2) &lt; 0.1 * M_PI / 180.0) {</div>
+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      corr = std::make_tuple(-1, -1);</div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    }</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  }</div>
+<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <span class="comment">// Validate plane correspondences</span></div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; corr : plane_factor-&gt;correspondences) {</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">if</span> (std::get&lt;0&gt;(corr) &lt; 0) {</div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    }</div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt1 = frame::point(*plane_factor-&gt;target, std::get&lt;0&gt;(corr));</div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt2 = frame::point(*plane_factor-&gt;target, std::get&lt;1&gt;(corr));</div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; pt3 = frame::point(*plane_factor-&gt;target, std::get&lt;2&gt;(corr));</div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> v_theta1 = std::atan2(pt1.z(), pt1.template head&lt;2&gt;().norm());</div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> v_theta2 = std::atan2(pt2.z(), pt2.template head&lt;2&gt;().norm());</div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> v_theta3 = std::atan2(pt3.z(), pt3.template head&lt;2&gt;().norm());</div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    <span class="comment">// Reject pairs in a same scan line</span></div>
+<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    <span class="keywordflow">if</span> (std::abs(v_theta1 - v_theta2) &lt; 0.1 * M_PI / 180.0 &amp;&amp; std::abs(v_theta1 - v_theta3) &lt; 0.1 * M_PI * 180.0) {</div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      corr = std::make_tuple(-1, -1, -1);</div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    }</div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  }</div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;}</div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">integrated_matching_cost_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a> : <span class="keyword">public</span> gtsam::NonlinearFactor {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedMatchingCostFactor&gt;;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">   26</a></span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">IntegratedMatchingCostFactor</a>(gtsam::Key target_key, gtsam::Key source_key);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">   33</a></span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">IntegratedMatchingCostFactor</a>(<span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose, gtsam::Key source_key);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> dim()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> 6; }</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">   41</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">error</a>(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; get_fixed_target_pose()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> fixed_target_pose; }</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  Eigen::Isometry3d calc_delta(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">   53</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">update_correspondences</a>(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">   64</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">evaluate</a>(</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span> is_binary;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  Eigen::Isometry3d fixed_target_pose;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;};</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html_a28a6f1db179922a4c3346f28375314a3"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a28a6f1db179922a4c3346f28375314a3">gtsam_points::IntegratedMatchingCostFactor::IntegratedMatchingCostFactor</a></div><div class="ttdeci">IntegratedMatchingCostFactor(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key)</div><div class="ttdoc">Create a unary matching cost factor between a fixed target pose and an active source pose.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html_a5370c08f33b73c92b5d707e00696d012"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a5370c08f33b73c92b5d707e00696d012">gtsam_points::IntegratedMatchingCostFactor::update_correspondences</a></div><div class="ttdeci">virtual void update_correspondences(const Eigen::Isometry3d &amp;delta) const =0</div><div class="ttdoc">Update point correspondences.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html_a6a7123a5463c60dd3a9f0240afb56fd0"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#a6a7123a5463c60dd3a9f0240afb56fd0">gtsam_points::IntegratedMatchingCostFactor::error</a></div><div class="ttdeci">virtual double error(const gtsam::Values &amp;values) const override</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html_abc9e88ac64d41096cf6e9be0c58412b7"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#abc9e88ac64d41096cf6e9be0c58412b7">gtsam_points::IntegratedMatchingCostFactor::evaluate</a></div><div class="ttdeci">virtual double evaluate(const Eigen::Isometry3d &amp;delta, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_source=nullptr, Eigen::Matrix&lt; double, 6, 6 &gt; *H_target_source=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_target=nullptr, Eigen::Matrix&lt; double, 6, 1 &gt; *b_source=nullptr) const =0</div><div class="ttdoc">Evaluate the matching cost.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html_af505d5844b254cd7eceac3bf1104d1ca"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html#af505d5844b254cd7eceac3bf1104d1ca">gtsam_points::IntegratedMatchingCostFactor::IntegratedMatchingCostFactor</a></div><div class="ttdeci">IntegratedMatchingCostFactor(gtsam::Key target_key, gtsam::Key source_key)</div><div class="ttdoc">Create a binary matching cost factor between target and source poses.</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/integrated__vgicp__factor_8hpp_source.html b/doc_cpp/integrated__vgicp__factor_8hpp_source.html
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+<div class="header">
+  <div class="headertitle">
+<div class="title">integrated_vgicp_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/gaussian_voxelmap_cpu.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_matching_cost_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">struct </span>GaussianVoxel;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame = gtsam_po<span class="keywordtype">int</span>s::Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a> {</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedVGICPFactor_&gt;;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_</a>(</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target_voxels,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_</a>(</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target_voxels,</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source);</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">   59</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">set_num_threads</a>(<span class="keywordtype">int</span> n) { num_threads = n; }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">   62</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">inlier_fraction</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> outliers = std::count(correspondences.begin(), correspondences.end(), <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> inliers = correspondences.size() - outliers;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(inliers) / correspondences.size();</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> evaluate(</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_target = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt;* b_source = <span class="keyword">nullptr</span>) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">int</span> num_threads;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// I&#39;m unhappy to have mutable members...</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;const GaussianVoxel*&gt; correspondences;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">mutable</span> std::vector&lt;Eigen::Matrix4d&gt; mahalanobis;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  std::shared_ptr&lt;const GaussianVoxelMapCPU&gt; target_voxels;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  std::shared_ptr&lt;const SourceFrame&gt; source;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;};</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">using</span> IntegratedVGICPFactor = IntegratedVGICPFactor_&lt;&gt;;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_</a></div><div class="ttdoc">Voxelized GICP matching cost factor Koide et al., &quot;Voxelized GICP for Fast and Accurate 3D Point Clou...</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor.hpp:23</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html_aa0da757ad6199a3ce3c8ffaac9df6aa1"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">gtsam_points::IntegratedVGICPFactor_::IntegratedVGICPFactor_</a></div><div class="ttdeci">IntegratedVGICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target_voxels, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</div><div class="ttdoc">Create a binary VGICP factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor_impl.hpp:13</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html_aaaf4fc2d278494213a72aae7adf789d8"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aaaf4fc2d278494213a72aae7adf789d8">gtsam_points::IntegratedVGICPFactor_::set_num_threads</a></div><div class="ttdeci">void set_num_threads(int n)</div><div class="ttdoc">Set the number of thread used for linearization of this factor.</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor.hpp:59</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html_aea67fe02d059d9e75fa3a103e3319e6d"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aea67fe02d059d9e75fa3a103e3319e6d">gtsam_points::IntegratedVGICPFactor_::inlier_fraction</a></div><div class="ttdeci">double inlier_fraction() const</div><div class="ttdoc">Compute the fraction of inlier points that have correspondences with a distance smaller than the trim...</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor.hpp:62</div></div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">integrated_vgicp_factor_gpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/gaussian_voxelmap_gpu.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/nonlinear_factor_gpu.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">class </span>Pose3;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;}</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">class </span>LinearizedSystem6;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">class </span>IntegratedVGICPDerivatives;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span>TempBufferManager;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">   27</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a> : <span class="keyword">public</span> <a class="code" href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a> {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;IntegratedVGICPFactorGPU&gt;;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">   41</a></span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">IntegratedVGICPFactorGPU</a>(</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    gtsam::Key target_key,</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    CUstream_st* stream = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    std::shared_ptr&lt;TempBufferManager&gt; temp_buffer = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">   58</a></span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">IntegratedVGICPFactorGPU</a>(</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    gtsam::Key source_key,</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target,</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">const</span> PointCloud::ConstPtr&amp; source,</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    CUstream_st* stream = <span class="keyword">nullptr</span>,</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    std::shared_ptr&lt;TempBufferManager&gt; temp_buffer = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">   70</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">set_enable_surface_validation</a>(<span class="keywordtype">bool</span> enable);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">   74</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">set_inlier_update_thresh</a>(<span class="keywordtype">double</span> trans, <span class="keywordtype">double</span> angle);</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  Eigen::Isometry3f get_fixed_target_pose()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> fixed_target_pose; }</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// forbid copy</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">IntegratedVGICPFactorGPU</a>(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">IntegratedVGICPFactorGPU</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">virtual</span> gtsam::NonlinearFactor::shared_ptr clone() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> dim()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> 6; }</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">double</span> error(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">virtual</span> boost::shared_ptr&lt;gtsam::GaussianFactor&gt; linearize(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">   88</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">linearization_input_size</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">   89</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">linearization_output_size</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">   90</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">evaluation_input_size</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">   91</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">evaluation_output_size</a>() <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">   93</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">set_linearization_point</a>(<span class="keyword">const</span> gtsam::Values&amp; values, <span class="keywordtype">void</span>* lin_input_cpu) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">   94</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">issue_linearize</a>(</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">void</span>* lin_input_cpu,</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">void</span>* lin_input_gpu,</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">void</span>* lin_output_gpu) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">   98</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">store_linearized</a>(<span class="keyword">const</span> <span class="keywordtype">void</span>* lin_output_cpu) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
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+<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">  101</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">issue_compute_error</a>(</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">void</span>* lin_input_cpu,</div>
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+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">void</span>* lin_input_gpu,</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">void</span>* eval_input_gpu,</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">void</span>* eval_output_gpu) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">  107</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">store_computed_error</a>(<span class="keyword">const</span> <span class="keywordtype">void</span>* eval_output_cpu) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
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+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  Eigen::Isometry3f calc_delta(<span class="keyword">const</span> gtsam::Values&amp; values) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">bool</span> is_binary;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  Eigen::Isometry3f fixed_target_pose;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  GaussianVoxelMapGPU::ConstPtr target;</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  PointCloud::ConstPtr source;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  std::unique_ptr&lt;IntegratedVGICPDerivatives&gt; derivatives;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keyword">mutable</span> <span class="keywordtype">bool</span> linearized;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">mutable</span> Eigen::Isometry3f linearization_point;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">mutable</span> boost::optional&lt;float&gt; evaluation_result;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">mutable</span> std::unique_ptr&lt;LinearizedSystem6&gt; linearization_result;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;};</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html">gtsam_points::IntegratedVGICPFactorGPU</a></div><div class="ttdoc">GPU-accelerated Voxelized GICP matching cost factor Koide et al., &quot;Voxelized GICP for Fast and Accura...</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor_gpu.hpp:27</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a0ac1f590f997e808ffa10281e3d37ead"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a0ac1f590f997e808ffa10281e3d37ead">gtsam_points::IntegratedVGICPFactorGPU::issue_compute_error</a></div><div class="ttdeci">virtual void issue_compute_error(const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu) override</div><div class="ttdoc">Issue cost evaluation task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a163bad933efb590ca20cb2cf36c77e58"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a163bad933efb590ca20cb2cf36c77e58">gtsam_points::IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU</a></div><div class="ttdeci">IntegratedVGICPFactorGPU(gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; TempBufferManager &gt; temp_buffer=nullptr)</div><div class="ttdoc">Create a binary VGICP_GPU factor between target and source poses.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a1ce96f174c6d7cf2057e6e428c5ee011"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a1ce96f174c6d7cf2057e6e428c5ee011">gtsam_points::IntegratedVGICPFactorGPU::set_linearization_point</a></div><div class="ttdeci">virtual void set_linearization_point(const gtsam::Values &amp;values, void *lin_input_cpu) override</div><div class="ttdoc">Write linearization input data to the upload buffer.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a257644ad2e816fb6349899c505559735"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a257644ad2e816fb6349899c505559735">gtsam_points::IntegratedVGICPFactorGPU::issue_linearize</a></div><div class="ttdeci">virtual void issue_linearize(const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu) override</div><div class="ttdoc">Issue linearization task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a40c56cb9c8d14ed4d4d70d8e77e4853f"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a40c56cb9c8d14ed4d4d70d8e77e4853f">gtsam_points::IntegratedVGICPFactorGPU::store_linearized</a></div><div class="ttdeci">virtual void store_linearized(const void *lin_output_cpu) override</div><div class="ttdoc">Read linearization output data from the download buffer.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a646865db546cba179b48565777516170"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646865db546cba179b48565777516170">gtsam_points::IntegratedVGICPFactorGPU::evaluation_input_size</a></div><div class="ttdeci">virtual size_t evaluation_input_size() const override</div><div class="ttdoc">Size of data to be uploaded to the GPU before cost evaluation.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a646c3de1c880599f17e1718cab60ec38"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a646c3de1c880599f17e1718cab60ec38">gtsam_points::IntegratedVGICPFactorGPU::linearization_input_size</a></div><div class="ttdeci">virtual size_t linearization_input_size() const override</div><div class="ttdoc">Size of data to be uploaded to the GPU before linearization.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a6c2459319d988fb1a699394060f5b224"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a6c2459319d988fb1a699394060f5b224">gtsam_points::IntegratedVGICPFactorGPU::store_computed_error</a></div><div class="ttdeci">virtual void store_computed_error(const void *eval_output_cpu) override</div><div class="ttdoc">Read cost evaluation output data from the download buffer.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a7961401cc8c994c036588a44d9837617"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a7961401cc8c994c036588a44d9837617">gtsam_points::IntegratedVGICPFactorGPU::IntegratedVGICPFactorGPU</a></div><div class="ttdeci">IntegratedVGICPFactorGPU(const gtsam::Pose3 &amp;fixed_target_pose, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target, const PointCloud::ConstPtr &amp;source, CUstream_st *stream=nullptr, std::shared_ptr&lt; TempBufferManager &gt; temp_buffer=nullptr)</div><div class="ttdoc">Create a unary VGICP_GPU factor between a fixed target pose and an active source pose.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a957847ca39a31d676ac3bdb7a2df972a"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a957847ca39a31d676ac3bdb7a2df972a">gtsam_points::IntegratedVGICPFactorGPU::linearization_output_size</a></div><div class="ttdeci">virtual size_t linearization_output_size() const override</div><div class="ttdoc">Size of data to be downloaded from the GPU after linearization.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_a9be9bb2318cec5cc4f92ee2c16fc4a6f"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#a9be9bb2318cec5cc4f92ee2c16fc4a6f">gtsam_points::IntegratedVGICPFactorGPU::evaluation_output_size</a></div><div class="ttdeci">virtual size_t evaluation_output_size() const override</div><div class="ttdoc">Size of data to be downloaded from the GPU after cost evaluation.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_aabd5a08ee6fd0f485d78256c49302476"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#aabd5a08ee6fd0f485d78256c49302476">gtsam_points::IntegratedVGICPFactorGPU::set_evaluation_point</a></div><div class="ttdeci">virtual void set_evaluation_point(const gtsam::Values &amp;values, void *eval_input_cpu) override</div><div class="ttdoc">Write cost evaluation input data to the upload buffer.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_ab77071c0654a615f60c1d1d98946b0ea"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ab77071c0654a615f60c1d1d98946b0ea">gtsam_points::IntegratedVGICPFactorGPU::sync</a></div><div class="ttdeci">virtual void sync() override</div><div class="ttdoc">Perform CPU-GPU synchronization and wait for the task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_ac90d104f422d517c6cdcfdc695255ad9"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#ac90d104f422d517c6cdcfdc695255ad9">gtsam_points::IntegratedVGICPFactorGPU::set_inlier_update_thresh</a></div><div class="ttdeci">void set_inlier_update_thresh(double trans, double angle)</div><div class="ttdoc">Set the threshold values to trigger inlier points update. Setting larger values reduces GPU sync but ...</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactorGPU_html_af38732a699b3391bc34c919466464f9f"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactorGPU.html#af38732a699b3391bc34c919466464f9f">gtsam_points::IntegratedVGICPFactorGPU::set_enable_surface_validation</a></div><div class="ttdeci">void set_enable_surface_validation(bool enable)</div><div class="ttdoc">Enable or disable surface orientation validation for correspondence search.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></div><div class="ttdoc">Base class for GPU-based nonlinear factors.</div><div class="ttdef"><b>Definition:</b> nonlinear_factor_gpu.hpp:36</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li><li class="navelem"><a class="el" href="dir_d65abe832d32e509e4133d349071001b.html">impl</a></li>  </ul>
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+<div class="title">integrated_vgicp_factor_impl.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/integrated_vgicp_factor.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/gaussian_voxelmap_cpu.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">   13</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_&lt;SourceFrame&gt;::IntegratedVGICPFactor_</a>(</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  gtsam::Key target_key,</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target_voxels,</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(target_key, source_key),</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  target_voxels(std::dynamic_pointer_cast&lt;const <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&gt;(target_voxels)),</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source)) {</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source points have not been allocated!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    abort();</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  }</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordflow">if</span> (!frame::has_covs(*source)) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source don&#39;t have covs!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    abort();</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordflow">if</span> (!this-&gt;target_voxels) {</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target voxelmap has not been created!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    abort();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  }</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#ab889dee5676e0771c84338e2a62aebc9">   40</a></span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">IntegratedVGICPFactor_&lt;SourceFrame&gt;::IntegratedVGICPFactor_</a>(</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">const</span> gtsam::Pose3&amp; fixed_target_pose,</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  gtsam::Key source_key,</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">const</span> GaussianVoxelMap::ConstPtr&amp; target_voxels,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const SourceFrame&gt;&amp; source)</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;: gtsam_points::<a class="code" href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">IntegratedMatchingCostFactor</a>(fixed_target_pose, source_key),</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  num_threads(1),</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  target_voxels(std::dynamic_pointer_cast&lt;const <a class="code" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a>&gt;(target_voxels)),</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  source(source) {</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (!frame::has_points(*source)) {</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source points have not been allocated!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    abort();</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">if</span> (!frame::has_covs(*source)) {</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: source don&#39;t have covs!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    abort();</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">if</span> (!this-&gt;target_voxels) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: target voxelmap has not been created!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    abort();</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<a class="code" href="classgtsam__points_1_1IntegratedVGICPFactor__.html">IntegratedVGICPFactor_&lt;SourceFrame&gt;::~IntegratedVGICPFactor_</a>() {}</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keywordtype">void</span> IntegratedVGICPFactor_&lt;SourceFrame&gt;::update_correspondences(<span class="keyword">const</span> Eigen::Isometry3d&amp; delta)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  correspondences.resize(frame::size(*source));</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  mahalanobis.resize(frame::size(*source));</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::Vector4d pt = delta * frame::point(*source, i);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    Eigen::Vector3i coord = target_voxels-&gt;voxel_coord(pt);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> voxel_id = target_voxels-&gt;lookup_voxel_index(coord);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (voxel_id &lt; 0) {</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      correspondences[i] = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      mahalanobis[i].setIdentity();</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> voxel = &amp;target_voxels-&gt;lookup_voxel(voxel_id);</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      correspondences[i] = voxel;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      Eigen::Matrix4d RCR = (voxel-&gt;cov + delta.matrix() * frame::cov(*source, i) * delta.matrix().transpose());</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      RCR(3, 3) = 1.0;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      mahalanobis[i] = RCR.inverse();</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      mahalanobis[i](3, 3) = 0.0;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    }</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceFrame&gt;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keywordtype">double</span> IntegratedVGICPFactor_&lt;SourceFrame&gt;::evaluate(</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">const</span> Eigen::Isometry3d&amp; delta,</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target,</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_source,</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  Eigen::Matrix&lt;double, 6, 6&gt;* H_target_source,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_target,</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  Eigen::Matrix&lt;double, 6, 1&gt;* b_source)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">//</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordtype">double</span> sum_errors = 0.0;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_source;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 6&gt;&gt; Hs_target_source;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_target;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  std::vector&lt;Eigen::Matrix&lt;double, 6, 1&gt;&gt; bs_source;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    Hs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    Hs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    Hs_target_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 6&gt;::Zero());</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    bs_target.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    bs_source.resize(num_threads, Eigen::Matrix&lt;double, 6, 1&gt;::Zero());</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(num_threads) reduction(+ : sum_errors) schedule(guided, 8)</span></div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; frame::size(*source); i++) {</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; target_voxel = correspondences[i];</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">if</span> (target_voxel == <span class="keyword">nullptr</span>) {</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_A = frame::point(*source, i);</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_A = frame::cov(*source, i);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; mean_B = target_voxel-&gt;mean;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; cov_B = target_voxel-&gt;cov;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    Eigen::Vector4d transed_mean_A = delta * mean_A;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    Eigen::Vector4d error = mean_B - transed_mean_A;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    sum_errors += 0.5 * error.transpose() * mahalanobis[i] * error;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">if</span> (Hs_target.empty()) {</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_target = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    J_target.block&lt;3, 3&gt;(0, 0) = -gtsam::SO3::Hat(transed_mean_A.head&lt;3&gt;());</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    J_target.block&lt;3, 3&gt;(0, 3) = Eigen::Matrix3d::Identity();</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    Eigen::Matrix&lt;double, 4, 6&gt; J_source = Eigen::Matrix&lt;double, 4, 6&gt;::Zero();</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    J_source.block&lt;3, 3&gt;(0, 0) = delta.linear() * gtsam::SO3::Hat(mean_A.template head&lt;3&gt;());</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    J_source.block&lt;3, 3&gt;(0, 3) = -delta.linear();</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">int</span> thread_num = 0;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    thread_num = omp_get_thread_num();</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    Eigen::Matrix&lt;double, 6, 4&gt; J_target_mahalanobis = J_target.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    Eigen::Matrix&lt;double, 6, 4&gt; J_source_mahalanobis = J_source.transpose() * mahalanobis[i];</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    Hs_target[thread_num] += J_target_mahalanobis * J_target;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    Hs_source[thread_num] += J_source_mahalanobis * J_source;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    Hs_target_source[thread_num] += J_target_mahalanobis * J_source;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    bs_target[thread_num] += J_target_mahalanobis * error;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    bs_source[thread_num] += J_source_mahalanobis * error;</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (H_target &amp;&amp; H_source &amp;&amp; H_target_source &amp;&amp; b_target &amp;&amp; b_source) {</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    H_target-&gt;setZero();</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    H_source-&gt;setZero();</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    H_target_source-&gt;setZero();</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    b_target-&gt;setZero();</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    b_source-&gt;setZero();</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_threads; i++) {</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      (*H_target) += Hs_target[i];</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      (*H_source) += Hs_source[i];</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      (*H_target_source) += Hs_target_source[i];</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      (*b_target) += bs_target[i];</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      (*b_source) += bs_source[i];</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordflow">return</span> sum_errors;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;}</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1GaussianVoxelMapCPU_html"><div class="ttname"><a href="classgtsam__points_1_1GaussianVoxelMapCPU.html">gtsam_points::GaussianVoxelMapCPU</a></div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap_cpu.hpp:72</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedMatchingCostFactor_html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedMatchingCostFactor.html">gtsam_points::IntegratedMatchingCostFactor</a></div><div class="ttdoc">Abstraction of LSQ-based scan matching constraints between point clouds.</div><div class="ttdef"><b>Definition:</b> integrated_matching_cost_factor.hpp:16</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html">gtsam_points::IntegratedVGICPFactor_</a></div><div class="ttdoc">Voxelized GICP matching cost factor Koide et al., &quot;Voxelized GICP for Fast and Accurate 3D Point Clou...</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor.hpp:23</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntegratedVGICPFactor___html_aa0da757ad6199a3ce3c8ffaac9df6aa1"><div class="ttname"><a href="classgtsam__points_1_1IntegratedVGICPFactor__.html#aa0da757ad6199a3ce3c8ffaac9df6aa1">gtsam_points::IntegratedVGICPFactor_::IntegratedVGICPFactor_</a></div><div class="ttdeci">IntegratedVGICPFactor_(gtsam::Key target_key, gtsam::Key source_key, const GaussianVoxelMap::ConstPtr &amp;target_voxels, const std::shared_ptr&lt; const SourceFrame &gt; &amp;source)</div><div class="ttdoc">Create a binary VGICP factor between target and source poses.</div><div class="ttdef"><b>Definition:</b> integrated_vgicp_factor_impl.hpp:13</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="title">intensity_gradients.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
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+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud_cpu.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntensityGradients.html">   20</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;IntensityGradients&gt;;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const IntensityGradients&gt;;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">   32</a></span>&#160;  <span class="keyword">static</span> IntensityGradients::Ptr <a class="code" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">estimate</a>(<span class="keyword">const</span> PointCloud::ConstPtr&amp; frame, <span class="keywordtype">int</span> k_neighbors = 10, <span class="keywordtype">int</span> num_threads = 1);</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">static</span> IntensityGradients::Ptr</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">   43</a></span>&#160;  <a class="code" href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">estimate</a>(<span class="keyword">const</span> gtsam_points::PointCloudCPU::Ptr&amp; frame, <span class="keywordtype">int</span> k_geom_neighbors = 10, <span class="keywordtype">int</span> k_photo_neighbors = 20, <span class="keywordtype">int</span> num_threads = 1);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">static</span> IntensityGradients::Ptr <a class="code" href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">estimate</a>(<span class="keyword">const</span> PointCloud::ConstPtr&amp; frame, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; neighbors, <span class="keywordtype">int</span> k_photo_neighbors);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; intensity_gradients;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;};</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">   54</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a>&gt; {</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; intensity_gradient(<span class="keyword">const</span> <a class="code" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a>&amp; grads, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> grads.intensity_gradients[i]; }</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;};</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntensityGradients_html"><div class="ttname"><a href="classgtsam__points_1_1IntensityGradients.html">gtsam_points::IntensityGradients</a></div><div class="ttdoc">Intensity gradients for colored ICP Park et al., &quot;Colored Point Cloud Registration Revisited&quot;,...</div><div class="ttdef"><b>Definition:</b> intensity_gradients.hpp:20</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntensityGradients_html_ad2d4b378ba3048069c1919b69f3c02d6"><div class="ttname"><a href="classgtsam__points_1_1IntensityGradients.html#ad2d4b378ba3048069c1919b69f3c02d6">gtsam_points::IntensityGradients::estimate</a></div><div class="ttdeci">static IntensityGradients::Ptr estimate(const gtsam_points::PointCloudCPU::Ptr &amp;frame, int k_geom_neighbors=10, int k_photo_neighbors=20, int num_threads=1)</div><div class="ttdoc">Estimate normals, covs, and intensity gradients.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1IntensityGradients_html_ad49905d227e0bbf2604dc4e975e1f235"><div class="ttname"><a href="classgtsam__points_1_1IntensityGradients.html#ad49905d227e0bbf2604dc4e975e1f235">gtsam_points::IntensityGradients::estimate</a></div><div class="ttdeci">static IntensityGradients::Ptr estimate(const PointCloud::ConstPtr &amp;frame, int k_neighbors=10, int num_threads=1)</div><div class="ttdoc">Estimate intensity gradients of points.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">intensity_kdtree.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// forward declaration</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>nanoflann {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T, <span class="keyword">class</span> DataSource, <span class="keyword">typename</span> _DistanceType&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classnanoflann_1_1L2__Simple__Adaptor.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnanoflann_1_1L2__Simple__Adaptor.html">L2_Simple_Adaptor</a>;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Distance, <span class="keyword">class</span> DatasetAdaptor, <span class="keywordtype">int</span> DIM, <span class="keyword">typename</span> IndexType&gt;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">KDTreeSingleIndexAdaptor</a>;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;}  <span class="comment">// namespace nanoflann</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IntensityKdTree.html">   27</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">using</span> <a class="code" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">Index</a> = <a class="code" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">nanoflann::KDTreeSingleIndexAdaptor&lt;nanoflann::L2_Simple_Adaptor&lt;double, IntensityKdTree, double&gt;</a>, <a class="code" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">IntensityKdTree</a>, 4, <span class="keywordtype">size_t</span>&gt;;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">   38</a></span>&#160;  <a class="code" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">IntensityKdTree</a>(<span class="keyword">const</span> Eigen::Vector4d* points, <span class="keyword">const</span> <span class="keywordtype">double</span>* intensities, <span class="keywordtype">int</span> num_points, <span class="keywordtype">double</span> intensity_scale = 1.0);</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> kdtree_get_point_count()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> num_points; }</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">double</span> kdtree_get_pt(<span class="keyword">const</span> <span class="keywordtype">size_t</span> idx, <span class="keyword">const</span> <span class="keywordtype">size_t</span> dim)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">if</span> (dim &lt; 3) {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keywordflow">return</span> points[idx][dim];</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keywordflow">return</span> intensities[idx] * intensity_scale;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> BBox&gt;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">bool</span> kdtree_get_bbox(BBox&amp;)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">   55</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">knn_search</a>(</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span>* pt,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">size_t</span> k,</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">size_t</span>* k_indices,</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">double</span>* k_sq_dists,</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max()) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> num_points;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span>* intensities;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">const</span> Eigen::Vector4d* points;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> intensity_scale;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">double</span> search_eps;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  std::unique_ptr&lt;Index&gt; index;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;};</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassnanoflann_1_1KDTreeSingleIndexAdaptor_html"><div class="ttname"><a href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">nanoflann::KDTreeSingleIndexAdaptor</a></div><div class="ttdef"><b>Definition:</b> intensity_kdtree.hpp:17</div></div>
+<div class="ttc" id="aclassnanoflann_1_1L2__Simple__Adaptor_html"><div class="ttname"><a href="classnanoflann_1_1L2__Simple__Adaptor.html">nanoflann::L2_Simple_Adaptor</a></div><div class="ttdef"><b>Definition:</b> intensity_kdtree.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IntensityKdTree_html"><div class="ttname"><a href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></div><div class="ttdoc">KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,...</div><div class="ttdef"><b>Definition:</b> intensity_kdtree.hpp:27</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IntensityKdTree_html_aaa480ee34a9cacc8324b21cf8375ba95"><div class="ttname"><a href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">gtsam_points::IntensityKdTree::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">k-nearest neighbor search</div></div>
+<div class="ttc" id="astructgtsam__points_1_1IntensityKdTree_html_afc8cba8eff515fe46e0d3010a3a03256"><div class="ttname"><a href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">gtsam_points::IntensityKdTree::IntensityKdTree</a></div><div class="ttdeci">IntensityKdTree(const Eigen::Vector4d *points, const double *intensities, int num_points, double intensity_scale=1.0)</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></div><div class="ttdoc">Nearest neighbor search interface.</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:14</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/ivox.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ivox.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/flat_container.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">using</span> iVox = IncrementalVoxelMap&lt;FlatContainer&gt;;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/ivox_covariance_estimation.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ivox_covariance_estimation.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/ivox.hpp&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/incremental_covariance_voxelmap.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">using</span> iVoxCovarianceEstimation = IncrementalCovarianceVoxelMap;</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/jacobian__test_8hpp_source.html b/doc_cpp/jacobian__test_8hpp_source.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/jacobian_test.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">jacobian_test.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/VectorValues.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> GenerateFactor, <span class="keyword">typename</span> GenerateValues&gt;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keywordtype">bool</span> test_factor_jacobian(std::mt19937&amp; mt, <span class="keyword">const</span> GenerateFactor&amp; generate_factor, <span class="keyword">const</span> GenerateValues&amp; generate_values) {</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">auto</span> factor = generate_factor(mt);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  gtsam::Values values = generate_values(mt);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  std::vector&lt;gtsam::Matrix&gt; Hs_a(factor-&gt;keys().size());</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  std::vector&lt;gtsam::Matrix&gt; Hs_d(factor-&gt;keys().size());</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  gtsam::Vector x0 = factor-&gt;unwhitenedError(values, Hs_a);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> eps = 1e-6;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> key = factor-&gt;keys()[i];</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    gtsam::VectorValues delta = values.zeroVectors();</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> D = delta[key].size();</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    gtsam::Matrix Hd(x0.size(), D);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; D; j++) {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      delta[key].setZero();</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      delta[key][j] = eps;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      gtsam::Vector xi = factor-&gt;unwhitenedError(values.retract(delta));</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      Hd.col(j) = (xi - x0) / eps;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Hs_d[i] = Hd;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> ok = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    ok &amp;= ((Hs_a[i] - Hs_d[i]).array().abs() &lt; 1e-3).all();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (ok) {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;OK (x0=&quot;</span> &lt;&lt; x0.transpose() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Failed (x0=&quot;</span> &lt;&lt; x0.transpose() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; factor-&gt;keys().size(); i++) {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;*** key &quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot; ***&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- Ha ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_a[i] &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- Hd ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_d[i] &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;--- err ---&quot;</span> &lt;&lt; std::endl &lt;&lt; Hs_a[i] - Hs_d[i] &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">return</span> ok;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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i&&(o=e,e=i,i=void 0),e&&!1!==i&&this.queue(i||"fx",[]),this.each(function(){var e=!0,t=null!=i&&i+"queueHooks",n=k.timers,r=Q.get(this);if(t)r[t]&&r[t].stop&&a(r[t]);else for(t in r)r[t]&&r[t].stop&&ut.test(t)&&a(r[t]);for(t=n.length;t--;)n[t].elem!==this||null!=i&&n[t].queue!==i||(n[t].anim.stop(o),e=!1,n.splice(t,1));!e&&o||k.dequeue(this,i)})},finish:function(a){return!1!==a&&(a=a||"fx"),this.each(function(){var e,t=Q.get(this),n=t[a+"queue"],r=t[a+"queueHooks"],i=k.timers,o=n?n.length:0;for(t.finish=!0,k.queue(this,a,[]),r&&r.stop&&r.stop.call(this,!0),e=i.length;e--;)i[e].elem===this&&i[e].queue===a&&(i[e].anim.stop(!0),i.splice(e,1));for(e=0;e<o;e++)n[e]&&n[e].finish&&n[e].finish.call(this);delete t.finish})}}),k.each(["toggle","show","hide"],function(e,r){var i=k.fn[r];k.fn[r]=function(e,t,n){return null==e||"boolean"==typeof e?i.apply(this,arguments):this.animate(ft(r,!0),e,t,n)}}),k.each({slideDown:ft("show"),slideUp:ft("hide"),slideToggle:ft("toggle"),fadeIn:{opacity:"show"},fadeOut:{opacity:"hide"},fadeToggle:{opacity:"toggle"}},function(e,r){k.fn[e]=function(e,t,n){return this.animate(r,e,t,n)}}),k.timers=[],k.fx.tick=function(){var e,t=0,n=k.timers;for(rt=Date.now();t<n.length;t++)(e=n[t])()||n[t]!==e||n.splice(t--,1);n.length||k.fx.stop(),rt=void 0},k.fx.timer=function(e){k.timers.push(e),k.fx.start()},k.fx.interval=13,k.fx.start=function(){it||(it=!0,lt())},k.fx.stop=function(){it=null},k.fx.speeds={slow:600,fast:200,_default:400},k.fn.delay=function(r,e){return r=k.fx&&k.fx.speeds[r]||r,e=e||"fx",this.queue(e,function(e,t){var n=C.setTimeout(e,r);t.stop=function(){C.clearTimeout(n)}})},ot=E.createElement("input"),at=E.createElement("select").appendChild(E.createElement("option")),ot.type="checkbox",y.checkOn=""!==ot.value,y.optSelected=at.selected,(ot=E.createElement("input")).value="t",ot.type="radio",y.radioValue="t"===ot.value;var ht,gt=k.expr.attrHandle;k.fn.extend({attr:function(e,t){return _(this,k.attr,e,t,1<arguments.length)},removeAttr:function(e){return this.each(function(){k.removeAttr(this,e)})}}),k.extend({attr:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return"undefined"==typeof e.getAttribute?k.prop(e,t,n):(1===o&&k.isXMLDoc(e)||(i=k.attrHooks[t.toLowerCase()]||(k.expr.match.bool.test(t)?ht:void 0)),void 0!==n?null===n?void k.removeAttr(e,t):i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:(e.setAttribute(t,n+""),n):i&&"get"in i&&null!==(r=i.get(e,t))?r:null==(r=k.find.attr(e,t))?void 0:r)},attrHooks:{type:{set:function(e,t){if(!y.radioValue&&"radio"===t&&A(e,"input")){var n=e.value;return e.setAttribute("type",t),n&&(e.value=n),t}}}},removeAttr:function(e,t){var n,r=0,i=t&&t.match(R);if(i&&1===e.nodeType)while(n=i[r++])e.removeAttribute(n)}}),ht={set:function(e,t,n){return!1===t?k.removeAttr(e,n):e.setAttribute(n,n),n}},k.each(k.expr.match.bool.source.match(/\w+/g),function(e,t){var a=gt[t]||k.find.attr;gt[t]=function(e,t,n){var r,i,o=t.toLowerCase();return n||(i=gt[o],gt[o]=r,r=null!=a(e,t,n)?o:null,gt[o]=i),r}});var vt=/^(?:input|select|textarea|button)$/i,yt=/^(?:a|area)$/i;function mt(e){return(e.match(R)||[]).join(" ")}function xt(e){return e.getAttribute&&e.getAttribute("class")||""}function bt(e){return Array.isArray(e)?e:"string"==typeof e&&e.match(R)||[]}k.fn.extend({prop:function(e,t){return _(this,k.prop,e,t,1<arguments.length)},removeProp:function(e){return this.each(function(){delete this[k.propFix[e]||e]})}}),k.extend({prop:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return 1===o&&k.isXMLDoc(e)||(t=k.propFix[t]||t,i=k.propHooks[t]),void 0!==n?i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:e[t]=n:i&&"get"in i&&null!==(r=i.get(e,t))?r:e[t]},propHooks:{tabIndex:{get:function(e){var t=k.find.attr(e,"tabindex");return t?parseInt(t,10):vt.test(e.nodeName)||yt.test(e.nodeName)&&e.href?0:-1}}},propFix:{"for":"htmlFor","class":"className"}}),y.optSelected||(k.propHooks.selected={get:function(e){var t=e.parentNode;return t&&t.parentNode&&t.parentNode.selectedIndex,null},set:function(e){var t=e.parentNode;t&&(t.selectedIndex,t.parentNode&&t.parentNode.selectedIndex)}}),k.each(["tabIndex","readOnly","maxLength","cellSpacing","cellPadding","rowSpan","colSpan","useMap","frameBorder","contentEditable"],function(){k.propFix[this.toLowerCase()]=this}),k.fn.extend({addClass:function(t){var e,n,r,i,o,a,s,u=0;if(m(t))return this.each(function(e){k(this).addClass(t.call(this,e,xt(this)))});if((e=bt(t)).length)while(n=this[u++])if(i=xt(n),r=1===n.nodeType&&" "+mt(i)+" 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null!=t?t:mt(k.text(e))}},select:{get:function(e){var t,n,r,i=e.options,o=e.selectedIndex,a="select-one"===e.type,s=a?null:[],u=a?o+1:i.length;for(r=o<0?u:a?o:0;r<u;r++)if(((n=i[r]).selected||r===o)&&!n.disabled&&(!n.parentNode.disabled||!A(n.parentNode,"optgroup"))){if(t=k(n).val(),a)return t;s.push(t)}return s},set:function(e,t){var n,r,i=e.options,o=k.makeArray(t),a=i.length;while(a--)((r=i[a]).selected=-1<k.inArray(k.valHooks.option.get(r),o))&&(n=!0);return n||(e.selectedIndex=-1),o}}}}),k.each(["radio","checkbox"],function(){k.valHooks[this]={set:function(e,t){if(Array.isArray(t))return e.checked=-1<k.inArray(k(e).val(),t)}},y.checkOn||(k.valHooks[this].get=function(e){return null===e.getAttribute("value")?"on":e.value})}),y.focusin="onfocusin"in C;var Tt=/^(?:focusinfocus|focusoutblur)$/,Ct=function(e){e.stopPropagation()};k.extend(k.event,{trigger:function(e,t,n,r){var i,o,a,s,u,l,c,f,p=[n||E],d=v.call(e,"type")?e.type:e,h=v.call(e,"namespace")?e.namespace.split("."):[];if(o=f=a=n=n||E,3!==n.nodeType&&8!==n.nodeType&&!Tt.test(d+k.event.triggered)&&(-1<d.indexOf(".")&&(d=(h=d.split(".")).shift(),h.sort()),u=d.indexOf(":")<0&&"on"+d,(e=e[k.expando]?e:new k.Event(d,"object"==typeof e&&e)).isTrigger=r?2:3,e.namespace=h.join("."),e.rnamespace=e.namespace?new RegExp("(^|\\.)"+h.join("\\.(?:.*\\.|)")+"(\\.|$)"):null,e.result=void 0,e.target||(e.target=n),t=null==t?[e]:k.makeArray(t,[e]),c=k.event.special[d]||{},r||!c.trigger||!1!==c.trigger.apply(n,t))){if(!r&&!c.noBubble&&!x(n)){for(s=c.delegateType||d,Tt.test(s+d)||(o=o.parentNode);o;o=o.parentNode)p.push(o),a=o;a===(n.ownerDocument||E)&&p.push(a.defaultView||a.parentWindow||C)}i=0;while((o=p[i++])&&!e.isPropagationStopped())f=o,e.type=1<i?s:c.bindType||d,(l=(Q.get(o,"events")||{})[e.type]&&Q.get(o,"handle"))&&l.apply(o,t),(l=u&&o[u])&&l.apply&&G(o)&&(e.result=l.apply(o,t),!1===e.result&&e.preventDefault());return e.type=d,r||e.isDefaultPrevented()||c._default&&!1!==c._default.apply(p.pop(),t)||!G(n)||u&&m(n[d])&&!x(n)&&((a=n[u])&&(n[u]=null),k.event.triggered=d,e.isPropagationStopped()&&f.addEventListener(d,Ct),n[d](),e.isPropagationStopped()&&f.removeEventListener(d,Ct),k.event.triggered=void 0,a&&(n[u]=a)),e.result}},simulate:function(e,t,n){var r=k.extend(new 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s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var 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+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
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+<div class="title">kdtree2.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/small_kdtree.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Frame&gt;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTree2.html">   20</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">using</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">Index</a> = <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree&lt;Frame&gt;</a>;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2</a>(<span class="keyword">const</span> std::shared_ptr&lt;const Frame&gt;&amp; frame, <span class="keywordtype">int</span> build_num_threads = 1)</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  : frame(frame),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    search_eps(-1.0),</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    index(<span class="keyword">new</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">Index</a>(*this-&gt;frame, <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a>(build_num_threads))) {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">if</span> (frame::size(*frame) == 0) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;error: empty frame is given for KdTree2&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;     : frame::size() may not be implemented&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  }</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1KdTree2.html">KdTree2</a>()<span class="keyword"> override </span>{}</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">   41</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">knn_search</a>(</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span>* pt,</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordtype">size_t</span> k,</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">size_t</span>* k_indices,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">double</span>* k_sq_dists,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max())<span class="keyword"> const override </span>{</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> setting;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    setting.<a class="code" href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">max_sq_dist</a> = max_sq_dist;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> index-&gt;knn_search(Eigen::Map&lt;const Eigen::Vector3d&gt;(pt), k, k_indices, k_sq_dists, setting);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">const</span> std::shared_ptr&lt;const Frame&gt; frame;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">double</span> search_eps;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  std::unique_ptr&lt;Index&gt; index;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree2_html"><div class="ttname"><a href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2</a></div><div class="ttdoc">KdTree-based nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> kdtree2.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree2_html_af77d7cea9d3b324038b8207aefbb63e6"><div class="ttname"><a href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">gtsam_points::KdTree2::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> kdtree2.hpp:41</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></div><div class="ttdoc">Kd-tree builder with OpenMP.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:184</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html">gtsam_points::KnnSetting</a></div><div class="ttdoc">K-nearest neighbor search setting.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:11</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html_ac59b36493407a3ac83129d26fcda48dd"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">gtsam_points::KnnSetting::max_sq_dist</a></div><div class="ttdeci">double max_sq_dist</div><div class="ttdoc">Maximum squared distance to search.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></div><div class="ttdoc">Nearest neighbor search interface.</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a></div><div class="ttdoc">&quot;Unsafe&quot; KdTree.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:273</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">kdtree.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/nearest_neighbor_search.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> Projection&gt;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">struct </span>UnsafeKdTree;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">struct </span>AxisAlignedProjection;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTree.html">   21</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">using</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">Index</a> = <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree&lt;KdTree, AxisAlignedProjection&gt;</a>;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>(<span class="keyword">const</span> Eigen::Vector4d* points, <span class="keywordtype">int</span> num_points, <span class="keywordtype">int</span> build_num_threads = 1);</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">   34</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">knn_search</a>(</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span>* pt,</div>
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+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordtype">size_t</span>* k_indices,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordtype">double</span>* k_sq_dists,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max()) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> num_points;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">const</span> Eigen::Vector4d* points;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">double</span> search_eps;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  std::unique_ptr&lt;Index&gt; index;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;};</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree_html"><div class="ttname"><a href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></div><div class="ttdoc">KdTree-based nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree_html_a6539e3f2b5fa1103cb9fd0dcaec4abb6"><div class="ttname"><a href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">gtsam_points::KdTree::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</div><div class="ttdoc">Find k nearest neighbors.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></div><div class="ttdoc">Nearest neighbor search interface.</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a></div><div class="ttdoc">&quot;Unsafe&quot; KdTree.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:273</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">knn_result.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnSetting.html">   11</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Result&gt;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">   15</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">fulfilled</a>(<span class="keyword">const</span> Result&amp; result)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordflow">return</span> result.worst_distance() &lt; <a class="code" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">epsilon</a>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  }</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">   20</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">max_sq_dist</a> = std::numeric_limits&lt;double&gt;::max();  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">   21</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">epsilon</a> = 0.0;                                     </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;};</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1identity__transform.html">   25</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1identity__transform.html">identity_transform</a> {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  T operator()(<span class="keyword">const</span> T&amp; x)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">return</span> x;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  }</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;};</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N, <span class="keyword">typename</span> IndexTransform = <span class="keywordtype">id</span>entity_transform&gt;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html">   35</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KnnResult.html">KnnResult</a> {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">size_t</span> INVALID = std::numeric_limits&lt;size_t&gt;::max();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">   44</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">KnnResult</a>(</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">size_t</span>* <a class="code" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">indices</a>,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">double</span>* <a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>,</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordtype">int</span> num_neighbors = -1,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> IndexTransform&amp; index_transform = IndexTransform(),</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">double</span> max_sq_dist = std::numeric_limits&lt;double&gt;::max())</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  : index_transform(index_transform),</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">capacity</a>(num_neighbors),</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a>(0),</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">indices</a>(<a class="code" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">indices</a>),</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>(<a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>) {</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">if</span> constexpr (N &gt; 0) {</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keywordflow">if</span> (num_neighbors &gt;= 0) {</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        std::cerr &lt;&lt; <span class="stringliteral">&quot;warning: Specifying dynamic num_neighbors=&quot;</span> &lt;&lt; num_neighbors &lt;&lt; <span class="stringliteral">&quot; for a static KNN result container (N=&quot;</span> &lt;&lt; N &lt;&lt; <span class="stringliteral">&quot;)&quot;</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                  &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        abort();</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      }</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">if</span> (num_neighbors &lt;= 0) {</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        std::cerr &lt;&lt; <span class="stringliteral">&quot;error: Specifying invalid num_neighbors=&quot;</span> &lt;&lt; num_neighbors &lt;&lt; <span class="stringliteral">&quot; for a dynamic KNN result container&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        abort();</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      }</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    std::fill(this-&gt;indices, this-&gt;indices + <a class="code" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>(), INVALID);</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    std::fill(this-&gt;distances, this-&gt;distances + <a class="code" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>(), max_sq_dist);</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">   73</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> constexpr (N &gt; 0) {</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">return</span> N;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">capacity</a>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    }</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">   82</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">num_found</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a>; }</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">   85</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">worst_distance</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>[<a class="code" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>() - 1]; }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">   88</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">push</a>(<span class="keywordtype">size_t</span> index, <span class="keywordtype">double</span> distance) {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">if</span> (distance &gt;= <a class="code" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">worst_distance</a>()) {</div>
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+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">int</span> insert_loc = std::min&lt;int&gt;(<a class="code" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a>, <a class="code" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>() - 1);</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">for</span> (; insert_loc &gt; 0 &amp;&amp; distance &lt; <a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>[insert_loc - 1]; insert_loc--) {</div>
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+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">const</span> IndexTransform&amp; index_transform;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">  112</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">capacity</a>;       </div>
+<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">  113</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a>;  </div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">  114</a></span>&#160;  <span class="keywordtype">size_t</span>* <a class="code" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">indices</a>;          </div>
+<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">  115</a></span>&#160;  <span class="keywordtype">double</span>* <a class="code" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a>;        </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;};</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult</a></div><div class="ttdoc">K-nearest neighbor search result container.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_a0fcd601cdd4f0fa64b4b9784f8ddcb77"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">gtsam_points::KnnResult::push</a></div><div class="ttdeci">void push(size_t index, double distance)</div><div class="ttdoc">Push a pair of point index and distance to the result.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:88</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_a26487343696f5844be7a111028f2006b"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">gtsam_points::KnnResult::worst_distance</a></div><div class="ttdeci">double worst_distance() const</div><div class="ttdoc">Worst distance in the result.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:85</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_a5483060b0e21180d20f046fca2e927a7"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">gtsam_points::KnnResult::buffer_size</a></div><div class="ttdeci">size_t buffer_size() const</div><div class="ttdoc">Buffer size (i.e., Maximum number of neighbors)</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:73</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_a569d44aac3522159928cf85036496b88"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">gtsam_points::KnnResult::capacity</a></div><div class="ttdeci">const int capacity</div><div class="ttdoc">Maximum number of neighbors to search.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:112</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_aa2dab520fc2bb23d36cbc0d6a82bbc57"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">gtsam_points::KnnResult::num_found</a></div><div class="ttdeci">size_t num_found() const</div><div class="ttdoc">Number of found neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:82</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_aa5890ca404864d0d0f7274649f13ada7"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">gtsam_points::KnnResult::KnnResult</a></div><div class="ttdeci">KnnResult(size_t *indices, double *distances, int num_neighbors=-1, const IndexTransform &amp;index_transform=IndexTransform(), double max_sq_dist=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:44</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_aaee7d342357b0bbd749a924e5110a5c8"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">gtsam_points::KnnResult::indices</a></div><div class="ttdeci">size_t * indices</div><div class="ttdoc">Indices of neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:114</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_ac341eca01e191bb356db75ef1433a5c8"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">gtsam_points::KnnResult::distances</a></div><div class="ttdeci">double * distances</div><div class="ttdoc">Distances to neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:115</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_ac44d2abca51208d7ac3abb3bbb2c3328"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">gtsam_points::KnnResult::num_found_neighbors</a></div><div class="ttdeci">int num_found_neighbors</div><div class="ttdoc">Number of found neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:113</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html">gtsam_points::KnnSetting</a></div><div class="ttdoc">K-nearest neighbor search setting.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:11</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html_a9561ba6a82cf4bb8cb4d01e4fe801d5e"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">gtsam_points::KnnSetting::epsilon</a></div><div class="ttdeci">double epsilon</div><div class="ttdoc">Early termination threshold.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html_ac52005328821646660a98607c49d6c0e"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">gtsam_points::KnnSetting::fulfilled</a></div><div class="ttdeci">bool fulfilled(const Result &amp;result) const</div><div class="ttdoc">Check if the result satisfies the early termination condition.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:15</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html_ac59b36493407a3ac83129d26fcda48dd"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html#ac59b36493407a3ac83129d26fcda48dd">gtsam_points::KnnSetting::max_sq_dist</a></div><div class="ttdeci">double max_sq_dist</div><div class="ttdoc">Maximum squared distance to search.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1identity__transform_html"><div class="ttname"><a href="structgtsam__points_1_1identity__transform.html">gtsam_points::identity_transform</a></div><div class="ttdoc">Identity transformation function. (use std::identity instead in C++20)</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:25</div></div>
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+<div class="title">linear_damping_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/linear/HessianFactor.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/LinearContainerFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1LinearDampingFactor.html">   15</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a> : <span class="keyword">public</span> gtsam::LinearContainerFactor {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keyword">using</span> shared_ptr = boost::shared_ptr&lt;LinearDampingFactor&gt;;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a>(gtsam::Key key, <span class="keywordtype">int</span> dim, <span class="keywordtype">double</span> mu) : gtsam::LinearContainerFactor(gtsam::HessianFactor(key, mu * gtsam::Matrix::Identity(dim, dim), gtsam::Vector::Zero(dim), 0.0)) {}</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a>(gtsam::Key key, <span class="keyword">const</span> gtsam::Vector&amp; diag) : gtsam::LinearContainerFactor(gtsam::HessianFactor(key, diag.asDiagonal(), gtsam::Vector::Zero(diag.size()), 0.0)) {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a>() {}</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1LinearDampingFactor.html">LinearDampingFactor</a>()<span class="keyword"> override </span>{}</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">   29</a></span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> ARCHIVE&gt;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">void</span> serialize(ARCHIVE&amp; ar, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*version*/</span>) {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">namespace </span>bs = ::boost::serialization;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    ar&amp; boost::serialization::make_nvp(<span class="stringliteral">&quot;LinearContainerFactor&quot;</span>, boost::serialization::base_object&lt;gtsam::LinearContainerFactor&gt;(*<span class="keyword">this</span>));</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;};</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div>
+<div class="ttc" id="aclassgtsam__points_1_1LinearDampingFactor_html"><div class="ttname"><a href="classgtsam__points_1_1LinearDampingFactor.html">gtsam_points::LinearDampingFactor</a></div><div class="ttdoc">This factor adds a constant diagonal matrix to the Hessian matrix. It causes a damping effect (like l...</div><div class="ttdef"><b>Definition:</b> linear_damping_factor.hpp:15</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1LinearDampingFactor_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div class="ttname"><a href="classgtsam__points_1_1LinearDampingFactor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::LinearDampingFactor::access</a></div><div class="ttdeci">friend class boost::serialization::access</div><div class="ttdef"><b>Definition:</b> linear_damping_factor.hpp:29</div></div>
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/nearest_neighbor_search.hpp Source File</title>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></div><div class="ttdoc">Nearest neighbor search interface.</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:14</div></div>
+<div class="ttc" id="astructgtsam__points_1_1NearestNeighborSearch_html_a1a76b4c73edddc47916c5fba1d41e1e2"><div class="ttname"><a href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch::knn_search</a></div><div class="ttdeci">virtual size_t knn_search(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</div><div class="ttdoc">k-nearest neighbor search</div><div class="ttdef"><b>Definition:</b> nearest_neighbor_search.hpp:30</div></div>
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+<div class="title">nonlinear_factor_gpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;boost/utility/typed_in_place_factory.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
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+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
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+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html">gtsam_points::NonlinearFactorGPU</a></div><div class="ttdoc">Base class for GPU-based nonlinear factors.</div><div class="ttdef"><b>Definition:</b> nonlinear_factor_gpu.hpp:36</div></div>
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+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a07f4acd29db46b5103681d93f4b2d098"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a07f4acd29db46b5103681d93f4b2d098">gtsam_points::NonlinearFactorGPU::linearization_input_size</a></div><div class="ttdeci">virtual size_t linearization_input_size() const =0</div><div class="ttdoc">Size of data to be uploaded to the GPU before linearization.</div></div>
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+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a393284cf2cf46e4b7e1e73491a944c8f"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a393284cf2cf46e4b7e1e73491a944c8f">gtsam_points::NonlinearFactorGPU::set_evaluation_point</a></div><div class="ttdeci">virtual void set_evaluation_point(const gtsam::Values &amp;values, void *eval_input_cpu)=0</div><div class="ttdoc">Write cost evaluation input data to the upload buffer.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a45dc99d4cd01b53d9089feb48aafc9bf"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a45dc99d4cd01b53d9089feb48aafc9bf">gtsam_points::NonlinearFactorGPU::linearization_output_size</a></div><div class="ttdeci">virtual size_t linearization_output_size() const =0</div><div class="ttdoc">Size of data to be downloaded from the GPU after linearization.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a55b02925a49558fc23422183c3f50513"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a55b02925a49558fc23422183c3f50513">gtsam_points::NonlinearFactorGPU::evaluation_output_size</a></div><div class="ttdeci">virtual size_t evaluation_output_size() const =0</div><div class="ttdoc">Size of data to be downloaded from the GPU after cost evaluation.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a7ac5741117f80e9c580bc6d6a514c7f2"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a7ac5741117f80e9c580bc6d6a514c7f2">gtsam_points::NonlinearFactorGPU::sync</a></div><div class="ttdeci">virtual void sync()=0</div><div class="ttdoc">Perform CPU-GPU synchronization and wait for the task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a846e748369b9b4a9c82fa94ae1478973"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a846e748369b9b4a9c82fa94ae1478973">gtsam_points::NonlinearFactorGPU::issue_linearize</a></div><div class="ttdeci">virtual void issue_linearize(const void *lin_input_cpu, const void *lin_input_gpu, void *lin_output_gpu)=0</div><div class="ttdoc">Issue linearization task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_a9ac2cb94a6a72b044140a40bc60bd7d5"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#a9ac2cb94a6a72b044140a40bc60bd7d5">gtsam_points::NonlinearFactorGPU::issue_compute_error</a></div><div class="ttdeci">virtual void issue_compute_error(const void *lin_input_cpu, const void *eval_input_cpu, const void *lin_input_gpu, const void *eval_input_gpu, void *eval_output_gpu)=0</div><div class="ttdoc">Issue cost evaluation task.</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorGPU_html_ab73f26d5537b9b60330f28d0bde26147"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorGPU.html#ab73f26d5537b9b60330f28d0bde26147">gtsam_points::NonlinearFactorGPU::store_linearized</a></div><div class="ttdeci">virtual void store_linearized(const void *lin_output_cpu)=0</div><div class="ttdoc">Read linearization output data from the download buffer.</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_9ee62e8752b729f33015cc364b81e6d7.html">cuda</a></li>  </ul>
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+<div class="title">nonlinear_factor_set_gpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactorGraph.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/factors/nonlinear_factor_gpu.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/optimizers/linearization_hook.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
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+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::vector&lt;unsigned char, Eigen::aligned_allocator&lt;unsigned char&gt;&gt; linearization_input_buffer_cpu;</div>
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+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
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+<div class="ttc" id="aclassgtsam__points_1_1NonlinearFactorSetGPU_html_ad8e1a9419bdf90e4cfaa5bde83d9ff3b"><div class="ttname"><a href="classgtsam__points_1_1NonlinearFactorSetGPU.html#ad8e1a9419bdf90e4cfaa5bde83d9ff3b">gtsam_points::NonlinearFactorSetGPU::linearize</a></div><div class="ttdeci">void linearize(const gtsam::Values &amp;linearization_point) override</div><div class="ttdoc">Compute all GPU-based linearization tasks.</div></div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
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+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;std::shared_ptr&lt;NonlinearFactorSet&gt; create_nonlinear_factor_set_gpu();</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Vector4d, Alloc&lt;Eigen::Vector4d&gt;&gt;&amp; points,</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Matrix4d, Alloc&lt;Eigen::Matrix4d&gt;&gt;&amp; covs,</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">int</span> k_neighbors = 10,</div>
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+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordflow">return</span> estimate_normals(points.data(), covs.data(), points.size(), k_neighbors, num_threads);</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;std::vector&lt;Eigen::Vector4d&gt; estimate_normals(<span class="keyword">const</span> std::vector&lt;Eigen::Vector4d, Alloc&gt;&amp; points, <span class="keywordtype">int</span> k_neighbors = 10, <span class="keywordtype">int</span> num_threads = 1) {</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordflow">return</span> estimate_normals(points.data(), points.size(), k_neighbors, num_threads);</div>
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+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div class="title">numerical.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
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+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Func&gt;</div>
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+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> N = x.size();</div>
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+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++) {</div>
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+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> y0 = f(x - dx);</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">point_cloud.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
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+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
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+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html">   19</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;PointCloud&gt;;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const PointCloud&gt;;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>()</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  : <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>(0),</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a>(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a>(<span class="keyword">nullptr</span>) {}</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>() {}</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// Forbid copy</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; operator=(<a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> <span class="keyword">const</span>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">   43</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>; }</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">   45</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a>() <span class="keyword">const</span>;        </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">   46</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">has_points</a>() <span class="keyword">const</span>;       </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">   47</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">has_normals</a>() <span class="keyword">const</span>;      </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">   48</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">has_covs</a>() <span class="keyword">const</span>;         </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">   49</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">has_intensities</a>() <span class="keyword">const</span>;  </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">   51</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">check_times</a>() <span class="keyword">const</span>;        </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">   52</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">check_points</a>() <span class="keyword">const</span>;       </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">   53</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">check_normals</a>() <span class="keyword">const</span>;      </div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">   54</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">check_covs</a>() <span class="keyword">const</span>;         </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">   55</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">check_intensities</a>() <span class="keyword">const</span>;  </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">   57</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">has_times_gpu</a>() <span class="keyword">const</span>;        </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">   58</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">has_points_gpu</a>() <span class="keyword">const</span>;       </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">   59</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">has_normals_gpu</a>() <span class="keyword">const</span>;      </div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">   60</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">has_covs_gpu</a>() <span class="keyword">const</span>;         </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">   61</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">has_intensities_gpu</a>() <span class="keyword">const</span>;  </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">   63</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">check_times_gpu</a>() <span class="keyword">const</span>;        </div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">   64</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">check_points_gpu</a>() <span class="keyword">const</span>;       </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">   65</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">check_normals_gpu</a>() <span class="keyword">const</span>;      </div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">   66</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">check_covs_gpu</a>() <span class="keyword">const</span>;         </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">   67</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">check_intensities_gpu</a>() <span class="keyword">const</span>;  </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">   75</a></span>&#160;  <span class="keyword">const</span> T* <a class="code" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">aux_attribute</a>(<span class="keyword">const</span> std::string&amp; attrib)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> found = <a class="code" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a>.find(attrib);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span> (found == <a class="code" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a>.end()) {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;warning: attribute &quot;</span> &lt;&lt; attrib &lt;&lt; <span class="stringliteral">&quot; not found!!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">sizeof</span>(T) != found-&gt;second.first) {</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;warning: attribute element size mismatch!! attrib:&quot;</span> &lt;&lt; attrib &lt;&lt; <span class="stringliteral">&quot; size:&quot;</span> &lt;&lt; found-&gt;second.first &lt;&lt; <span class="stringliteral">&quot; requested:&quot;</span> &lt;&lt; <span class="keyword">sizeof</span>(T)</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(found-&gt;second.second);</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">   94</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">save</a>(<span class="keyword">const</span> std::string&amp; path) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">  100</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">save_compact</a>(<span class="keyword">const</span> std::string&amp; path) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">  103</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>;  </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">  105</a></span>&#160;  <span class="keywordtype">double</span>* <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>;             </div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">  106</a></span>&#160;  Eigen::Vector4d* <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>;   </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">  107</a></span>&#160;  Eigen::Vector4d* <a class="code" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>;  </div>
+<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">  108</a></span>&#160;  Eigen::Matrix4d* <a class="code" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a>;     </div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">  109</a></span>&#160;  <span class="keywordtype">double</span>* <a class="code" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a>;       </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">  112</a></span>&#160;  std::unordered_map&lt;std::string, std::pair&lt;size_t, void*&gt;&gt; <a class="code" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a>;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">  114</a></span>&#160;  <span class="keywordtype">float</span>* <a class="code" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a>;              </div>
+<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">  115</a></span>&#160;  Eigen::Vector3f* <a class="code" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a>;   </div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">  116</a></span>&#160;  Eigen::Vector3f* <a class="code" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a>;  </div>
+<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">  117</a></span>&#160;  Eigen::Matrix3f* <a class="code" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a>;     </div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">  118</a></span>&#160;  <span class="keywordtype">float</span>* <a class="code" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a>;        </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;};</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#ifndef DONT_DEFINE_FRAME_TRAITS</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">namespace </span>frame {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">  129</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1frame_1_1traits.html">traits</a>&lt;<a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&gt; {</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">int</span> size(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>(); }</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_times(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a>(); }</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_points(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">has_points</a>(); }</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_normals(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">has_normals</a>(); }</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_covs(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">has_covs</a>(); }</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">bool</span> has_intensities(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">has_intensities</a>(); }</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> time(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>[i]; }</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; point(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>[i]; }</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d&amp; normal(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>[i]; }</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d&amp; cov(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a>[i]; }</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">double</span> intensity(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a>[i]; }</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d* points_ptr(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame) { <span class="keywordflow">return</span> frame.<a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>; }</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;};</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}  <span class="comment">// namespace frame</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a023eec904e88df71f5dc34a8a2e6fdf1"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">gtsam_points::PointCloud::check_points_gpu</a></div><div class="ttdeci">bool check_points_gpu() const</div><div class="ttdoc">Warn if the point cloud doesn't have points on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a05a9841fbd1b5f9af0a076db3453fd38"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">gtsam_points::PointCloud::save</a></div><div class="ttdeci">void save(const std::string &amp;path) const</div><div class="ttdoc">Save the point cloud data.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a1327c32be909e1163ffe0380743d37d5"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">gtsam_points::PointCloud::save_compact</a></div><div class="ttdeci">void save_compact(const std::string &amp;path) const</div><div class="ttdoc">Save the point cloud data with a compact representation without unnecessary fields (e....</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a1d898d1fb7984663e6be72e8d5d63496"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud::normals</a></div><div class="ttdeci">Eigen::Vector4d * normals</div><div class="ttdoc">Point normals (nx, ny, nz, 0)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:107</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a2693d21aca4f23ae831caa0e68975fb7"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">gtsam_points::PointCloud::check_times</a></div><div class="ttdeci">bool check_times() const</div><div class="ttdoc">Warn if the point cloud doesn't have times.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a28e64a5eb1f1653077fd30296222add2"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">gtsam_points::PointCloud::check_covs</a></div><div class="ttdeci">bool check_covs() const</div><div class="ttdoc">Warn if the point cloud doesn't have covs.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a296a3ab6ec862c01f9ffb11c47af3473"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">gtsam_points::PointCloud::has_points</a></div><div class="ttdeci">bool has_points() const</div><div class="ttdoc">Check if the point cloud has points.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a2c004e0d303c85d7e86fe09e5e3d57a7"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">gtsam_points::PointCloud::check_normals_gpu</a></div><div class="ttdeci">bool check_normals_gpu() const</div><div class="ttdoc">Warn if the point cloud doesn't have normals on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a35211c4f2df7cd7de8313a7eacd677f2"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">gtsam_points::PointCloud::has_covs_gpu</a></div><div class="ttdeci">bool has_covs_gpu() const</div><div class="ttdoc">Check if the point cloud has point covariances on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a555672689c42e963a2ec87279711f9fa"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">gtsam_points::PointCloud::num_points</a></div><div class="ttdeci">size_t num_points</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:103</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a5895dd8aa279b30a1b7183ff9108553f"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">gtsam_points::PointCloud::times</a></div><div class="ttdeci">double * times</div><div class="ttdoc">Per-point timestamp w.r.t. the first point (should be sorted)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:105</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a594f65fe7ddd7a9dcdf2154b533fc1ce"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">gtsam_points::PointCloud::intensities_gpu</a></div><div class="ttdeci">float * intensities_gpu</div><div class="ttdoc">Point intensities on GPU.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:118</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a5eeb499908a9adc07d7cb6f183f10db6"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">gtsam_points::PointCloud::covs_gpu</a></div><div class="ttdeci">Eigen::Matrix3f * covs_gpu</div><div class="ttdoc">Point covariances on GPU.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:117</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a5f3a71e1f783dd0bd2159396903f6167"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">gtsam_points::PointCloud::has_normals</a></div><div class="ttdeci">bool has_normals() const</div><div class="ttdoc">Check if the point cloud has point normals.</div></div>
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+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a65928cfdccf66c254e13a227432d7a33"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">gtsam_points::PointCloud::points_gpu</a></div><div class="ttdeci">Eigen::Vector3f * points_gpu</div><div class="ttdoc">Point coordinates on GPU.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:115</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a7138612f8d2845788625e5b2edc5804c"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">gtsam_points::PointCloud::check_intensities_gpu</a></div><div class="ttdeci">bool check_intensities_gpu() const</div><div class="ttdoc">Warn if the point cloud doesn't have intensities on GPU.</div></div>
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+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a7d2ac0ed4c86c7db74dea61e89f1fc16"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">gtsam_points::PointCloud::aux_attribute</a></div><div class="ttdeci">const T * aux_attribute(const std::string &amp;attrib) const</div><div class="ttdoc">Get the pointer to an aux attribute.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:75</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a82495f31a722f22e84f67cb87afac435"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">gtsam_points::PointCloud::has_intensities</a></div><div class="ttdeci">bool has_intensities() const</div><div class="ttdoc">Check if the point cloud has point intensities.</div></div>
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+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a9204af535708df67d32ecbcec2c635c4"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud::points</a></div><div class="ttdeci">Eigen::Vector4d * points</div><div class="ttdoc">Point coordinates (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:106</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a925809e7fb79286c18c6d062c7e2267a"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">gtsam_points::PointCloud::has_times_gpu</a></div><div class="ttdeci">bool has_times_gpu() const</div><div class="ttdoc">Check if the point cloud has per-point timestamps on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a930a0c0f487aa6a8a6d279dbaaebe874"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">gtsam_points::PointCloud::has_times</a></div><div class="ttdeci">bool has_times() const</div><div class="ttdoc">Check if the point cloud has per-point timestamps.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a981b17436a9ac8f339ffcb79e8447cda"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">gtsam_points::PointCloud::normals_gpu</a></div><div class="ttdeci">Eigen::Vector3f * normals_gpu</div><div class="ttdoc">Point normals on GPU.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:116</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a9c03e5dfcc58dc0a7ff153fd4fab953c"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">gtsam_points::PointCloud::check_normals</a></div><div class="ttdeci">bool check_normals() const</div><div class="ttdoc">Warn if the point cloud doesn't have normals.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_aa36dab9a1cdf7048d6ad115d2c28df99"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">gtsam_points::PointCloud::check_covs_gpu</a></div><div class="ttdeci">bool check_covs_gpu() const</div><div class="ttdoc">Warn if the point cloud doesn't have covs on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_aa3a96d9017d1c3a178f61d933bf4e19e"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">gtsam_points::PointCloud::check_points</a></div><div class="ttdeci">bool check_points() const</div><div class="ttdoc">Warn if the point cloud doesn't have points.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_ace3aad88d850dc7e601386f31c95ae9b"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">gtsam_points::PointCloud::check_times_gpu</a></div><div class="ttdeci">bool check_times_gpu() const</div><div class="ttdoc">Warn if the point cloud doesn't have times on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_ade95b02ef5de1841941c6cf3fa98fe21"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">gtsam_points::PointCloud::has_points_gpu</a></div><div class="ttdeci">bool has_points_gpu() const</div><div class="ttdoc">Check if the point cloud has points on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_ae30528b17ae167714d3086704a4b84cc"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">gtsam_points::PointCloud::times_gpu</a></div><div class="ttdeci">float * times_gpu</div><div class="ttdoc">Per-point timestamp on GPU.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:114</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_ae36606cd30118f9066a8913497a1294f"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">gtsam_points::PointCloud::has_normals_gpu</a></div><div class="ttdeci">bool has_normals_gpu() const</div><div class="ttdoc">Check if the point cloud has point normals on GPU.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_af423404aab0ab0dd86757661f03afa89"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">gtsam_points::PointCloud::check_intensities</a></div><div class="ttdeci">bool check_intensities() const</div><div class="ttdoc">Warn if the point cloud doesn't have intensities.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_af53c5f109af6d7f112e1d42489322fbb"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">gtsam_points::PointCloud::aux_attributes</a></div><div class="ttdeci">std::unordered_map&lt; std::string, std::pair&lt; size_t, void * &gt; &gt; aux_attributes</div><div class="ttdoc">Aux attributes &lt;attribute_name, pair&lt;element_size, data_ptr&gt;&gt;</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:112</div></div>
+<div class="ttc" id="astructgtsam__points_1_1frame_1_1traits_html"><div class="ttname"><a href="structgtsam__points_1_1frame_1_1traits.html">gtsam_points::frame::traits</a></div><div class="ttdef"><b>Definition:</b> frame_traits.hpp:17</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+<div class="title">point_cloud_cpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloudCPU.html">   19</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;PointCloudCPU&gt;;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const PointCloudCPU&gt;;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a>();</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  ~<a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a>();</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D&gt;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">   33</a></span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">PointCloudCPU</a>(<span class="keyword">const</span> Eigen::Matrix&lt;T, D, 1&gt;* <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Alloc&gt;</div>
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+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">// Forbid shallow copy</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a>&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a>&amp; operator=(<a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> <span class="keyword">const</span>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
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+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
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+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">void</span> add_times(<span class="keyword">const</span> std::vector&lt;T&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>) {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    add_times(<a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>.data(), <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>.size());</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D&gt;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> add_points(<span class="keyword">const</span> Eigen::Matrix&lt;T, D, 1&gt;* <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> add_points(<span class="keyword">const</span> std::vector&lt;Eigen::Matrix&lt;T, D, 1&gt;, Alloc&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>) {</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    add_points(<a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>.data(), <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>.size());</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
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+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">void</span> add_normals(<span class="keyword">const</span> Eigen::Matrix&lt;T, D, 1&gt;* <a class="code" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> add_normals(<span class="keyword">const</span> std::vector&lt;Eigen::Matrix&lt;T, D, 1&gt;, Alloc&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>) {</div>
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+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Alloc&gt;</div>
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+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">void</span> add_intensities(<span class="keyword">const</span> T* <a class="code" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">void</span> add_intensities(<span class="keyword">const</span> std::vector&lt;T&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a>) {</div>
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+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">void</span> add_aux_attribute(<span class="keyword">const</span> std::string&amp; attrib_name, <span class="keyword">const</span> T* values, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>) {</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">auto</span> attributes = std::make_shared&lt;std::vector&lt;T&gt;&gt;(values, values + <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    aux_attributes_storage[attrib_name] = attributes;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a>[attrib_name] = std::make_pair(<span class="keyword">sizeof</span>(T), attributes-&gt;data());</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">void</span> add_aux_attribute(<span class="keyword">const</span> std::string&amp; attrib_name, <span class="keyword">const</span> std::vector&lt;T, Alloc&gt;&amp; values) {</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    add_aux_attribute(attrib_name, values.data(), values.size());</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">static</span> PointCloudCPU::Ptr load(<span class="keyword">const</span> std::string&amp; path);</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  std::vector&lt;double&gt; times_storage;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; points_storage;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  std::vector&lt;Eigen::Vector4d&gt; normals_storage;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  std::vector&lt;Eigen::Matrix4d&gt; covs_storage;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  std::vector&lt;double&gt; intensities_storage;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  std::unordered_map&lt;std::string, std::shared_ptr&lt;void&gt;&gt; aux_attributes_storage;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;};</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;PointCloudCPU::Ptr sample(<span class="keyword">const</span> PointCloud::ConstPtr&amp; points, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices);</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;PointCloudCPU::Ptr random_sampling(<span class="keyword">const</span> PointCloud::ConstPtr&amp; points, <span class="keyword">const</span> <span class="keywordtype">double</span> sampling_rate, std::mt19937&amp; mt);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
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+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  indices.reserve(points-&gt;size());</div>
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+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  std::vector&lt;PointCloud::ConstPtr&gt; frames_(frames.begin(), frames.end());</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">return</span> merge_frames(poses, frames_, downsample_resolution);</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;}</div>
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+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keyword">const</span> std::vector&lt;PointCloud::ConstPtr&gt;&amp; frames,</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordtype">double</span> downsample_resolution,</div>
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+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  std::vector&lt;PointCloud::ConstPtr&gt; frames_(frames.begin(), frames.end());</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keywordflow">return</span> merge_frames_gpu(poses, frames_, downsample_resolution, stream);</div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;}</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;PointCloud::Ptr</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;merge_frames_auto(<span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; poses, <span class="keyword">const</span> std::vector&lt;PointCloud::ConstPtr&gt;&amp; frames, <span class="keywordtype">double</span> downsample_resolution);</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>CloudPtr&gt;</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;std::enable_if_t&lt;!std::is_same_v&lt;PointCloudPtr, PointCloud::ConstPtr&gt;, PointCloud::Ptr&gt;</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;merge_frames_auto(<span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d&gt;&amp; poses, <span class="keyword">const</span> std::vector&lt;PointCloud::ConstPtr&gt;&amp; frames, <span class="keywordtype">double</span> downsample_resolution) {</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  std::vector&lt;PointCloud::ConstPtr&gt; frames_(frames.begin(), frames.end());</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordflow">return</span> merge_frames_auto(poses, frames_, downsample_resolution);</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;}</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudCPU_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></div><div class="ttdoc">Point cloud frame on CPU memory.</div><div class="ttdef"><b>Definition:</b> point_cloud_cpu.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudCPU_html_a56027ef4dd5e5ce5fe3b4eb6684d6d7d"><div class="ttname"><a href="structgtsam__points_1_1PointCloudCPU.html#a56027ef4dd5e5ce5fe3b4eb6684d6d7d">gtsam_points::PointCloudCPU::clone</a></div><div class="ttdeci">static PointCloudCPU::Ptr clone(const PointCloud &amp;points)</div><div class="ttdoc">Deep copy.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudCPU_html_ac8c3a044fc9aabaec5bda90966776206"><div class="ttname"><a href="structgtsam__points_1_1PointCloudCPU.html#ac8c3a044fc9aabaec5bda90966776206">gtsam_points::PointCloudCPU::PointCloudCPU</a></div><div class="ttdeci">PointCloudCPU(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud_cpu.hpp:40</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudCPU_html_af1e178d890f652b4792f8ca307f9b82f"><div class="ttname"><a href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">gtsam_points::PointCloudCPU::PointCloudCPU</a></div><div class="ttdeci">PointCloudCPU(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points)</div><div class="ttdoc">Constructor.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a1d898d1fb7984663e6be72e8d5d63496"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud::normals</a></div><div class="ttdeci">Eigen::Vector4d * normals</div><div class="ttdoc">Point normals (nx, ny, nz, 0)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:107</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a555672689c42e963a2ec87279711f9fa"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">gtsam_points::PointCloud::num_points</a></div><div class="ttdeci">size_t num_points</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:103</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a5895dd8aa279b30a1b7183ff9108553f"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">gtsam_points::PointCloud::times</a></div><div class="ttdeci">double * times</div><div class="ttdoc">Per-point timestamp w.r.t. the first point (should be sorted)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:105</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a62abe6394c4d482ee3bd32d02e699253"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">gtsam_points::PointCloud::covs</a></div><div class="ttdeci">Eigen::Matrix4d * covs</div><div class="ttdoc">Point covariances cov(3, 3) = 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:108</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a79fa5fb881a7c1d9b7ff9c8efe421366"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">gtsam_points::PointCloud::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:43</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a8fdc9c000e50ea2efc0d4b38a7121d6c"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">gtsam_points::PointCloud::intensities</a></div><div class="ttdeci">double * intensities</div><div class="ttdoc">Point intensities.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:109</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a9204af535708df67d32ecbcec2c635c4"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud::points</a></div><div class="ttdeci">Eigen::Vector4d * points</div><div class="ttdoc">Point coordinates (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:106</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_af53c5f109af6d7f112e1d42489322fbb"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">gtsam_points::PointCloud::aux_attributes</a></div><div class="ttdeci">std::unordered_map&lt; std::string, std::pair&lt; size_t, void * &gt; &gt; aux_attributes</div><div class="ttdoc">Aux attributes &lt;attribute_name, pair&lt;element_size, data_ptr&gt;&gt;</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:112</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_0713d2aea8c287d4dc6b670e8d27ff9c.html">types</a></li>  </ul>
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+<div class="title">point_cloud_gpu.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud.hpp&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/point_cloud_cpu.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">// forward declaration</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">struct </span>CUstream_st;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1PointCloudGPU.html">   20</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a> : <span class="keyword">public</span> <a class="code" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">using</span> Ptr = std::shared_ptr&lt;PointCloudGPU&gt;;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">using</span> ConstPtr = std::shared_ptr&lt;const PointCloudGPU&gt;;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>();</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  ~<a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>();</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D&gt;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>(<span class="keyword">const</span> Eigen::Matrix&lt;T, D, 1&gt;* <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Alloc&gt;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>(<span class="keyword">const</span> std::vector&lt;Eigen::Matrix&lt;T, D, 1&gt;, Alloc&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>) : <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>(<a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>.data(), <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>.size()) {}</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="comment">// Forbid shallow copy</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a>&amp; operator=(<a class="code" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a> <span class="keyword">const</span>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// Deep copy</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">static</span> PointCloudGPU::Ptr clone(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; frame, CUstream_st* stream = 0);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="comment">// add_*_gpu() only adds attributes to GPU storage</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">void</span> add_times(<span class="keyword">const</span> T* <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>, <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>, CUstream_st* stream = 0) {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    PointCloudCPU::add_times&lt;T&gt;(<a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>, <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>);</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    add_times_gpu(<a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>, <a class="code" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>, stream);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  }</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">void</span> add_times(<span class="keyword">const</span> std::vector&lt;T&gt;&amp; <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>, CUstream_st* stream = 0) {</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    add_times(<a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>.data(), <a class="code" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a>.size(), stream);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
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+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
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+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;std::vector&lt;Eigen::Vector3f&gt; download_points_gpu(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>&amp; frame, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;std::vector&lt;Eigen::Matrix3f&gt; download_covs_gpu(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>&amp; frame, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;std::vector&lt;Eigen::Vector3f&gt; download_normals_gpu(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>&amp; frame, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;std::vector&lt;float&gt; download_intensities_gpu(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>&amp; frame, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;std::vector&lt;float&gt; download_times_gpu(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>&amp; frame, CUstream_st* stream = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudCPU_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></div><div class="ttdoc">Point cloud frame on CPU memory.</div><div class="ttdef"><b>Definition:</b> point_cloud_cpu.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloudGPU_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></div><div class="ttdoc">Point cloud frame on GPU memory.</div><div class="ttdef"><b>Definition:</b> point_cloud_gpu.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a1d898d1fb7984663e6be72e8d5d63496"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">gtsam_points::PointCloud::normals</a></div><div class="ttdeci">Eigen::Vector4d * normals</div><div class="ttdoc">Point normals (nx, ny, nz, 0)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:107</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a555672689c42e963a2ec87279711f9fa"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">gtsam_points::PointCloud::num_points</a></div><div class="ttdeci">size_t num_points</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:103</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a5895dd8aa279b30a1b7183ff9108553f"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">gtsam_points::PointCloud::times</a></div><div class="ttdeci">double * times</div><div class="ttdoc">Per-point timestamp w.r.t. the first point (should be sorted)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:105</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a62abe6394c4d482ee3bd32d02e699253"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">gtsam_points::PointCloud::covs</a></div><div class="ttdeci">Eigen::Matrix4d * covs</div><div class="ttdoc">Point covariances cov(3, 3) = 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:108</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a8fdc9c000e50ea2efc0d4b38a7121d6c"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">gtsam_points::PointCloud::intensities</a></div><div class="ttdeci">double * intensities</div><div class="ttdoc">Point intensities.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:109</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html_a9204af535708df67d32ecbcec2c635c4"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">gtsam_points::PointCloud::points</a></div><div class="ttdeci">Eigen::Vector4d * points</div><div class="ttdoc">Point coordinates (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:106</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/pose3__calib__factor_8hpp_source.html b/doc_cpp/pose3__calib__factor_8hpp_source.html
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/pose3_calib_factor.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">pose3_calib_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1Pose3CalibFactor.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a> : <span class="keyword">public</span> gtsam::NoiseModelFactor3&lt;gtsam::Pose3, gtsam::Pose3, gtsam::Pose3&gt; {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a>(gtsam::Key xi, gtsam::Key xj, gtsam::Key Tij, <span class="keyword">const</span> gtsam::SharedNoiseModel&amp; noise_model)</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  : gtsam::NoiseModelFactor3&lt;gtsam::Pose3, gtsam::Pose3, gtsam::Pose3&gt;(noise_model, xi, xj, Tij) {}</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1Pose3CalibFactor.html">Pose3CalibFactor</a>()<span class="keyword"> override </span>{}</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">virtual</span> gtsam::Vector evaluateError(</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; xi,</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; xj,</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; Tij,</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_xi = boost::none,</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_xj = boost::none,</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_Tij = boost::none)<span class="keyword"> const override </span>{</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">//</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">if</span> (H_xi == boost::none &amp;&amp; H_xj == boost::none &amp;&amp; H_Tij == boost::none) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keyword">const</span> gtsam::Pose3 delta = xi.between(xj);      <span class="comment">// (xi^-1 * xj)</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      <span class="keyword">const</span> gtsam::Pose3 error = delta.between(Tij);  <span class="comment">// (xj_inv * xi) * Tij;</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keywordflow">return</span> gtsam::Pose3::Logmap(error);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    gtsam::Matrix6 H_delta_i;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    gtsam::Matrix6 H_delta_j;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    gtsam::Pose3 delta = xi.between(xj, H_delta_i, H_delta_j);</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    gtsam::Matrix6 H_error_delta;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    gtsam::Matrix6 H_error_Tij;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    gtsam::Pose3 error = delta.between(Tij, H_error_delta, H_error_Tij);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    gtsam::Matrix6 H_log_error;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    gtsam::Vector6 log = gtsam::Pose3::Logmap(error, H_log_error);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    (*H_xi) = H_log_error * H_error_delta * H_delta_i;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    (*H_xj) = H_log_error * H_error_delta * H_delta_j;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    (*H_Tij) = H_log_error * H_error_Tij;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> log;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;};</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1Pose3CalibFactor_html"><div class="ttname"><a href="classgtsam__points_1_1Pose3CalibFactor.html">gtsam_points::Pose3CalibFactor</a></div><div class="ttdoc">Factor(xi, xj, Tij) that evaluates (xj_inv * xi) * Tij.</div><div class="ttdef"><b>Definition:</b> pose3_calib_factor.hpp:14</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">pose3_interpolation_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1Pose3InterpolationFactor.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a> : <span class="keyword">public</span> gtsam::NoiseModelFactor3&lt;gtsam::Pose3, gtsam::Pose3, gtsam::Pose3&gt; {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a>(gtsam::Key xi, gtsam::Key xj, gtsam::Key xk, <span class="keyword">const</span> <span class="keywordtype">double</span> t, <span class="keyword">const</span> gtsam::SharedNoiseModel&amp; noise_model)</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  : gtsam::NoiseModelFactor3&lt;gtsam::Pose3, gtsam::Pose3, gtsam::Pose3&gt;(noise_model, xi, xj, xk), t(t) {}</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1Pose3InterpolationFactor.html">Pose3InterpolationFactor</a>()<span class="keyword"> override </span>{}</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">virtual</span> gtsam::Vector evaluateError(</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; xi,</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; xj,</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">const</span> gtsam::Pose3&amp; xk,</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_xi = boost::none,</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_xj = boost::none,</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    boost::optional&lt;gtsam::Matrix&amp;&gt; H_xk = boost::none)<span class="keyword"> const override </span>{</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">//</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; Ri = xi.rotation();</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; Rj = xj.rotation();</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; Rk = xk.rotation();</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; ti = xi.translation();</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; tj = xj.translation();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; tk = xk.translation();</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">if</span>(!H_xi) {</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">const</span> gtsam::Rot3 Rint = gtsam::interpolate(Ri, Rj, t);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keyword">const</span> gtsam::Rot3 Re = Rk.between(Rint);</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">const</span> gtsam::Vector3 re = gtsam::Rot3::Logmap(Re);</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">const</span> gtsam::Vector3 te = tk - (1.0 - t) * ti - t * tj;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keywordflow">return</span> (gtsam::Vector6() &lt;&lt; re, te).finished();</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    }</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    gtsam::Matrix33 H_Rint_Ri, H_Rint_Rj;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> gtsam::Rot3 Rint = gtsam::interpolate(Ri, Rj, t, H_Rint_Ri, H_Rint_Rj);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">// H_Re_Rint == Identity</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    gtsam::Matrix33 H_Re_Rk;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">const</span> gtsam::Rot3 Re = Rk.between(Rint, H_Re_Rk);</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    gtsam::Matrix33 H_re_Re;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">const</span> gtsam::Vector3 re = gtsam::Rot3::Logmap(Re, H_re_Re);</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> gtsam::Vector3 te = tk - (1.0 - t) * ti - t * tj;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    (*H_xi) = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    (*H_xj) = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    (*H_xk) = gtsam::Matrix6::Zero();</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">// const gtsam::Matrix3 H_re_Rint = H_re_Re * H_Re_Rint;</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; H_re_Rint = H_re_Re;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    H_xi-&gt;block&lt;3, 3&gt;(0, 0) = H_re_Rint * H_Rint_Ri;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    H_xj-&gt;block&lt;3, 3&gt;(0, 0) = H_re_Rint * H_Rint_Rj;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    H_xk-&gt;block&lt;3, 3&gt;(0, 0) = H_re_Re * H_Re_Rk;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    H_xi-&gt;block&lt;3, 3&gt;(3, 3) = - (1.0 - t) * Ri.matrix();</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    H_xj-&gt;block&lt;3, 3&gt;(3, 3) = - t * Rj.matrix();</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    H_xk-&gt;block&lt;3, 3&gt;(3, 3) = Rk.matrix();</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> (gtsam::Vector6() &lt;&lt; re, te).finished();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">static</span> gtsam::Pose3 initial_guess(<span class="keyword">const</span> gtsam::Pose3&amp; xi, <span class="keyword">const</span> gtsam::Pose3&amp; xj, <span class="keyword">const</span> <span class="keywordtype">double</span> t) {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">const</span> gtsam::Rot3 Rint = gtsam::interpolate(xi.rotation(), xj.rotation(), t);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">const</span> gtsam::Vector3 tint = (1.0 - t) * xi.translation() + t * xj.translation();</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">return</span> gtsam::Pose3(Rint, tint);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> t;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;};</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1Pose3InterpolationFactor_html"><div class="ttname"><a href="classgtsam__points_1_1Pose3InterpolationFactor.html">gtsam_points::Pose3InterpolationFactor</a></div><div class="ttdoc">Factor(xi, xj, xk) s.t. xk = Slerp(xi, xj, t)</div><div class="ttdef"><b>Definition:</b> pose3_interpolation_factor.hpp:14</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
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+<div class="title">read_points.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;std::vector&lt;float&gt; read_times(<span class="keyword">const</span> std::string&amp; path) {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  std::ifstream ifs(path, std::ios::binary | std::ios::ate);</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keywordflow">if</span> (!ifs) {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: failed to open &quot;</span> &lt;&lt; path &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordflow">return</span> std::vector&lt;float&gt;();</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  }</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  std::streamsize points_bytes = ifs.tellg();</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordtype">size_t</span> num_data = points_bytes / <span class="keyword">sizeof</span>(float);</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  ifs.seekg(0, std::ios::beg);</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  std::vector&lt;float&gt; times(num_data);</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  ifs.read(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(times.data()), <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * num_data);</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keywordflow">return</span> times;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;std::vector&lt;Eigen::Vector3f&gt; read_points(<span class="keyword">const</span> std::string&amp; path) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  std::ifstream ifs(path, std::ios::binary | std::ios::ate);</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordflow">if</span> (!ifs) {</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    std::cerr &lt;&lt; <span class="stringliteral">&quot;error: failed to open &quot;</span> &lt;&lt; path &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">return</span> std::vector&lt;Eigen::Vector3f&gt;();</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  std::streamsize points_bytes = ifs.tellg();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">size_t</span> num_points = points_bytes / (<span class="keyword">sizeof</span>(Eigen::Vector3f));</div>
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+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> std::vector&lt;Eigen::Vector4f&gt;();</div>
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+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  ifs.seekg(0, std::ios::beg);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  std::vector&lt;Eigen::Vector4f&gt; points(num_points);</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  ifs.read(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(points.data()), <span class="keyword">sizeof</span>(Eigen::Vector4f) * num_points);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">return</span> points;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/rotate__vector3__factor_8hpp_source.html b/doc_cpp/rotate__vector3__factor_8hpp_source.html
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/rotate_vector3_factor.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+        name="MSearchResults" id="MSearchResults">
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+
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_bf4be408ace355695f3bfe124a31ff7d.html">factors</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">rotate_vector3_factor.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;gtsam/geometry/Pose3.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/NonlinearFactor.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;gtsam/nonlinear/ExpressionFactor.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1RotateVector3Factor.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a> : <span class="keyword">public</span> gtsam::NoiseModelFactor2&lt;gtsam::Pose3, gtsam::Vector3&gt; {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">using</span> Base = gtsam::NoiseModelFactor2&lt;gtsam::Pose3, gtsam::Vector3&gt;;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a>() {}</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a>(gtsam::Key x, gtsam::Key v, <span class="keyword">const</span> gtsam::Vector3&amp; local_v, <span class="keyword">const</span> gtsam::SharedNoiseModel&amp; noise_model) : Base(noise_model, x, v), local_v(local_v) {}</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classgtsam__points_1_1RotateVector3Factor.html">RotateVector3Factor</a>() {}</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">virtual</span> gtsam::Vector evaluateError(<span class="keyword">const</span> gtsam::Pose3&amp; x, <span class="keyword">const</span> gtsam::Vector3&amp; v, boost::optional&lt;gtsam::Matrix&amp;&gt; H_x, boost::optional&lt;gtsam::Matrix&amp;&gt; H_v)<span class="keyword"> const override </span>{</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    gtsam::Matrix36 H_x1;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    gtsam::Matrix33 H_x2;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    gtsam::Vector3 v_ = x.rotation(H_x1).rotate(local_v, H_x2);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    gtsam::Vector3 error = v_ - v;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordflow">if</span> (H_x) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      (*H_x) = H_x2 * H_x1;</div>
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+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">if</span> (H_v) {</div>
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+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    }</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">return</span> error;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  }</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">   42</a></span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> ARCHIVE&gt;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span> serialize(ARCHIVE&amp; ar, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*version*/</span>) {</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    ar&amp; boost::serialization::make_nvp(<span class="stringliteral">&quot;NoiseModelFactor2&quot;</span>, boost::serialization::base_object&lt;Base&gt;(*<span class="keyword">this</span>));</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    ar&amp; BOOST_SERIALIZATION_NVP(local_v);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  gtsam::Vector3 local_v;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;};</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}  <span class="comment">// namespace gtsam</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1RotateVector3Factor_html"><div class="ttname"><a href="classgtsam__points_1_1RotateVector3Factor.html">gtsam_points::RotateVector3Factor</a></div><div class="ttdef"><b>Definition:</b> rotate_vector3_factor.hpp:12</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1RotateVector3Factor_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div class="ttname"><a href="classgtsam__points_1_1RotateVector3Factor.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam_points::RotateVector3Factor::access</a></div><div class="ttdeci">friend class boost::serialization::access</div><div class="ttdef"><b>Definition:</b> rotate_vector3_factor.hpp:42</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/doc_cpp/runnning__statistics_8hpp_source.html b/doc_cpp/runnning__statistics_8hpp_source.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>gtsam_points: /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/runnning_statistics.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">runnning_statistics.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2024  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html">   15</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a> {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a>() : num_data(0), sum(0), sum_sq(0), min_(std::numeric_limits&lt;double&gt;::max()), max_(std::numeric_limits&lt;double&gt;::lowest()) {}</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">   20</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">add</a>(<span class="keyword">const</span> T&amp; x) {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    num_data++;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    sum += x;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    sum_sq += x * x;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordflow">if</span> constexpr (std::is_floating_point_v&lt;T&gt;) {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      min_ = std::min(min_, x);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      max_ = std::max(max_, x);</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      min_ = min_.cwiseMin(x);</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      max_ = max_.cwiseMax(x);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    }</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  }</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">   35</a></span>&#160;  <a class="code" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a>&amp; <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">operator+=</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a>&amp; rhs) {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    num_data += rhs.num_data;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    sum += rhs.sum;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    sum_sq += rhs.sum_sq;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">if</span> constexpr (std::is_floating_point_v&lt;T&gt;) {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      min_ = std::min(min_, rhs.min_);</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      max_ = std::max(max_, rhs.max_);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      min_ = min_.cwiseMin(rhs.min_);</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      max_ = max_.cwiseMax(rhs.max_);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    }</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  }</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">   52</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> num_data; }</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">   55</a></span>&#160;  T <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sum / num_data; }</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">   58</a></span>&#160;  T <a class="code" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">var</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (sum_sq - sum * <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a>()) / num_data; }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">   61</a></span>&#160;  T <a class="code" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">std</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">if</span> constexpr (std::is_floating_point_v&lt;T&gt;) {</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordflow">return</span> std::sqrt(<a class="code" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">var</a>());</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">var</a>().sqrt();</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">   70</a></span>&#160;  <span class="keyword">const</span> T&amp; <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">min</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> min_; }</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">   73</a></span>&#160;  <span class="keyword">const</span> T&amp; <a class="code" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">max</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> max_; }</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">size_t</span> num_data;  </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  T sum;            </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  T sum_sq;         </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  T min_;           </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  T max_;           </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">namespace </span>std {</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;std::ostream&amp; operator&lt;&lt;(std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt;T&gt;</a>&amp; stats) {</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> constexpr (std::is_floating_point_v&lt;T&gt;) {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;num_data=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">size</a>() &lt;&lt; <span class="stringliteral">&quot; mean=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a>() &lt;&lt; <span class="stringliteral">&quot; std=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">std</a>() &lt;&lt; <span class="stringliteral">&quot; min=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">min</a>() &lt;&lt; <span class="stringliteral">&quot; max=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">max</a>();</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    os &lt;&lt; <span class="stringliteral">&quot;num_data=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">size</a>() &lt;&lt; <span class="stringliteral">&quot; mean=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a>().transpose() &lt;&lt; <span class="stringliteral">&quot; std=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">std</a>().transpose()</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;       &lt;&lt; <span class="stringliteral">&quot; min=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">min</a>().transpose() &lt;&lt; <span class="stringliteral">&quot; max=&quot;</span> &lt;&lt; stats.<a class="code" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">max</a>().transpose();</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">return</span> os;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}  <span class="comment">// namespace std</span></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics</a></div><div class="ttdoc">Running statistics calculator.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:15</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a08c56d1aa520858a079fb8be7d5aa08a"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">gtsam_points::RunningStatistics::max</a></div><div class="ttdeci">const T &amp; max() const</div><div class="ttdoc">Maximum value.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:73</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a1649b673f6b97b25268b18dc7f271c9d"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">gtsam_points::RunningStatistics::operator+=</a></div><div class="ttdeci">RunningStatistics &amp; operator+=(const RunningStatistics &amp;rhs)</div><div class="ttdoc">Join two statistics.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a2436430421d9071715aa6a4dd98cb515"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">gtsam_points::RunningStatistics::min</a></div><div class="ttdeci">const T &amp; min() const</div><div class="ttdoc">Minimum value.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:70</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a7c5becb1d45aa35df0ddf0e9a19f5110"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">gtsam_points::RunningStatistics::mean</a></div><div class="ttdeci">T mean() const</div><div class="ttdoc">Mean.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:55</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a975d145c227e23e55bb36041c864e113"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">gtsam_points::RunningStatistics::add</a></div><div class="ttdeci">void add(const T &amp;x)</div><div class="ttdoc">Add a data point.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:20</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_a9ca777f83d84df098df2996f50361fa4"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">gtsam_points::RunningStatistics::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of data points.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:52</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_aacbbb8706c85404b88d7700abe2c524e"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">gtsam_points::RunningStatistics::var</a></div><div class="ttdeci">T var() const</div><div class="ttdoc">Variance.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:58</div></div>
+<div class="ttc" id="astructgtsam__points_1_1RunningStatistics_html_adaaf0dfff9b5df9483b23ad10a8f287f"><div class="ttname"><a href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">gtsam_points::RunningStatistics::std</a></div><div class="ttdeci">T std() const</div><div class="ttdoc">Standard deviation.</div><div class="ttdef"><b>Definition:</b> runnning_statistics.hpp:61</div></div>
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+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/doc_cpp/search/search.js b/doc_cpp/search/search.js
new file mode 100644
index 00000000..fb226f73
--- /dev/null
+++ b/doc_cpp/search/search.js
@@ -0,0 +1,816 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        window.frames.MSearchResults.postMessage("take_focus", "*");
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension;
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches' + this.extension;
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline-block';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_e501582561ea4e20bf5a0c3c532ef56a.html">ann</a></li>  </ul>
+</div>
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+  <div class="headertitle">
+<div class="title">small_kdtree.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// KdTree code derived from small_gicp.</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// While the following KdTree code is written from scratch, it is heavily inspired by the nanoflann library.</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// Thus, the following original license of nanoflann is included to be sure.</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// https://github.com/jlblancoc/nanoflann/blob/master/include/nanoflann.hpp</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">/***********************************************************************</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * Copyright 2011-2024  Jose Luis Blanco (joseluisblancoc@gmail.com).</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   All rights reserved.</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * THE BSD LICENSE</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * are met:</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * 1. Redistributions of source code must retain the above copyright</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * 2. Redistributions in binary form must reproduce the above copyright</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer in the</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *    documentation and/or other materials provided with the distribution.</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS&#39;&#39; AND ANY EXPRESS OR</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> *************************************************************************/</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;numeric&gt;</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/ann/knn_result.hpp&gt;</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;gtsam_points/types/frame_traits.hpp&gt;</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1ProjectionSetting.html">   53</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> {</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">   54</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">max_scan_count</a> = 128;  </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;};</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1AxisAlignedProjection.html">   58</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a> {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">   63</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">operator()</a>(<span class="keyword">const</span> Eigen::Vector4d&amp; pt)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> pt[<a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">axis</a>]; }</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> IndexConstIterator&gt;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">static</span> <a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a></div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">   73</a></span>&#160;  <a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">find_axis</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points, IndexConstIterator first, IndexConstIterator last, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a>&amp; setting) {</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = std::distance(first, last);</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Vector4d sum_pt = Eigen::Vector4d::Zero();</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::Vector4d sum_sq = Eigen::Vector4d::Zero();</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> step = N &lt; setting.<a class="code" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">max_scan_count</a> ? 1 : N / setting.<a class="code" href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">max_scan_count</a>;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_steps = N / step;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; num_steps; i++) {</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> itr = first + step * i;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">const</span> Eigen::Vector4d pt = frame::point(points, *itr);</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      sum_pt += pt;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      sum_sq += pt.cwiseProduct(pt);</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d mean = sum_pt / sum_pt.w();</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d var = (sum_sq - mean.cwiseProduct(sum_pt));</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a>{var[0] &gt; var[1] ? (var[0] &gt; var[2] ? 0 : 2) : (var[1] &gt; var[2] ? 1 : 2)};</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">   94</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">axis</a>;  </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;};</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">using</span> NodeIndexType = std::uint32_t;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">static</span> constexpr NodeIndexType INVALID_NODE = std::numeric_limits&lt;NodeIndexType&gt;::max();</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Projection&gt;</div>
+<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html">  102</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode</a> {</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">union </span>{</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">struct </span>Leaf {</div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">  105</a></span>&#160;      NodeIndexType <a class="code" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">first</a>;  </div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">  106</a></span>&#160;      NodeIndexType <a class="code" href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">last</a>;   </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">  107</a></span>&#160;    } <a class="code" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">lr</a>;                   </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">struct </span>NonLeaf {</div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">  109</a></span>&#160;      Projection <a class="code" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">proj</a>;  </div>
+<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">  110</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">thresh</a>;    </div>
+<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">  111</a></span>&#160;    } <a class="code" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">sub</a>;              </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  } node_type;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
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+<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">  115</a></span>&#160;  NodeIndexType <a class="code" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">right</a> = INVALID_NODE;  </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;};</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilder.html">  119</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a> {</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">  125</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">build_tree</a>(<a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>&amp; kdtree, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    kdtree.indices.resize(frame::size(points));</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    std::iota(kdtree.indices.begin(), kdtree.indices.end(), 0);</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">size_t</span> node_count = 0;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    kdtree.nodes.resize(frame::size(points));</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    kdtree.root = <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a>(kdtree, node_count, points, kdtree.indices.begin(), kdtree.indices.begin(), kdtree.indices.end());</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    kdtree.nodes.resize(node_count);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> IndexConstIterator&gt;</div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">  141</a></span>&#160;  NodeIndexType <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a>(</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>&amp; kdtree,</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">size_t</span>&amp; node_count,</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points,</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    IndexConstIterator global_first,</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    IndexConstIterator first,</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    IndexConstIterator last)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = std::distance(first, last);</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">const</span> NodeIndexType node_index = node_count++;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keyword">auto</span>&amp; node = kdtree.nodes[node_index];</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// Create a leaf node.</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">if</span> (N &lt;= <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">max_leaf_size</a>) {</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">// std::sort(first, last);</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      node.node_type.lr.first = std::distance(global_first, first);</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      node.node_type.lr.last = std::distance(global_first, last);</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordflow">return</span> node_index;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    }</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">// Find the best axis to split the input points.</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">using</span> Projection = <span class="keyword">typename</span> KdTree::Projection;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> proj = Projection::find_axis(points, first, last, <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">projection_setting</a>);</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> median_itr = first + N / 2;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    std::nth_element(first, median_itr, last, [&amp;](<span class="keywordtype">size_t</span> i, <span class="keywordtype">size_t</span> j) { <span class="keywordflow">return</span> proj(frame::point(points, i)) &lt; proj(frame::point(points, j)); });</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="comment">// Create a non-leaf node.</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    node.node_type.sub.proj = proj;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    node.node_type.sub.thresh = proj(frame::point(points, *median_itr));</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="comment">// Create left and right child nodes.</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    node.left = <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a>(kdtree, node_count, points, global_first, first, median_itr);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    node.right = <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a>(kdtree, node_count, points, global_first, median_itr, last);</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">return</span> node_index;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  }</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">  179</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">max_leaf_size</a> = 20;                </div>
+<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">  180</a></span>&#160;  <a class="code" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">projection_setting</a>;  </div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;};</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html">  184</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a> {</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">  188</a></span>&#160;  <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">KdTreeBuilderOMP</a>(<span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a> = 4) : <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a>(<a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a>), <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">max_leaf_size</a>(20) {}</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud&gt;</div>
+<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">  192</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">build_tree</a>(<a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>&amp; kdtree, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    kdtree.indices.resize(frame::size(points));</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    std::iota(kdtree.indices.begin(), kdtree.indices.end(), 0);</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    std::atomic_uint64_t node_count = 0;</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    kdtree.nodes.resize(frame::size(points));</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#ifndef _MSC_VER</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">#pragma omp parallel num_threads(num_threads)</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    {</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#pragma omp single nowait</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      { kdtree.root = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, kdtree.indices.begin(), kdtree.indices.begin(), kdtree.indices.end()); }</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    }</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    kdtree.root = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, kdtree.indices.begin(), kdtree.indices.begin(), kdtree.indices.end());</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    kdtree.nodes.resize(node_count);</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> IndexConstIterator&gt;</div>
+<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">  218</a></span>&#160;  NodeIndexType <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <a class="code" href="structgtsam__points_1_1KdTree.html">KdTree</a>&amp; kdtree,</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    std::atomic_uint64_t&amp; node_count,</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; points,</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    IndexConstIterator global_first,</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    IndexConstIterator first,</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    IndexConstIterator last)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = std::distance(first, last);</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">const</span> NodeIndexType node_index = node_count++;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keyword">auto</span>&amp; node = kdtree.nodes[node_index];</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// Create a leaf node.</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">if</span> (N &lt;= <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">max_leaf_size</a>) {</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="comment">// std::sort(first, last);</span></div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      node.node_type.lr.first = std::distance(global_first, first);</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      node.node_type.lr.last = std::distance(global_first, last);</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">return</span> node_index;</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="comment">// Find the best axis to split the input points.</span></div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keyword">using</span> Projection = <span class="keyword">typename</span> KdTree::Projection;</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> proj = Projection::find_axis(points, first, last, <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">projection_setting</a>);</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> median_itr = first + N / 2;</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    std::nth_element(first, median_itr, last, [&amp;](<span class="keywordtype">size_t</span> i, <span class="keywordtype">size_t</span> j) { <span class="keywordflow">return</span> proj(frame::point(points, i)) &lt; proj(frame::point(points, j)); });</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="comment">// Create a non-leaf node.</span></div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    node.node_type.sub.proj = proj;</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    node.node_type.sub.thresh = proj(frame::point(points, *median_itr));</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// Create left and right child nodes.</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#ifndef _MSC_VER</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#pragma omp task default(shared) if (N &gt; 512)</span></div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    node.left = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, global_first, first, median_itr);</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="preprocessor">#pragma omp task default(shared) if (N &gt; 512)</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    node.right = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, global_first, median_itr, last);</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#pragma omp taskwait</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    node.left = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, global_first, first, median_itr);</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    node.right = <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(kdtree, node_count, points, global_first, median_itr, last);</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">return</span> node_index;</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">  264</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a>;                       </div>
+<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">  265</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">max_leaf_size</a>;                     </div>
+<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">  266</a></span>&#160;  <a class="code" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> <a class="code" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">projection_setting</a>;  </div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;};</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> Projection_ = AxisAlignedProjection&gt;</div>
+<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html">  273</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a> {</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keyword">using</span> Projection = Projection_;</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keyword">using</span> <a class="code" href="structgtsam__points_1_1KdTreeNode.html">Node</a> = <a class="code" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode&lt;Projection&gt;</a>;</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Builder = KdTreeBuilder&gt;</div>
+<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">  282</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">UnsafeKdTree</a>(<span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>, <span class="keyword">const</span> Builder&amp; builder = <a class="code" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a>()) : <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>(<a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>) {</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordflow">if</span> (frame::size(<a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>) == 0) {</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;warning: Empty point cloud&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    builder.build_tree(*<span class="keyword">this</span>, <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>);</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
+<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">  297</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">nearest_neighbor_search</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; query_, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>&amp; setting = <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>())<span class="keyword"></span></div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="keyword">    const </span>{</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d query = (Eigen::Vector4d() &lt;&lt; query_, 1.0).finished();</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">return</span> knn_search&lt;1&gt;(query, k_indices, k_sq_dists, setting);</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
+<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">  310</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; query_, <span class="keywordtype">int</span> k, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>&amp; setting = <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>())<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d query = (Eigen::Vector4d() &lt;&lt; query_, 1.0).finished();</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html">KnnResult</a>&lt;-1&gt; result(k_indices, k_sq_dists, k, <a class="code" href="structgtsam__points_1_1identity__transform.html">identity_transform</a>(), setting.max_sq_dist);</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(query, <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">root</a>, result, setting);</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">return</span> result.<a class="code" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">num_found</a>();</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  }</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt;</div>
+<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">  324</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">knn_search</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; query_, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>&amp; setting = <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>())<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="keyword">const</span> Eigen::Vector4d query = (Eigen::Vector4d() &lt;&lt; query_, 1.0).finished();</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <a class="code" href="structgtsam__points_1_1KnnResult.html">KnnResult&lt;N&gt;</a> result(k_indices, k_sq_dists, -1, <a class="code" href="structgtsam__points_1_1identity__transform.html">identity_transform</a>(), setting.max_sq_dist);</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(query, <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">root</a>, result, setting);</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordflow">return</span> result.<a class="code" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">num_found</a>();</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  }</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
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+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Result&gt;</div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(<span class="keyword">const</span> Eigen::Vector4d&amp; query, NodeIndexType node_index, Result&amp; result, <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>&amp; setting)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; node = <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">nodes</a>[node_index];</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="comment">// Check if it&#39;s a leaf node.</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keywordflow">if</span> (node.left == INVALID_NODE) {</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="comment">// Compare the query point with all points in the leaf node.</span></div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = node.node_type.lr.first; i &lt; node.node_type.lr.last; i++) {</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> sq_dist = (frame::point(<a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>, <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">indices</a>[i]) - query).squaredNorm();</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        result.push(<a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">indices</a>[i], sq_dist);</div>
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+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keywordflow">return</span> !setting.<a class="code" href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">fulfilled</a>(result);</div>
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+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> val = node.node_type.sub.proj(query);</div>
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+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    NodeIndexType other_child;</div>
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+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      other_child = node.right;</div>
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+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      other_child = node.left;</div>
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+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="comment">// Check the best child node first.</span></div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(query, best_child, result, setting)) {</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    }</div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
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+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    }</div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
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+<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">  376</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>&amp; <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>;     </div>
+<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">  377</a></span>&#160;  std::vector&lt;size_t&gt; <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">indices</a>;  </div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
+<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">  379</a></span>&#160;  NodeIndexType <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">root</a>;       </div>
+<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">  380</a></span>&#160;  std::vector&lt;Node&gt; <a class="code" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">nodes</a>;  </div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;};</div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="astructgtsam__points_1_1AxisAlignedProjection_html"><div class="ttname"><a href="structgtsam__points_1_1AxisAlignedProjection.html">gtsam_points::AxisAlignedProjection</a></div><div class="ttdoc">Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance).</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:58</div></div>
+<div class="ttc" id="astructgtsam__points_1_1AxisAlignedProjection_html_a06fc61923f983ccf50dffa7efb05a24f"><div class="ttname"><a href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">gtsam_points::AxisAlignedProjection::find_axis</a></div><div class="ttdeci">static AxisAlignedProjection find_axis(const PointCloud &amp;points, IndexConstIterator first, IndexConstIterator last, const ProjectionSetting &amp;setting)</div><div class="ttdoc">Find the axis with the largest variance.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:73</div></div>
+<div class="ttc" id="astructgtsam__points_1_1AxisAlignedProjection_html_acfa961919b553f9c8a73bfc0a5d4d02d"><div class="ttname"><a href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">gtsam_points::AxisAlignedProjection::operator()</a></div><div class="ttdeci">double operator()(const Eigen::Vector4d &amp;pt) const</div><div class="ttdoc">Project the point to the selected axis.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:63</div></div>
+<div class="ttc" id="astructgtsam__points_1_1AxisAlignedProjection_html_af0c0816904e66a35342e5fcf07a28bf1"><div class="ttname"><a href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">gtsam_points::AxisAlignedProjection::axis</a></div><div class="ttdeci">int axis</div><div class="ttdoc">Axis index (0: X, 1: Y, 2: Z)</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:94</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></div><div class="ttdoc">Kd-tree builder with OpenMP.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:184</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_a15daba68596166210dd56f1398e7b7d1"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">gtsam_points::KdTreeBuilderOMP::num_threads</a></div><div class="ttdeci">int num_threads</div><div class="ttdoc">Number of threads.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:264</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_a52d36b66763f524fedeb8e4f7ef3b728"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">gtsam_points::KdTreeBuilderOMP::build_tree</a></div><div class="ttdeci">void build_tree(KdTree &amp;kdtree, const PointCloud &amp;points) const</div><div class="ttdoc">Build KdTree.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:192</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_a8772dc6debb447530e103a94437f2fbe"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">gtsam_points::KdTreeBuilderOMP::create_node</a></div><div class="ttdeci">NodeIndexType create_node(KdTree &amp;kdtree, std::atomic_uint64_t &amp;node_count, const PointCloud &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</div><div class="ttdoc">Create a Kd-tree node from the given point indices.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:218</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_ac39dcf6d38efa4698f668ce5e4b4e7dc"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">gtsam_points::KdTreeBuilderOMP::projection_setting</a></div><div class="ttdeci">ProjectionSetting projection_setting</div><div class="ttdoc">Projection setting.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:266</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_acb752f19a67e3bdc70bacca73f9cb4ac"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">gtsam_points::KdTreeBuilderOMP::KdTreeBuilderOMP</a></div><div class="ttdeci">KdTreeBuilderOMP(int num_threads=4)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:188</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilderOMP_html_afe95043c3cc1723b7bb30d542b79d8c1"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">gtsam_points::KdTreeBuilderOMP::max_leaf_size</a></div><div class="ttdeci">int max_leaf_size</div><div class="ttdoc">Maximum number of points in a leaf node.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:265</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilder_html"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a></div><div class="ttdoc">Single thread Kd-tree builder.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:119</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilder_html_a831413085c38efc7f4df38bb099daebc"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">gtsam_points::KdTreeBuilder::max_leaf_size</a></div><div class="ttdeci">int max_leaf_size</div><div class="ttdoc">Maximum number of points in a leaf node.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:179</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilder_html_ae883ad14f657b27b545dee9f43f86111"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">gtsam_points::KdTreeBuilder::create_node</a></div><div class="ttdeci">NodeIndexType create_node(KdTree &amp;kdtree, size_t &amp;node_count, const PointCloud &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</div><div class="ttdoc">Create a Kd-tree node from the given point indices.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:141</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilder_html_af9ddf87c65720a8794cafeb8a5de6b43"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">gtsam_points::KdTreeBuilder::projection_setting</a></div><div class="ttdeci">ProjectionSetting projection_setting</div><div class="ttdoc">Projection setting.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:180</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeBuilder_html_afc882d171abe717644d2d520d3b26238"><div class="ttname"><a href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">gtsam_points::KdTreeBuilder::build_tree</a></div><div class="ttdeci">void build_tree(KdTree &amp;kdtree, const PointCloud &amp;points) const</div><div class="ttdoc">Build KdTree.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:125</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode</a></div><div class="ttdoc">KdTree node.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:102</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a1b6a68f3ccbcea414044e22fa0e43e5a"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">gtsam_points::KdTreeNode::right</a></div><div class="ttdeci">NodeIndexType right</div><div class="ttdoc">Right child node index.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:115</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a1c813a1f909167be97b6fe87d8e33610"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">gtsam_points::KdTreeNode::thresh</a></div><div class="ttdeci">double thresh</div><div class="ttdoc">Threshold value.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:110</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a2ecb5c86054669d9a24e138bf6a8e959"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">gtsam_points::KdTreeNode::proj</a></div><div class="ttdeci">Projection proj</div><div class="ttdoc">Projection axis.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:109</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a3aeda130c2e70dac5f1830fec2a2a54c"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a3aeda130c2e70dac5f1830fec2a2a54c">gtsam_points::KdTreeNode::left</a></div><div class="ttdeci">NodeIndexType left</div><div class="ttdoc">Left child node index.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:114</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a60d43529b6d950af0a7d47829a9d86f7"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">gtsam_points::KdTreeNode::lr</a></div><div class="ttdeci">struct gtsam_points::KdTreeNode::@0::Leaf lr</div><div class="ttdoc">Leaf node.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_a9417f9d43070db6aea11026adff49ae2"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">gtsam_points::KdTreeNode::sub</a></div><div class="ttdeci">struct gtsam_points::KdTreeNode::@0::NonLeaf sub</div><div class="ttdoc">Non-leaf node.</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_acfe1873170c3fe5f3e5fb8f1f90a3d4a"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">gtsam_points::KdTreeNode::first</a></div><div class="ttdeci">NodeIndexType first</div><div class="ttdoc">First point index in the leaf node.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:105</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTreeNode_html_af6487749e4ff35d988823e5a3cf4c3b4"><div class="ttname"><a href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">gtsam_points::KdTreeNode::last</a></div><div class="ttdeci">NodeIndexType last</div><div class="ttdoc">Last point index in the leaf node.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:106</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KdTree_html"><div class="ttname"><a href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></div><div class="ttdoc">KdTree-based nearest neighbor search.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:21</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult</a></div><div class="ttdoc">K-nearest neighbor search result container.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:35</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnResult_html_aa2dab520fc2bb23d36cbc0d6a82bbc57"><div class="ttname"><a href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">gtsam_points::KnnResult::num_found</a></div><div class="ttdeci">size_t num_found() const</div><div class="ttdoc">Number of found neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:82</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html">gtsam_points::KnnSetting</a></div><div class="ttdoc">K-nearest neighbor search setting.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:11</div></div>
+<div class="ttc" id="astructgtsam__points_1_1KnnSetting_html_ac52005328821646660a98607c49d6c0e"><div class="ttname"><a href="structgtsam__points_1_1KnnSetting.html#ac52005328821646660a98607c49d6c0e">gtsam_points::KnnSetting::fulfilled</a></div><div class="ttdeci">bool fulfilled(const Result &amp;result) const</div><div class="ttdoc">Check if the result satisfies the early termination condition.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:15</div></div>
+<div class="ttc" id="astructgtsam__points_1_1PointCloud_html"><div class="ttname"><a href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></div><div class="ttdoc">Standard point cloud class that holds only pointers to point attributes.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:19</div></div>
+<div class="ttc" id="astructgtsam__points_1_1ProjectionSetting_html"><div class="ttname"><a href="structgtsam__points_1_1ProjectionSetting.html">gtsam_points::ProjectionSetting</a></div><div class="ttdoc">Parameters to control the projection axis search.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:53</div></div>
+<div class="ttc" id="astructgtsam__points_1_1ProjectionSetting_html_a37ab5739485652194b518352516897f7"><div class="ttname"><a href="structgtsam__points_1_1ProjectionSetting.html#a37ab5739485652194b518352516897f7">gtsam_points::ProjectionSetting::max_scan_count</a></div><div class="ttdeci">int max_scan_count</div><div class="ttdoc">Maximum number of points to use for the axis search.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:54</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a></div><div class="ttdoc">&quot;Unsafe&quot; KdTree.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:273</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a0182427bcc236bf90cdc6b6f9408709f"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">gtsam_points::UnsafeKdTree::root</a></div><div class="ttdeci">NodeIndexType root</div><div class="ttdoc">Root node index (should be zero)</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:379</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a43163acec939ae5ed9796da417657f8b"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">gtsam_points::UnsafeKdTree::knn_search</a></div><div class="ttdeci">size_t knn_search(const Eigen::Vector3d &amp;query_, int k, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</div><div class="ttdoc">Find k-nearest neighbors. This method uses dynamic memory allocation.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:310</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a91a78734bd7123759adf836cf017b01c"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">gtsam_points::UnsafeKdTree::UnsafeKdTree</a></div><div class="ttdeci">UnsafeKdTree(const PointCloud &amp;points, const Builder &amp;builder=KdTreeBuilder())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:282</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a9f02da5e546a08c009bb19e03231bb87"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">gtsam_points::UnsafeKdTree::indices</a></div><div class="ttdeci">std::vector&lt; size_t &gt; indices</div><div class="ttdoc">Point indices refered by nodes.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:377</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a9f9d1f1c913205040e0a5c29f23c28e3"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">gtsam_points::UnsafeKdTree::nearest_neighbor_search</a></div><div class="ttdeci">size_t nearest_neighbor_search(const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</div><div class="ttdoc">Find the nearest neighbor.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:297</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_a9fd9a04631c53f6b1079bade14f0994d"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">gtsam_points::UnsafeKdTree::nodes</a></div><div class="ttdeci">std::vector&lt; Node &gt; nodes</div><div class="ttdoc">Kd-tree nodes.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:380</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_aaa0d43d73cbcc810b2aa6238c01745a5"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">gtsam_points::UnsafeKdTree::points</a></div><div class="ttdeci">const PointCloud &amp; points</div><div class="ttdoc">Input points.</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:376</div></div>
+<div class="ttc" id="astructgtsam__points_1_1UnsafeKdTree_html_ac310044907f0b4127aff67f41888aad1"><div class="ttname"><a href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">gtsam_points::UnsafeKdTree::knn_search</a></div><div class="ttdeci">size_t knn_search(const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</div><div class="ttdoc">Find k-nearest neighbors. This method uses fixed and static memory allocation. Might be faster for sm...</div><div class="ttdef"><b>Definition:</b> small_kdtree.hpp:324</div></div>
+<div class="ttc" id="astructgtsam__points_1_1identity__transform_html"><div class="ttname"><a href="structgtsam__points_1_1identity__transform.html">gtsam_points::identity_transform</a></div><div class="ttdoc">Identity transformation function. (use std::identity instead in C++20)</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:25</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
+</div>
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+  <div class="headertitle">
+<div class="title">sort_omp.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#ifdef _MSC_VER</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma message(&quot;warning: Task-based OpenMP parallelism is not well supported on windows.&quot;</span>)</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma message(&quot;warning: Thus, OpenMP-based downsampling is only partially parallelized on windows.&quot;</span>)</div>
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+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> RandomAccessIterator, <span class="keyword">typename</span> Compare&gt;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keywordtype">void</span> quick_sort_omp_impl(RandomAccessIterator first, RandomAccessIterator last, <span class="keyword">const</span> Compare&amp; comp) {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">const</span> std::ptrdiff_t n = std::distance(first, last);</div>
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+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">auto</span> middle2 = std::partition(middle1, last, [&amp;](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; val) { <span class="keywordflow">return</span> !comp(pivot, val); });</div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_9ee62e8752b729f33015cc364b81e6d7.html">cuda</a></li>  </ul>
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+<div class="title">stream_roundrobin.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
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+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;};</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1StreamRoundRobin_html"><div class="ttname"><a href="classgtsam__points_1_1StreamRoundRobin.html">gtsam_points::StreamRoundRobin</a></div><div class="ttdoc">Roundrobin for CUDA streams.</div><div class="ttdef"><b>Definition:</b> stream_roundrobin.hpp:16</div></div>
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+</div><!--header-->
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::AxisAlignedProjection Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">gtsam_points::AxisAlignedProjection</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">axis</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">gtsam_points::AxisAlignedProjection</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">find_axis</a>(const PointCloud &amp;points, IndexConstIterator first, IndexConstIterator last, const ProjectionSetting &amp;setting)</td><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">gtsam_points::AxisAlignedProjection</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">operator()</a>(const Eigen::Vector4d &amp;pt) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">gtsam_points::AxisAlignedProjection</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1AxisAlignedProjection.html b/doc_cpp/structgtsam__points_1_1AxisAlignedProjection.html
new file mode 100644
index 00000000..ec953aa8
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1AxisAlignedProjection.html
@@ -0,0 +1,212 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::AxisAlignedProjection Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1AxisAlignedProjection-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::AxisAlignedProjection Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance).  
+ <a href="structgtsam__points_1_1AxisAlignedProjection.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acfa961919b553f9c8a73bfc0a5d4d02d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">operator()</a> (const Eigen::Vector4d &amp;pt) const</td></tr>
+<tr class="memdesc:acfa961919b553f9c8a73bfc0a5d4d02d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Project the point to the selected axis.  <a href="structgtsam__points_1_1AxisAlignedProjection.html#acfa961919b553f9c8a73bfc0a5d4d02d">More...</a><br /></td></tr>
+<tr class="separator:acfa961919b553f9c8a73bfc0a5d4d02d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a06fc61923f983ccf50dffa7efb05a24f"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud , typename IndexConstIterator &gt; </td></tr>
+<tr class="memitem:a06fc61923f983ccf50dffa7efb05a24f"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">find_axis</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points, IndexConstIterator first, IndexConstIterator last, const <a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> &amp;setting)</td></tr>
+<tr class="memdesc:a06fc61923f983ccf50dffa7efb05a24f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the axis with the largest variance.  <a href="structgtsam__points_1_1AxisAlignedProjection.html#a06fc61923f983ccf50dffa7efb05a24f">More...</a><br /></td></tr>
+<tr class="separator:a06fc61923f983ccf50dffa7efb05a24f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:af0c0816904e66a35342e5fcf07a28bf1"><td class="memItemLeft" align="right" valign="top"><a id="af0c0816904e66a35342e5fcf07a28bf1"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html#af0c0816904e66a35342e5fcf07a28bf1">axis</a></td></tr>
+<tr class="memdesc:af0c0816904e66a35342e5fcf07a28bf1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Axis index (0: X, 1: Y, 2: Z) <br /></td></tr>
+<tr class="separator:af0c0816904e66a35342e5fcf07a28bf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance). </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a06fc61923f983ccf50dffa7efb05a24f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06fc61923f983ccf50dffa7efb05a24f">&#9670;&nbsp;</a></span>find_axis()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename IndexConstIterator &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a> gtsam_points::AxisAlignedProjection::find_axis </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>first</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>last</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a> &amp;&#160;</td>
+          <td class="paramname"><em>setting</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find the axis with the largest variance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
+    <tr><td class="paramname">first</td><td>First point index iterator </td></tr>
+    <tr><td class="paramname">last</td><td>Last point index iterator </td></tr>
+    <tr><td class="paramname">setting</td><td>Search setting </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Projection with the largest variance axis </dd></dl>
+
+</div>
+</div>
+<a id="acfa961919b553f9c8a73bfc0a5d4d02d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfa961919b553f9c8a73bfc0a5d4d02d">&#9670;&nbsp;</a></span>operator()()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double gtsam_points::AxisAlignedProjection::operator() </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
+          <td class="paramname"><em>pt</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Project the point to the selected axis. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point to project </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Projected value </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1BALMFeature-members.html b/doc_cpp/structgtsam__points_1_1BALMFeature-members.html
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1BALMFeature.html">BALMFeature</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::BALMFeature Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">BALMFeature</a>(const std::vector&lt; Eigen::Vector3d &gt; &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cov</b> (defined in <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>eigenvalues</b> (defined in <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>eigenvectors</b> (defined in <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">Fmn</a>(const Eigen::Vector3d &amp;pt) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">Hij</a>(const Eigen::Vector3d &amp;p_i, const Eigen::Vector3d &amp;p_j, bool i_equals_j) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">Ji</a>(const Eigen::Vector3d &amp;p_i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>mean</b> (defined in <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>num_points</b> (defined in <a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1BALMFeature.html">gtsam_points::BALMFeature</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1BALMFeature.html b/doc_cpp/structgtsam__points_1_1BALMFeature.html
new file mode 100644
index 00000000..1b929d9b
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1BALMFeature.html">BALMFeature</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1BALMFeature-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::BALMFeature Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021.  
+ <a href="structgtsam__points_1_1BALMFeature.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="balm__feature_8hpp_source.html">balm_feature.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a22808bcc4f29e0570ce9e0a3fea7a230"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">BALMFeature</a> (const std::vector&lt; Eigen::Vector3d &gt; &amp;points)</td></tr>
+<tr class="memdesc:a22808bcc4f29e0570ce9e0a3fea7a230"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1BALMFeature.html#a22808bcc4f29e0570ce9e0a3fea7a230">More...</a><br /></td></tr>
+<tr class="separator:a22808bcc4f29e0570ce9e0a3fea7a230"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af796c0dec9ad5a40c150dea7af75c25e"><td class="memTemplParams" colspan="2">template&lt;int k&gt; </td></tr>
+<tr class="memitem:af796c0dec9ad5a40c150dea7af75c25e"><td class="memTemplItemLeft" align="right" valign="top">Eigen::Matrix&lt; double, 1, 3 &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">Ji</a> (const Eigen::Vector3d &amp;p_i) const</td></tr>
+<tr class="memdesc:af796c0dec9ad5a40c150dea7af75c25e"><td class="mdescLeft">&#160;</td><td class="mdescRight">First order derivatives.  <a href="structgtsam__points_1_1BALMFeature.html#af796c0dec9ad5a40c150dea7af75c25e">More...</a><br /></td></tr>
+<tr class="separator:af796c0dec9ad5a40c150dea7af75c25e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8827f6b328dfc1f38ab2746a47e1d0df"><td class="memTemplParams" colspan="2">template&lt;int k&gt; </td></tr>
+<tr class="memitem:a8827f6b328dfc1f38ab2746a47e1d0df"><td class="memTemplItemLeft" align="right" valign="top">Eigen::Matrix3d&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">Hij</a> (const Eigen::Vector3d &amp;p_i, const Eigen::Vector3d &amp;p_j, bool i_equals_j) const</td></tr>
+<tr class="memdesc:a8827f6b328dfc1f38ab2746a47e1d0df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Second order derivatives.  <a href="structgtsam__points_1_1BALMFeature.html#a8827f6b328dfc1f38ab2746a47e1d0df">More...</a><br /></td></tr>
+<tr class="separator:a8827f6b328dfc1f38ab2746a47e1d0df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca04d466c93a6e745fd64c7cabed76c4"><td class="memTemplParams" colspan="2"><a id="aca04d466c93a6e745fd64c7cabed76c4"></a>
+template&lt;int m, int n&gt; </td></tr>
+<tr class="memitem:aca04d466c93a6e745fd64c7cabed76c4"><td class="memTemplItemLeft" align="right" valign="top">Eigen::Matrix&lt; double, 1, 3 &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1BALMFeature.html#aca04d466c93a6e745fd64c7cabed76c4">Fmn</a> (const Eigen::Vector3d &amp;pt) const</td></tr>
+<tr class="memdesc:aca04d466c93a6e745fd64c7cabed76c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">F^{p_j}_{m, n}. <br /></td></tr>
+<tr class="separator:aca04d466c93a6e745fd64c7cabed76c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a2f171cfd199ab47c90c1ceaa3793b015"><td class="memItemLeft" align="right" valign="top"><a id="a2f171cfd199ab47c90c1ceaa3793b015"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>num_points</b></td></tr>
+<tr class="separator:a2f171cfd199ab47c90c1ceaa3793b015"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada757c48c174013ee8adde0ab16603bc"><td class="memItemLeft" align="right" valign="top"><a id="ada757c48c174013ee8adde0ab16603bc"></a>
+Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>mean</b></td></tr>
+<tr class="separator:ada757c48c174013ee8adde0ab16603bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d8958bbb0b2acd95679727781243e67"><td class="memItemLeft" align="right" valign="top"><a id="a9d8958bbb0b2acd95679727781243e67"></a>
+Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b></td></tr>
+<tr class="separator:a9d8958bbb0b2acd95679727781243e67"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dedb4971a017828ae45f5a81a584123"><td class="memItemLeft" align="right" valign="top"><a id="a4dedb4971a017828ae45f5a81a584123"></a>
+Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>eigenvalues</b></td></tr>
+<tr class="separator:a4dedb4971a017828ae45f5a81a584123"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63a21c14052ebe40ef480dc0462e6717"><td class="memItemLeft" align="right" valign="top"><a id="a63a21c14052ebe40ef480dc0462e6717"></a>
+Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><b>eigenvectors</b></td></tr>
+<tr class="separator:a63a21c14052ebe40ef480dc0462e6717"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Utility class to calculate eigenvalues and derivatives of those Liu and Zhang, "BALM: Bundle Adjustment for Lidar Mapping", IEEE RA-L, 2021. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a22808bcc4f29e0570ce9e0a3fea7a230"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22808bcc4f29e0570ce9e0a3fea7a230">&#9670;&nbsp;</a></span>BALMFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW gtsam_points::BALMFeature::BALMFeature </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; Eigen::Vector3d &gt; &amp;&#160;</td>
+          <td class="paramname"><em>points</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Points in each sensor coordinate (untransformed points) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8827f6b328dfc1f38ab2746a47e1d0df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8827f6b328dfc1f38ab2746a47e1d0df">&#9670;&nbsp;</a></span>Hij()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int k&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Eigen::Matrix3d gtsam_points::BALMFeature::Hij </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>p_i</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>p_j</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>i_equals_j</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Second order derivatives. </p>
+<dl class="section note"><dt>Note</dt><dd>Eq. (7) </dd></dl>
+
+</div>
+</div>
+<a id="af796c0dec9ad5a40c150dea7af75c25e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af796c0dec9ad5a40c150dea7af75c25e">&#9670;&nbsp;</a></span>Ji()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int k&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Eigen::Matrix&lt;double, 1, 3&gt; gtsam_points::BALMFeature::Ji </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>p_i</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>First order derivatives. </p>
+<dl class="section note"><dt>Note</dt><dd>Eq. (6) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="balm__feature_8hpp_source.html">balm_feature.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1CUDAStream-members.html b/doc_cpp/structgtsam__points_1_1CUDAStream-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1CUDAStream.html">CUDAStream</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDAStream Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_resource</b>(const std::shared_ptr&lt; void &gt; &amp;resource) (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>CUDAStream</b>() (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>CUDAStream</b>(const CUDAStream &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>emplace_resource</b>(Args &amp;&amp;... args) (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator CUstream_st *</b>() const (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(const CUDAStream &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>resources</b> (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>stream</b> (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sync</b>() (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~CUDAStream</b>() (defined in <a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CUDAStream.html">gtsam_points::CUDAStream</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1CUDAStream-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::CUDAStream Struct Reference</div>  </div>
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+<div class="contents">
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+&#160;</td><td class="memItemRight" valign="bottom"><b>operator CUstream_st *</b> () const</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>sync</b> ()</td></tr>
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+template&lt;typename T , class... Args&gt; </td></tr>
+<tr class="memitem:ab0145699e03e2e7f527dfd82fe5cb618"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>emplace_resource</b> (Args &amp;&amp;... args)</td></tr>
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+<tr class="memitem:aac1b812a8f867ac3f2e1531ced9a67ea"><td class="memItemLeft" align="right" valign="top"><a id="aac1b812a8f867ac3f2e1531ced9a67ea"></a>
+CUstream_st *&#160;</td><td class="memItemRight" valign="bottom"><b>stream</b></td></tr>
+<tr class="separator:aac1b812a8f867ac3f2e1531ced9a67ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::vector&lt; std::shared_ptr&lt; void &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>resources</b></td></tr>
+<tr class="separator:a13a98345da454a9a58bdc72c2224e3d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="cuda__stream_8hpp_source.html">cuda_stream.hpp</a></li>
+</ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::CovarianceEstimationParams Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>CovarianceEstimationParams</b>() (defined in <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>EIG</b> enum value (defined in <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a3dc9cc7fb42ea164d1151267b582bf98">eigen_values</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ada607a01ad2f5ef57364756ec6306056">k_neighbors</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NONE</b> enum value (defined in <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#ad1a3788dd0252149ae063200966d49f8">num_threads</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html#a241938099162f4996875afc01077a602">regularization_method</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>RegularizationMethod</b> enum name (defined in <a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1CovarianceEstimationParams.html">gtsam_points::CovarianceEstimationParams</a></td><td class="entry"></td></tr>
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+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
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+<a href="structgtsam__points_1_1CovarianceEstimationParams-members.html">List of all members</a>  </div>
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+<p>Covariance estimation parameters.  
+ <a href="structgtsam__points_1_1CovarianceEstimationParams.html#details">More...</a></p>
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+<tr class="memdesc:a3dc9cc7fb42ea164d1151267b582bf98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigenvalues used for EIG regularization. <br /></td></tr>
+<tr class="separator:a3dc9cc7fb42ea164d1151267b582bf98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Covariance estimation parameters. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="covariance__estimation_8hpp_source.html">covariance_estimation.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1DummyFrame.html b/doc_cpp/structgtsam__points_1_1DummyFrame.html
new file mode 100644
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--- /dev/null
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: gtsam_points::DummyFrame Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::DummyFrame Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Dummy frame class for build test.  
+ <a href="structgtsam__points_1_1DummyFrame.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="dummy__frame_8hpp_source.html">dummy_frame.hpp</a>&gt;</code></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Dummy frame class for build test. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="dummy__frame_8hpp_source.html">dummy_frame.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1FlatContainer-members.html b/doc_cpp/structgtsam__points_1_1FlatContainer-members.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::FlatContainer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#ab5a8cd55821dfc67d5326b6e51177c40">add</a>(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">covs</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#ac177262270d21537ad173452535a9e86">finalize</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a8952d415bca1f4f227dd91f8be67f224">FlatContainer</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">intensities</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">knn_search</a>(const Eigen::Vector4d &amp;pt, Result &amp;result) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">normals</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a216ff7fc0c5f1113255dd6a38b7babb0">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer.html">gtsam_points::FlatContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1FlatContainer.html b/doc_cpp/structgtsam__points_1_1FlatContainer.html
new file mode 100644
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1FlatContainer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::FlatContainer Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Point container with a flat vector.  
+ <a href="structgtsam__points_1_1FlatContainer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="flat__container_8hpp_source.html">flat_container.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">Setting</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting.  <a href="structgtsam__points_1_1FlatContainer_1_1Setting.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a8952d415bca1f4f227dd91f8be67f224"><td class="memItemLeft" align="right" valign="top"><a id="a8952d415bca1f4f227dd91f8be67f224"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a8952d415bca1f4f227dd91f8be67f224">FlatContainer</a> ()</td></tr>
+<tr class="memdesc:a8952d415bca1f4f227dd91f8be67f224"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
+<tr class="separator:a8952d415bca1f4f227dd91f8be67f224"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a216ff7fc0c5f1113255dd6a38b7babb0"><td class="memItemLeft" align="right" valign="top"><a id="a216ff7fc0c5f1113255dd6a38b7babb0"></a>
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+<tr class="memdesc:a216ff7fc0c5f1113255dd6a38b7babb0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points. <br /></td></tr>
+<tr class="separator:a216ff7fc0c5f1113255dd6a38b7babb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5a8cd55821dfc67d5326b6e51177c40"><td class="memItemLeft" align="right" valign="top"><a id="ab5a8cd55821dfc67d5326b6e51177c40"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#ab5a8cd55821dfc67d5326b6e51177c40">add</a> (const <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">Setting</a> &amp;setting, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;<a class="el" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a>, size_t i)</td></tr>
+<tr class="memdesc:ab5a8cd55821dfc67d5326b6e51177c40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point to the container. <br /></td></tr>
+<tr class="separator:ab5a8cd55821dfc67d5326b6e51177c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac177262270d21537ad173452535a9e86"><td class="memItemLeft" align="right" valign="top"><a id="ac177262270d21537ad173452535a9e86"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#ac177262270d21537ad173452535a9e86">finalize</a> ()</td></tr>
+<tr class="memdesc:ac177262270d21537ad173452535a9e86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finalize the container (Nothing to do for <a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a>). <br /></td></tr>
+<tr class="separator:ac177262270d21537ad173452535a9e86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a073ceabd0454f18f42948c668ad321b6"><td class="memTemplParams" colspan="2">template&lt;typename Result &gt; </td></tr>
+<tr class="memitem:a073ceabd0454f18f42948c668ad321b6"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">knn_search</a> (const Eigen::Vector4d &amp;pt, Result &amp;result) const</td></tr>
+<tr class="memdesc:a073ceabd0454f18f42948c668ad321b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1FlatContainer.html#a073ceabd0454f18f42948c668ad321b6">More...</a><br /></td></tr>
+<tr class="separator:a073ceabd0454f18f42948c668ad321b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#aab0beb882860193c35bf3313214fe01a">points</a></td></tr>
+<tr class="memdesc:aab0beb882860193c35bf3313214fe01a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Points. <br /></td></tr>
+<tr class="separator:aab0beb882860193c35bf3313214fe01a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a681475082715cf2186eca5cc12f4b342"><td class="memItemLeft" align="right" valign="top"><a id="a681475082715cf2186eca5cc12f4b342"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a681475082715cf2186eca5cc12f4b342">normals</a></td></tr>
+<tr class="memdesc:a681475082715cf2186eca5cc12f4b342"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normals. <br /></td></tr>
+<tr class="separator:a681475082715cf2186eca5cc12f4b342"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53c589df43553458975bd432153cea4b"><td class="memItemLeft" align="right" valign="top"><a id="a53c589df43553458975bd432153cea4b"></a>
+std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a53c589df43553458975bd432153cea4b">covs</a></td></tr>
+<tr class="memdesc:a53c589df43553458975bd432153cea4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariances. <br /></td></tr>
+<tr class="separator:a53c589df43553458975bd432153cea4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c602bfcce6749d230f51538d521a051"><td class="memItemLeft" align="right" valign="top"><a id="a5c602bfcce6749d230f51538d521a051"></a>
+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer.html#a5c602bfcce6749d230f51538d521a051">intensities</a></td></tr>
+<tr class="memdesc:a5c602bfcce6749d230f51538d521a051"><td class="mdescLeft">&#160;</td><td class="mdescRight">Intensities. <br /></td></tr>
+<tr class="separator:a5c602bfcce6749d230f51538d521a051"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Point container with a flat vector. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a073ceabd0454f18f42948c668ad321b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a073ceabd0454f18f42948c668ad321b6">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Result &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::FlatContainer::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Result &amp;&#160;</td>
+          <td class="paramname"><em>result</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point </td></tr>
+    <tr><td class="paramname">result</td><td>Result </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="flat__container_8hpp_source.html">flat_container.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+   <div id="projectname">gtsam_points
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::FlatContainer::Setting Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a3c97a96c780188c5e43036760866695d">max_num_points_in_cell</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a1054f187b28d664d262cd26c25df2150">min_sq_dist_in_cell</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_max_num_points_in_cell</b>(size_t num_points) (defined in <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_min_dist_in_cell</b>(double dist) (defined in <a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">gtsam_points::FlatContainer::Setting</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1FlatContainer_1_1Setting.html b/doc_cpp/structgtsam__points_1_1FlatContainer_1_1Setting.html
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+  </td>
+ </tr>
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+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a></li><li class="navelem"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html">Setting</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1FlatContainer_1_1Setting-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::FlatContainer::Setting Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting.  
+ <a href="structgtsam__points_1_1FlatContainer_1_1Setting.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="flat__container_8hpp_source.html">flat_container.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:adddd4b7e661355077e92af1d23eca3f0"><td class="memItemLeft" align="right" valign="top"><a id="adddd4b7e661355077e92af1d23eca3f0"></a>
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+<tr class="separator:adddd4b7e661355077e92af1d23eca3f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2c850a13bf0e645628f18bd68fb3b7a"><td class="memItemLeft" align="right" valign="top"><a id="ae2c850a13bf0e645628f18bd68fb3b7a"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_num_points_in_cell</b> (size_t num_points)</td></tr>
+<tr class="separator:ae2c850a13bf0e645628f18bd68fb3b7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a1054f187b28d664d262cd26c25df2150"><td class="memItemLeft" align="right" valign="top"><a id="a1054f187b28d664d262cd26c25df2150"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1FlatContainer_1_1Setting.html#a1054f187b28d664d262cd26c25df2150">min_sq_dist_in_cell</a> = 0.1 * 0.1</td></tr>
+<tr class="memdesc:a1054f187b28d664d262cd26c25df2150"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum squared distance between points in a cell. <br /></td></tr>
+<tr class="separator:a1054f187b28d664d262cd26c25df2150"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3c97a96c780188c5e43036760866695d"><td class="memItemLeft" align="right" valign="top"><a id="a3c97a96c780188c5e43036760866695d"></a>
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+<tr class="memdesc:a3c97a96c780188c5e43036760866695d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of points in a cell. <br /></td></tr>
+<tr class="separator:a3c97a96c780188c5e43036760866695d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="flat__container_8hpp_source.html">flat_container.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+   <div id="projectname">gtsam_points
+   </div>
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+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxel Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">add</a>(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">cov</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">finalize</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">finalized</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">GaussianVoxel</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">knn_search</a>(const Eigen::Vector4d &amp;pt, Result &amp;result) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">num_points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">gtsam_points::GaussianVoxel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1GaussianVoxel.html b/doc_cpp/structgtsam__points_1_1GaussianVoxel.html
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+<title>gtsam_points: gtsam_points::GaussianVoxel Struct Reference</title>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1GaussianVoxel-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxel Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Gaussian voxel that computes and stores voxel mean and covariance.  
+ <a href="structgtsam__points_1_1GaussianVoxel.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a44526738c413992af4d58df0770ff062"><td class="memItemLeft" align="right" valign="top"><a id="a44526738c413992af4d58df0770ff062"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &gt;</td></tr>
+<tr class="separator:a44526738c413992af4d58df0770ff062"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec72e4036287f5db43a84afe4e86e7fc"><td class="memItemLeft" align="right" valign="top"><a id="aec72e4036287f5db43a84afe4e86e7fc"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &gt;</td></tr>
+<tr class="separator:aec72e4036287f5db43a84afe4e86e7fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3d5f9596e1faa0f1504d5e0ac3b8009e"><td class="memItemLeft" align="right" valign="top"><a id="a3d5f9596e1faa0f1504d5e0ac3b8009e"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3d5f9596e1faa0f1504d5e0ac3b8009e">GaussianVoxel</a> ()</td></tr>
+<tr class="memdesc:a3d5f9596e1faa0f1504d5e0ac3b8009e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
+<tr class="separator:a3d5f9596e1faa0f1504d5e0ac3b8009e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a8be606f3e7ce460e1ae63c0378b718"><td class="memItemLeft" align="right" valign="top"><a id="a3a8be606f3e7ce460e1ae63c0378b718"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a3a8be606f3e7ce460e1ae63c0378b718">size</a> () const</td></tr>
+<tr class="memdesc:a3a8be606f3e7ce460e1ae63c0378b718"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points in the voxel (Always 1 for <a class="el" href="structgtsam__points_1_1GaussianVoxel.html" title="Gaussian voxel that computes and stores voxel mean and covariance.">GaussianVoxel</a>). <br /></td></tr>
+<tr class="separator:a3a8be606f3e7ce460e1ae63c0378b718"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afbef5bb526091958635e49fc011ed252"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">add</a> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a> &amp;setting, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points, size_t i)</td></tr>
+<tr class="memdesc:afbef5bb526091958635e49fc011ed252"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point to the voxel.  <a href="structgtsam__points_1_1GaussianVoxel.html#afbef5bb526091958635e49fc011ed252">More...</a><br /></td></tr>
+<tr class="separator:afbef5bb526091958635e49fc011ed252"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abf4e4949bfa7983520d04b82cc118ee0"><td class="memItemLeft" align="right" valign="top"><a id="abf4e4949bfa7983520d04b82cc118ee0"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#abf4e4949bfa7983520d04b82cc118ee0">finalize</a> ()</td></tr>
+<tr class="memdesc:abf4e4949bfa7983520d04b82cc118ee0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finalize the voxel mean and covariance. <br /></td></tr>
+<tr class="separator:abf4e4949bfa7983520d04b82cc118ee0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae23000e13e4b4652d0d702c5c1e9b390"><td class="memTemplParams" colspan="2">template&lt;typename Result &gt; </td></tr>
+<tr class="memitem:ae23000e13e4b4652d0d702c5c1e9b390"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">knn_search</a> (const Eigen::Vector4d &amp;pt, Result &amp;result) const</td></tr>
+<tr class="memdesc:ae23000e13e4b4652d0d702c5c1e9b390"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1GaussianVoxel.html#ae23000e13e4b4652d0d702c5c1e9b390">More...</a><br /></td></tr>
+<tr class="separator:ae23000e13e4b4652d0d702c5c1e9b390"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a699891ab62f03f3517f3f5794f42ea39"><td class="memItemLeft" align="right" valign="top"><a id="a699891ab62f03f3517f3f5794f42ea39"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#a699891ab62f03f3517f3f5794f42ea39">finalized</a></td></tr>
+<tr class="memdesc:a699891ab62f03f3517f3f5794f42ea39"><td class="mdescLeft">&#160;</td><td class="mdescRight">If true, mean and cov are finalized, otherwise they represent the sum of input points. <br /></td></tr>
+<tr class="separator:a699891ab62f03f3517f3f5794f42ea39"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae74d6fae8a249addf77449ebcd003c13"><td class="memItemLeft" align="right" valign="top"><a id="ae74d6fae8a249addf77449ebcd003c13"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ae74d6fae8a249addf77449ebcd003c13">num_points</a></td></tr>
+<tr class="memdesc:ae74d6fae8a249addf77449ebcd003c13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of input points. <br /></td></tr>
+<tr class="separator:ae74d6fae8a249addf77449ebcd003c13"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac774247946255c1f200d9404756f2430"><td class="memItemLeft" align="right" valign="top"><a id="ac774247946255c1f200d9404756f2430"></a>
+Eigen::Vector4d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ac774247946255c1f200d9404756f2430">mean</a></td></tr>
+<tr class="memdesc:ac774247946255c1f200d9404756f2430"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mean. <br /></td></tr>
+<tr class="separator:ac774247946255c1f200d9404756f2430"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab285e78795fa03084566e6d2ef08b914"><td class="memItemLeft" align="right" valign="top"><a id="ab285e78795fa03084566e6d2ef08b914"></a>
+Eigen::Matrix4d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html#ab285e78795fa03084566e6d2ef08b914">cov</a></td></tr>
+<tr class="memdesc:ab285e78795fa03084566e6d2ef08b914"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance. <br /></td></tr>
+<tr class="separator:ab285e78795fa03084566e6d2ef08b914"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Gaussian voxel that computes and stores voxel mean and covariance. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="afbef5bb526091958635e49fc011ed252"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afbef5bb526091958635e49fc011ed252">&#9670;&nbsp;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::GaussianVoxel::add </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a> &amp;&#160;</td>
+          <td class="paramname"><em>setting</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>i</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add a point to the voxel. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">setting</td><td><a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a> </td></tr>
+    <tr><td class="paramname">transformed_pt</td><td>Transformed point mean </td></tr>
+    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
+    <tr><td class="paramname">i</td><td>Index of the point </td></tr>
+    <tr><td class="paramname">T</td><td>Transformation matrix </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae23000e13e4b4652d0d702c5c1e9b390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae23000e13e4b4652d0d702c5c1e9b390">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Result &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::GaussianVoxel::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Result &amp;&#160;</td>
+          <td class="paramname"><em>result</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point </td></tr>
+    <tr><td class="paramname">result</td><td>Result </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1GaussianVoxel_1_1Setting.html b/doc_cpp/structgtsam__points_1_1GaussianVoxel_1_1Setting.html
new file mode 100644
index 00000000..1628e864
--- /dev/null
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a></li><li class="navelem"><a class="el" href="structgtsam__points_1_1GaussianVoxel_1_1Setting.html">Setting</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::GaussianVoxel::Setting Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer-members.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer-members.html
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceContainer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">add</a>(const Setting &amp;setting, const PointCloud &amp;points, size_t i)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a3632e8367f8be830768870751490924c">age</a>(int i, size_t lru) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">birthday</a>(int i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>BIRTHDAY_MASK</b> (defined in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">covs</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">finalize</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">IncrementalCovarianceContainer</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">knn_search</a>(const Eigen::Vector4d &amp;pt, Result &amp;result) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">knn_search_force</a>(const Eigen::Vector4d &amp;pt, Result &amp;result) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">normals</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">remove_old_invalid</a>(int age_thresh, size_t lru)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">set_valid</a>(int i)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">valid</a>(int i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VALID_BIT</b> (defined in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">gtsam_points::IncrementalCovarianceContainer</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1IncrementalCovarianceContainer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceContainer Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Linear container for incremental covariance and normal estimation.  
+ <a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="incremental__covariance__container_8hpp_source.html">incremental_covariance_container.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting.  <a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6aaa4d85b5af7690dbee11204816a4dc"><td class="memItemLeft" align="right" valign="top"><a id="a6aaa4d85b5af7690dbee11204816a4dc"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6aaa4d85b5af7690dbee11204816a4dc">IncrementalCovarianceContainer</a> ()</td></tr>
+<tr class="memdesc:a6aaa4d85b5af7690dbee11204816a4dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
+<tr class="separator:a6aaa4d85b5af7690dbee11204816a4dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b99fa3407a3751cc3e72d0b466e3c39"><td class="memItemLeft" align="right" valign="top"><a id="a4b99fa3407a3751cc3e72d0b466e3c39"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b99fa3407a3751cc3e72d0b466e3c39">size</a> () const</td></tr>
+<tr class="memdesc:a4b99fa3407a3751cc3e72d0b466e3c39"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points in the container. <br /></td></tr>
+<tr class="separator:a4b99fa3407a3751cc3e72d0b466e3c39"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad856633f5278334cf946e75ea6c6b884"><td class="memItemLeft" align="right" valign="top"><a id="ad856633f5278334cf946e75ea6c6b884"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad856633f5278334cf946e75ea6c6b884">add</a> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a> &amp;setting, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;<a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a>, size_t i)</td></tr>
+<tr class="memdesc:ad856633f5278334cf946e75ea6c6b884"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point to the container. <br /></td></tr>
+<tr class="separator:ad856633f5278334cf946e75ea6c6b884"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a360961579221ee357d4618054ef176f2"><td class="memItemLeft" align="right" valign="top"><a id="a360961579221ee357d4618054ef176f2"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a360961579221ee357d4618054ef176f2">finalize</a> ()</td></tr>
+<tr class="memdesc:a360961579221ee357d4618054ef176f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Finalize the container (Nothing to do for <a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a>). <br /></td></tr>
+<tr class="separator:a360961579221ee357d4618054ef176f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5a4cad7be27470aa38e7681a2667c98"><td class="memTemplParams" colspan="2">template&lt;typename Result &gt; </td></tr>
+<tr class="memitem:ad5a4cad7be27470aa38e7681a2667c98"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">knn_search</a> (const Eigen::Vector4d &amp;pt, Result &amp;result) const</td></tr>
+<tr class="memdesc:ad5a4cad7be27470aa38e7681a2667c98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#ad5a4cad7be27470aa38e7681a2667c98">More...</a><br /></td></tr>
+<tr class="separator:ad5a4cad7be27470aa38e7681a2667c98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6abb771659c29345fea03299e7547c95"><td class="memTemplParams" colspan="2">template&lt;typename Result &gt; </td></tr>
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+<tr class="memdesc:a6abb771659c29345fea03299e7547c95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a6abb771659c29345fea03299e7547c95">More...</a><br /></td></tr>
+<tr class="separator:a6abb771659c29345fea03299e7547c95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a90ec02437910242020af81a337d5428c"><td class="memItemLeft" align="right" valign="top"><a id="a90ec02437910242020af81a337d5428c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a90ec02437910242020af81a337d5428c">set_valid</a> (int i)</td></tr>
+<tr class="memdesc:a90ec02437910242020af81a337d5428c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the i-th point as valid. <br /></td></tr>
+<tr class="separator:a90ec02437910242020af81a337d5428c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaef72d7cfcb91ef0bd1c40e993ca611b"><td class="memItemLeft" align="right" valign="top"><a id="aaef72d7cfcb91ef0bd1c40e993ca611b"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#aaef72d7cfcb91ef0bd1c40e993ca611b">valid</a> (int i) const</td></tr>
+<tr class="memdesc:aaef72d7cfcb91ef0bd1c40e993ca611b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the i-th point is valid. <br /></td></tr>
+<tr class="separator:aaef72d7cfcb91ef0bd1c40e993ca611b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a772f5e3173e676a73446c7683bd343f4"><td class="memItemLeft" align="right" valign="top"><a id="a772f5e3173e676a73446c7683bd343f4"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a772f5e3173e676a73446c7683bd343f4">birthday</a> (int i) const</td></tr>
+<tr class="memdesc:a772f5e3173e676a73446c7683bd343f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the time when the i-th point was inserted. <br /></td></tr>
+<tr class="separator:a772f5e3173e676a73446c7683bd343f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3632e8367f8be830768870751490924c"><td class="memItemLeft" align="right" valign="top"><a id="a3632e8367f8be830768870751490924c"></a>
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+<tr class="memdesc:a3632e8367f8be830768870751490924c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the time since the i-th point was inserted. <br /></td></tr>
+<tr class="separator:a3632e8367f8be830768870751490924c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54092f6444fa51362a18c2eafa1d7918"><td class="memItemLeft" align="right" valign="top"><a id="a54092f6444fa51362a18c2eafa1d7918"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a54092f6444fa51362a18c2eafa1d7918">remove_old_invalid</a> (int age_thresh, size_t lru)</td></tr>
+<tr class="memdesc:a54092f6444fa51362a18c2eafa1d7918"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove old invalid points. <br /></td></tr>
+<tr class="separator:a54092f6444fa51362a18c2eafa1d7918"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4b54004c56a5fd92843d5144b9bd91b3"><td class="memItemLeft" align="right" valign="top"><a id="a4b54004c56a5fd92843d5144b9bd91b3"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4b54004c56a5fd92843d5144b9bd91b3">points</a></td></tr>
+<tr class="memdesc:a4b54004c56a5fd92843d5144b9bd91b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Points. <br /></td></tr>
+<tr class="separator:a4b54004c56a5fd92843d5144b9bd91b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ed822e2a152e2e8846f3b6e3881f31c"><td class="memItemLeft" align="right" valign="top"><a id="a4ed822e2a152e2e8846f3b6e3881f31c"></a>
+std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a4ed822e2a152e2e8846f3b6e3881f31c">flags</a></td></tr>
+<tr class="memdesc:a4ed822e2a152e2e8846f3b6e3881f31c"><td class="mdescLeft">&#160;</td><td class="mdescRight">State flags. <br /></td></tr>
+<tr class="separator:a4ed822e2a152e2e8846f3b6e3881f31c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a7fcca25c0a7065e86cac6d8e8a955a33">normals</a></td></tr>
+<tr class="memdesc:a7fcca25c0a7065e86cac6d8e8a955a33"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normals. <br /></td></tr>
+<tr class="separator:a7fcca25c0a7065e86cac6d8e8a955a33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c900079f526b92aae3b9e3a1ff92670"><td class="memItemLeft" align="right" valign="top"><a id="a5c900079f526b92aae3b9e3a1ff92670"></a>
+std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html#a5c900079f526b92aae3b9e3a1ff92670">covs</a></td></tr>
+<tr class="memdesc:a5c900079f526b92aae3b9e3a1ff92670"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariances. <br /></td></tr>
+<tr class="separator:a5c900079f526b92aae3b9e3a1ff92670"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ac9a248dc7a1e8996d9d8b684ee15a9d6"><td class="memItemLeft" align="right" valign="top"><a id="ac9a248dc7a1e8996d9d8b684ee15a9d6"></a>
+static constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><b>VALID_BIT</b> = 1ull &lt;&lt; 63</td></tr>
+<tr class="separator:ac9a248dc7a1e8996d9d8b684ee15a9d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acceab4f3894811b82d6a1f8e7175e025"><td class="memItemLeft" align="right" valign="top"><a id="acceab4f3894811b82d6a1f8e7175e025"></a>
+static constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><b>BIRTHDAY_MASK</b> = (VALID_BIT &gt;&gt; 1) - 1</td></tr>
+<tr class="separator:acceab4f3894811b82d6a1f8e7175e025"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Linear container for incremental covariance and normal estimation. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad5a4cad7be27470aa38e7681a2667c98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5a4cad7be27470aa38e7681a2667c98">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Result &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::IncrementalCovarianceContainer::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Result &amp;&#160;</td>
+          <td class="paramname"><em>result</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point </td></tr>
+    <tr><td class="paramname">result</td><td>Result </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6abb771659c29345fea03299e7547c95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6abb771659c29345fea03299e7547c95">&#9670;&nbsp;</a></span>knn_search_force()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Result &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::IncrementalCovarianceContainer::knn_search_force </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Result &amp;&#160;</td>
+          <td class="paramname"><em>result</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point </td></tr>
+    <tr><td class="paramname">result</td><td>Result </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__covariance__container_8hpp_source.html">incremental_covariance_container.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting-members.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
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+  $(document).ready(function() { init_search(); });
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceContainer::Setting Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">max_num_points_in_cell</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">min_sq_dist_in_cell</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_max_num_points_in_cell</b>(size_t num_points) (defined in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_min_dist_in_cell</b>(double dist) (defined in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">gtsam_points::IncrementalCovarianceContainer::Setting</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::IncrementalCovarianceContainer::Setting Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html">Setting</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceContainer::Setting Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting.  
+ <a href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="incremental__covariance__container_8hpp_source.html">incremental_covariance_container.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a4dd1bd5b340e3478221c363f9c098dbc"><td class="memItemLeft" align="right" valign="top"><a id="a4dd1bd5b340e3478221c363f9c098dbc"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_min_dist_in_cell</b> (double dist)</td></tr>
+<tr class="separator:a4dd1bd5b340e3478221c363f9c098dbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad559f2f58cd4812f156feaf2530e71ce"><td class="memItemLeft" align="right" valign="top"><a id="ad559f2f58cd4812f156feaf2530e71ce"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>set_max_num_points_in_cell</b> (size_t num_points)</td></tr>
+<tr class="separator:ad559f2f58cd4812f156feaf2530e71ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ab5555727bb5bd911de09a95937a04932"><td class="memItemLeft" align="right" valign="top"><a id="ab5555727bb5bd911de09a95937a04932"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#ab5555727bb5bd911de09a95937a04932">min_sq_dist_in_cell</a> = 0.1 * 0.1</td></tr>
+<tr class="memdesc:ab5555727bb5bd911de09a95937a04932"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum squared distance between points in a cell. <br /></td></tr>
+<tr class="separator:ab5555727bb5bd911de09a95937a04932"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88d0a004290a8f1d6d980436bd8fc6c3"><td class="memItemLeft" align="right" valign="top"><a id="a88d0a004290a8f1d6d980436bd8fc6c3"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer_1_1Setting.html#a88d0a004290a8f1d6d980436bd8fc6c3">max_num_points_in_cell</a> = 20</td></tr>
+<tr class="memdesc:a88d0a004290a8f1d6d980436bd8fc6c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of points in a cell. <br /></td></tr>
+<tr class="separator:a88d0a004290a8f1d6d980436bd8fc6c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structgtsam__points_1_1FlatContainer.html" title="Point container with a flat vector.">FlatContainer</a> setting. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__covariance__container_8hpp_source.html">incremental_covariance_container.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap-members.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap-members.html
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--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap-members.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceVoxelMap Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">calc_index</a>(const size_t voxel_id, const size_t point_id) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">clear</a>() override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cov</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acf7424845bf64ad46d0b7cb178d5f1ff">eig_stats</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">eig_stddev_thresh_scale</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">IncrementalCovarianceVoxelMap</a>(double voxel_resolution)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a>(double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">insert</a>(const PointCloud &amp;points) override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">knn_search_force</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">lowrate_cycles</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">min_num_neighbors</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>neighbor_offsets</b>(const int neighbor_voxel_mode) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">num_neighbors</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">num_voxels</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">remove_invalid_age_thresh</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">set_eig_stddev_thresh_scale</a>(double eig_stddev_thresh_scale)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">set_lowrate_cycles</a>(int lowrate_cycles)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a>(const int lru_clear_cycle)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a>(const int lru_horizon)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">set_min_num_neighbors</a>(int min_num_neighbors)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a>(const int mode)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">set_num_neighbors</a>(int num_neighbors)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">set_num_threads</a>(int num_threads)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">set_remove_invalid_age_thresh</a>(int remove_invalid_age_thresh)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a>(const double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">set_warmup_cycles</a>(int warmup_cycles)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">valid_indices</a>(int num_threads=-1) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>visit_points</b>(const Func &amp;f) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">voxel_covs</a>(const std::vector&lt; size_t &gt; &amp;indices) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a91e514089732ff49c1296900093dd3e2">voxel_covs</a>() const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_data</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">voxel_normals</a>(const std::vector&lt; size_t &gt; &amp;indices) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">voxel_normals</a>() const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">voxel_points</a>(const std::vector&lt; size_t &gt; &amp;indices) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a80522ddda706a7508ee530b4ca168546">voxel_points</a>() const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">warmup_cycles</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IncrementalCovarianceVoxelMap</b>() (defined in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">gtsam_points::IncrementalCovarianceVoxelMap</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IncrementalVoxelMap</b>() (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap.html b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap.html
new file mode 100644
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+++ b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap.html
@@ -0,0 +1,393 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>gtsam_points: gtsam_points::IncrementalCovarianceVoxelMap Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalCovarianceVoxelMap Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Incremental voxelmap with online covariance and normal estimation.  
+ <a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="incremental__covariance__voxelmap_8hpp_source.html">incremental_covariance_voxelmap.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IncrementalCovarianceVoxelMap:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.png" border="0" usemap="#agtsam__points_1_1IncrementalCovarianceVoxelMap_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IncrementalCovarianceVoxelMap_inherit__map" id="agtsam__points_1_1IncrementalCovarianceVoxelMap_inherit__map">
+<area shape="rect" title="Incremental voxelmap with online covariance and normal estimation." alt="" coords="33,199,229,240"/>
+<area shape="rect" href="structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="5,95,256,151"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="17,5,245,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IncrementalCovarianceVoxelMap:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IncrementalCovarianceVoxelMap__coll__graph.png" border="0" usemap="#agtsam__points_1_1IncrementalCovarianceVoxelMap_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1IncrementalCovarianceVoxelMap_coll__map" id="agtsam__points_1_1IncrementalCovarianceVoxelMap_coll__map">
+<area shape="rect" title="Incremental voxelmap with online covariance and normal estimation." alt="" coords="33,199,229,240"/>
+<area shape="rect" href="structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="5,95,256,151"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="17,5,245,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:add6cdaa1562d78590f55c1fc16b72c3e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">IncrementalCovarianceVoxelMap</a> (double voxel_resolution)</td></tr>
+<tr class="memdesc:add6cdaa1562d78590f55c1fc16b72c3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add6cdaa1562d78590f55c1fc16b72c3e">More...</a><br /></td></tr>
+<tr class="separator:add6cdaa1562d78590f55c1fc16b72c3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add5e4d661c445a3776ca779cd6987a02"><td class="memItemLeft" align="right" valign="top"><a id="add5e4d661c445a3776ca779cd6987a02"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#add5e4d661c445a3776ca779cd6987a02">set_num_neighbors</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">num_neighbors</a>)</td></tr>
+<tr class="memdesc:add5e4d661c445a3776ca779cd6987a02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of neighbors for covariance estimation. <br /></td></tr>
+<tr class="separator:add5e4d661c445a3776ca779cd6987a02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82e02958175825295090296bef76d57c"><td class="memItemLeft" align="right" valign="top"><a id="a82e02958175825295090296bef76d57c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a82e02958175825295090296bef76d57c">set_min_num_neighbors</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac9eecb309a3e78f4c2013b91d3506128">min_num_neighbors</a>)</td></tr>
+<tr class="memdesc:a82e02958175825295090296bef76d57c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of neighbors for covariance estimation. <br /></td></tr>
+<tr class="separator:a82e02958175825295090296bef76d57c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1e56ab8f93ea309a895df47f1038b4e"><td class="memItemLeft" align="right" valign="top"><a id="ab1e56ab8f93ea309a895df47f1038b4e"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab1e56ab8f93ea309a895df47f1038b4e">set_warmup_cycles</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a95b5a5c0b7e141bbd52bcbe4be0c4538">warmup_cycles</a>)</td></tr>
+<tr class="memdesc:ab1e56ab8f93ea309a895df47f1038b4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of warmup cycles. Covariances of new points in this period are not re-evaluated every frame. <br /></td></tr>
+<tr class="separator:ab1e56ab8f93ea309a895df47f1038b4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a81f4cb7004bd5cae277d1de256c40343">set_lowrate_cycles</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aee2af800a50d75b2d0812880d9ccf0f4">lowrate_cycles</a>)</td></tr>
+<tr class="memdesc:a81f4cb7004bd5cae277d1de256c40343"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of lowrate update cycles. Covariances of invalid points are re-evaluated every this period. <br /></td></tr>
+<tr class="separator:a81f4cb7004bd5cae277d1de256c40343"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa1b3ba3b5fa8a265e32b2801591cc189"><td class="memItemLeft" align="right" valign="top"><a id="aa1b3ba3b5fa8a265e32b2801591cc189"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#aa1b3ba3b5fa8a265e32b2801591cc189">set_remove_invalid_age_thresh</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a73c98c571508b62dbc91c0044c95c80a">remove_invalid_age_thresh</a>)</td></tr>
+<tr class="memdesc:aa1b3ba3b5fa8a265e32b2801591cc189"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the age threshold for removing invalid points. Invalid points older than this are removed. <br /></td></tr>
+<tr class="separator:aa1b3ba3b5fa8a265e32b2801591cc189"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9dace7ca4fd7c88e2ed07ebb8a4836a0"><td class="memItemLeft" align="right" valign="top"><a id="a9dace7ca4fd7c88e2ed07ebb8a4836a0"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a9dace7ca4fd7c88e2ed07ebb8a4836a0">set_eig_stddev_thresh_scale</a> (double <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">eig_stddev_thresh_scale</a>)</td></tr>
+<tr class="memdesc:a9dace7ca4fd7c88e2ed07ebb8a4836a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold scale for normal validation. <br /></td></tr>
+<tr class="separator:a9dace7ca4fd7c88e2ed07ebb8a4836a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a804a26308a0de921871aa2ffca4c159d"><td class="memItemLeft" align="right" valign="top"><a id="a804a26308a0de921871aa2ffca4c159d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a804a26308a0de921871aa2ffca4c159d">set_num_threads</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a>)</td></tr>
+<tr class="memdesc:a804a26308a0de921871aa2ffca4c159d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of threads for normal estimation. <br /></td></tr>
+<tr class="separator:a804a26308a0de921871aa2ffca4c159d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab20b8a69ccfcd39d311e02baa1688eaf"><td class="memItemLeft" align="right" valign="top"><a id="ab20b8a69ccfcd39d311e02baa1688eaf"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ab20b8a69ccfcd39d311e02baa1688eaf">clear</a> () override</td></tr>
+<tr class="memdesc:ab20b8a69ccfcd39d311e02baa1688eaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the voxelmap. <br /></td></tr>
+<tr class="separator:ab20b8a69ccfcd39d311e02baa1688eaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac989a7bd9d2245cd621bf3774390a915"><td class="memItemLeft" align="right" valign="top"><a id="ac989a7bd9d2245cd621bf3774390a915"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">insert</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points) override</td></tr>
+<tr class="memdesc:ac989a7bd9d2245cd621bf3774390a915"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert point into the voxelmap. <br /></td></tr>
+<tr class="separator:ac989a7bd9d2245cd621bf3774390a915"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdec741292e2fb009ddbd143d7ec823b"><td class="memItemLeft" align="right" valign="top"><a id="abdec741292e2fb009ddbd143d7ec823b"></a>
+virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td></tr>
+<tr class="memdesc:abdec741292e2fb009ddbd143d7ec823b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This only finds neighbors with valid covariances. <br /></td></tr>
+<tr class="separator:abdec741292e2fb009ddbd143d7ec823b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0560243bd692503b06008cdeb47d5f2e"><td class="memItemLeft" align="right" valign="top"><a id="a0560243bd692503b06008cdeb47d5f2e"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a0560243bd692503b06008cdeb47d5f2e">knn_search_force</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</td></tr>
+<tr class="memdesc:a0560243bd692503b06008cdeb47d5f2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This finds neighbors regardless of the validity of covariances. <br /></td></tr>
+<tr class="separator:a0560243bd692503b06008cdeb47d5f2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8cad37f0ccceca957e7508ccfb62b04a"><td class="memItemLeft" align="right" valign="top"><a id="a8cad37f0ccceca957e7508ccfb62b04a"></a>
+std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a8cad37f0ccceca957e7508ccfb62b04a">valid_indices</a> (int <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af18cb7811fdb7e0bfdbb8b2792dd6080">num_threads</a>=-1) const</td></tr>
+<tr class="memdesc:a8cad37f0ccceca957e7508ccfb62b04a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get valid point indices. If num_threads is -1, the member variable num_threads is used. <br /></td></tr>
+<tr class="separator:a8cad37f0ccceca957e7508ccfb62b04a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3faaf009055f4a79a147e2cee677e078"><td class="memItemLeft" align="right" valign="top"><a id="a3faaf009055f4a79a147e2cee677e078"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a3faaf009055f4a79a147e2cee677e078">voxel_points</a> (const std::vector&lt; size_t &gt; &amp;indices) const</td></tr>
+<tr class="memdesc:a3faaf009055f4a79a147e2cee677e078"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get points from indices. <br /></td></tr>
+<tr class="separator:a3faaf009055f4a79a147e2cee677e078"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4331f9824f490bea0d85444a4f94c79f"><td class="memItemLeft" align="right" valign="top"><a id="a4331f9824f490bea0d85444a4f94c79f"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a4331f9824f490bea0d85444a4f94c79f">voxel_normals</a> (const std::vector&lt; size_t &gt; &amp;indices) const</td></tr>
+<tr class="memdesc:a4331f9824f490bea0d85444a4f94c79f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get normals from indices. <br /></td></tr>
+<tr class="separator:a4331f9824f490bea0d85444a4f94c79f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af037c856245778d170a237b046c19965"><td class="memItemLeft" align="right" valign="top"><a id="af037c856245778d170a237b046c19965"></a>
+std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af037c856245778d170a237b046c19965">voxel_covs</a> (const std::vector&lt; size_t &gt; &amp;indices) const</td></tr>
+<tr class="memdesc:af037c856245778d170a237b046c19965"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get covariances from indices. <br /></td></tr>
+<tr class="separator:af037c856245778d170a237b046c19965"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80522ddda706a7508ee530b4ca168546"><td class="memItemLeft" align="right" valign="top"><a id="a80522ddda706a7508ee530b4ca168546"></a>
+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a80522ddda706a7508ee530b4ca168546">voxel_points</a> () const override</td></tr>
+<tr class="memdesc:a80522ddda706a7508ee530b4ca168546"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get voxel points. <br /></td></tr>
+<tr class="separator:a80522ddda706a7508ee530b4ca168546"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acee8999653929e3221cf25355b14de32"><td class="memItemLeft" align="right" valign="top"><a id="acee8999653929e3221cf25355b14de32"></a>
+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#acee8999653929e3221cf25355b14de32">voxel_normals</a> () const override</td></tr>
+<tr class="memdesc:acee8999653929e3221cf25355b14de32"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get voxel normals. <br /></td></tr>
+<tr class="separator:acee8999653929e3221cf25355b14de32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a91e514089732ff49c1296900093dd3e2"><td class="memItemLeft" align="right" valign="top"><a id="a91e514089732ff49c1296900093dd3e2"></a>
+virtual std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a91e514089732ff49c1296900093dd3e2">voxel_covs</a> () const override</td></tr>
+<tr class="memdesc:a91e514089732ff49c1296900093dd3e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get voxel covariances. <br /></td></tr>
+<tr class="separator:a91e514089732ff49c1296900093dd3e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td></tr>
+<tr class="memitem:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a> (double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">More...</a><br /></td></tr>
+<tr class="separator:a985e94ab0de7517bcb597f925fb34da8 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a4705cb737c77acdcb97e10899a08f6fb"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a> (const double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:a4705cb737c77acdcb97e10899a08f6fb inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="acec16db641994783ab61ac705b65a53d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>)</td></tr>
+<tr class="memdesc:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache clearing cycle. <br /></td></tr>
+<tr class="separator:acec16db641994783ab61ac705b65a53d inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a46c51e0007ae9883bbc702c1b86971a9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>)</td></tr>
+<tr class="memdesc:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache horizon. <br /></td></tr>
+<tr class="separator:a46c51e0007ae9883bbc702c1b86971a9 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a316d9f2671876d93e0bd94800fe99b14 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a316d9f2671876d93e0bd94800fe99b14"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a> (const int mode)</td></tr>
+<tr class="memdesc:a316d9f2671876d93e0bd94800fe99b14 inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Neighboring voxel search mode (1, 7, 19, or 27). <br /></td></tr>
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+<tr class="memitem:ae1dc28f2574de3baf638905d2e9d227e inherit pub_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="ae1dc28f2574de3baf638905d2e9d227e"></a>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> () const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const size_t i) const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const size_t i) const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const size_t i) const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const size_t i) const</td></tr>
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+virtual std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_intensities</b> () const</td></tr>
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+virtual PointCloudCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_data</b> () const</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#af9a5e477371009e0e2e2a237e1cdd199">num_neighbors</a></td></tr>
+<tr class="memdesc:af9a5e477371009e0e2e2a237e1cdd199"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of neighbors for covariance estimation. <br /></td></tr>
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+<tr class="memdesc:a73c98c571508b62dbc91c0044c95c80a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Age threshold for removing invalid points. <br /></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#a30386d9a99dd9402fc983ec9dd830356">eig_stddev_thresh_scale</a></td></tr>
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+<tr class="inherit_header pro_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td></tr>
+<tr class="memitem:a04f366016bcdcf99a6d2688d70956c65 inherit pro_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a04f366016bcdcf99a6d2688d70956c65"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td></tr>
+<tr class="memitem:ab10ed1f31238d53d41b99c2b7562a704 inherit pub_types_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="ab10ed1f31238d53d41b99c2b7562a704"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
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+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
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+<tr class="inherit_header pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td></tr>
+<tr class="memitem:a324e8dacc90cc5eff4c5522498d2cddf inherit pro_methods_structgtsam__points_1_1IncrementalVoxelMap"><td class="memItemLeft" align="right" valign="top"><a id="a324e8dacc90cc5eff4c5522498d2cddf"></a>
+std::vector&lt; Eigen::Vector3i &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>neighbor_offsets</b> (const int neighbor_voxel_mode) const</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>visit_points</b> (const Func &amp;f) const</td></tr>
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+<tr class="inherit_header pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a></td></tr>
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+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td></tr>
+<tr class="memdesc:a6f3879cdf400b3d9e8f288f8272e5e8b inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the first 32 bits for point id. <br /></td></tr>
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+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a></td></tr>
+<tr class="memdesc:ae2e6a3df1bba51789fba319a4420461f inherit pro_static_attribs_structgtsam__points_1_1IncrementalVoxelMap"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the remaining bits for voxel id. <br /></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Incremental voxelmap with online covariance and normal estimation. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="add6cdaa1562d78590f55c1fc16b72c3e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add6cdaa1562d78590f55c1fc16b72c3e">&#9670;&nbsp;</a></span>IncrementalCovarianceVoxelMap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IncrementalCovarianceVoxelMap::IncrementalCovarianceVoxelMap </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>voxel_resolution</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">voxel_resolution</td><td>Voxel resolution </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__covariance__voxelmap_8hpp_source.html">incremental_covariance_voxelmap.hpp</a></li>
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__coll__graph.map b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__coll__graph.map
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+<area shape="rect" id="node1" title="Incremental voxelmap with online covariance and normal estimation." alt="" coords="33,199,229,240"/>
+<area shape="rect" id="node2" href="$structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="5,95,256,151"/>
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__coll__graph.md5
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.map b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.map
new file mode 100644
index 00000000..1adaad8f
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="gtsam_points::IncrementalCovarianceVoxelMap" name="gtsam_points::IncrementalCovarianceVoxelMap">
+<area shape="rect" id="node1" title="Incremental voxelmap with online covariance and normal estimation." alt="" coords="33,199,229,240"/>
+<area shape="rect" id="node2" href="$structgtsam__points_1_1IncrementalVoxelMap.html" title=" " alt="" coords="5,95,256,151"/>
+<area shape="rect" id="node3" href="$structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="17,5,245,47"/>
+</map>
diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.md5
new file mode 100644
index 00000000..296f0756
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.png b/doc_cpp/structgtsam__points_1_1IncrementalCovarianceVoxelMap__inherit__graph.png
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap-members.html b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap-members.html
new file mode 100644
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+++ b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap-members.html
@@ -0,0 +1,125 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#abae7c8dbec4ac33add69d7345c39bb73">calc_index</a>(const size_t voxel_id, const size_t point_id) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">clear</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cov</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a>(double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4e8f10d43973d573b1e5bd99ba91dcc0">insert</a>(const PointCloud &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>neighbor_offsets</b>(const int neighbor_voxel_mode) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a16625ca1ce92157055a3a378c2beb1b3">num_voxels</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const size_t i) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a>(const int lru_clear_cycle)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a>(const int lru_horizon)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a>(const int mode)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a>(const double leaf_size)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>visit_points</b>(const Func &amp;f) const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>voxel_covs</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_data</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a>(const size_t i) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_intensities</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>voxel_normals</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>voxel_points</b>() const (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~IncrementalVoxelMap</b>() (defined in <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap.html b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap.html
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+<title>gtsam_points: gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">gtsam_points
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#pro-static-attribs">Static Protected Attributes</a> &#124;
+<a href="structgtsam__points_1_1IncrementalVoxelMap-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion.  
+ <a href="structgtsam__points_1_1IncrementalVoxelMap.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="incremental__voxelmap_8hpp_source.html">incremental_voxelmap.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.png" border="0" usemap="#agtsam__points_1_1IncrementalVoxelMap_3_01VoxelContents_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Incremental voxelmap. This class supports incremental point cloud insertion and LRU&#45;based voxel delet..." alt="" coords="15,95,223,136"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IncrementalVoxelMap__coll__graph.png" border="0" usemap="#agtsam__points_1_1IncrementalVoxelMap_3_01VoxelContents_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1IncrementalVoxelMap_3_01VoxelContents_01_4_coll__map" id="agtsam__points_1_1IncrementalVoxelMap_3_01VoxelContents_01_4_coll__map">
+<area shape="rect" title="Incremental voxelmap. This class supports incremental point cloud insertion and LRU&#45;based voxel delet..." alt="" coords="15,95,223,136"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ab10ed1f31238d53d41b99c2b7562a704"><td class="memItemLeft" align="right" valign="top"><a id="ab10ed1f31238d53d41b99c2b7562a704"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
+<tr class="separator:ab10ed1f31238d53d41b99c2b7562a704"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8186fdeb4608dde663ced69752b81552"><td class="memItemLeft" align="right" valign="top"><a id="a8186fdeb4608dde663ced69752b81552"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> &gt;</td></tr>
+<tr class="separator:a8186fdeb4608dde663ced69752b81552"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a985e94ab0de7517bcb597f925fb34da8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">IncrementalVoxelMap</a> (double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a985e94ab0de7517bcb597f925fb34da8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1IncrementalVoxelMap.html#a985e94ab0de7517bcb597f925fb34da8">More...</a><br /></td></tr>
+<tr class="separator:a985e94ab0de7517bcb597f925fb34da8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4705cb737c77acdcb97e10899a08f6fb"><td class="memItemLeft" align="right" valign="top"><a id="a4705cb737c77acdcb97e10899a08f6fb"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4705cb737c77acdcb97e10899a08f6fb">set_voxel_resolution</a> (const double <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa85d8d43e5ef3b78db2b3af32b1c92be">leaf_size</a>)</td></tr>
+<tr class="memdesc:a4705cb737c77acdcb97e10899a08f6fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution. <br /></td></tr>
+<tr class="separator:a4705cb737c77acdcb97e10899a08f6fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acec16db641994783ab61ac705b65a53d"><td class="memItemLeft" align="right" valign="top"><a id="acec16db641994783ab61ac705b65a53d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#acec16db641994783ab61ac705b65a53d">set_lru_clear_cycle</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a>)</td></tr>
+<tr class="memdesc:acec16db641994783ab61ac705b65a53d"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache clearing cycle. <br /></td></tr>
+<tr class="separator:acec16db641994783ab61ac705b65a53d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46c51e0007ae9883bbc702c1b86971a9"><td class="memItemLeft" align="right" valign="top"><a id="a46c51e0007ae9883bbc702c1b86971a9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a46c51e0007ae9883bbc702c1b86971a9">set_lru_horizon</a> (const int <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a>)</td></tr>
+<tr class="memdesc:a46c51e0007ae9883bbc702c1b86971a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU cache horizon. <br /></td></tr>
+<tr class="separator:a46c51e0007ae9883bbc702c1b86971a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a316d9f2671876d93e0bd94800fe99b14"><td class="memItemLeft" align="right" valign="top"><a id="a316d9f2671876d93e0bd94800fe99b14"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a316d9f2671876d93e0bd94800fe99b14">set_neighbor_voxel_mode</a> (const int mode)</td></tr>
+<tr class="memdesc:a316d9f2671876d93e0bd94800fe99b14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Neighboring voxel search mode (1, 7, 19, or 27). <br /></td></tr>
+<tr class="separator:a316d9f2671876d93e0bd94800fe99b14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1dc28f2574de3baf638905d2e9d227e"><td class="memItemLeft" align="right" valign="top"><a id="ae1dc28f2574de3baf638905d2e9d227e"></a>
+VoxelContents::Setting &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae1dc28f2574de3baf638905d2e9d227e">voxel_insertion_setting</a> ()</td></tr>
+<tr class="memdesc:ae1dc28f2574de3baf638905d2e9d227e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel setting. <br /></td></tr>
+<tr class="separator:ae1dc28f2574de3baf638905d2e9d227e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa85d8d43e5ef3b78db2b3af32b1c92be"><td class="memItemLeft" align="right" valign="top"><a id="aa85d8d43e5ef3b78db2b3af32b1c92be"></a>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a23f102e6ad88d9269fd5f39853a63b9b">clear</a> ()</td></tr>
+<tr class="memdesc:a23f102e6ad88d9269fd5f39853a63b9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the voxelmap. <br /></td></tr>
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+<tr class="separator:a4e8f10d43973d573b1e5bd99ba91dcc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad618fcc1f351eed2239873aaa7caf66b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:abae7c8dbec4ac33add69d7345c39bb73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the global point index from the voxel index and the point index. <br /></td></tr>
+<tr class="separator:abae7c8dbec4ac33add69d7345c39bb73"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a445ebdb7ae249c21af2b3af8423ec8e9">voxel_id</a> (const size_t i) const</td></tr>
+<tr class="memdesc:a445ebdb7ae249c21af2b3af8423ec8e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract the point ID from a global index. <br /></td></tr>
+<tr class="separator:a445ebdb7ae249c21af2b3af8423ec8e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a17b6a12d685baf35559a7975591c85fd">point_id</a> (const size_t i) const</td></tr>
+<tr class="memdesc:a17b6a12d685baf35559a7975591c85fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract the voxel ID from a global index. <br /></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> () const</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> () const</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const size_t i) const</td></tr>
+<tr class="separator:a3d3b76b4e7bfdec72575097c74d12a6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const size_t i) const</td></tr>
+<tr class="separator:a239b7c2bcb566670affa4367bc7b38ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const size_t i) const</td></tr>
+<tr class="separator:a002a017d6c79c437452c290e74ceb803"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const size_t i) const</td></tr>
+<tr class="separator:a165033ca9cc9cffc790faec72b830b71"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_points</b> () const</td></tr>
+<tr class="separator:a796623ae1e80fe368507d7d4c75733a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecc853968a6c0811963e2c8bedc5549c"><td class="memItemLeft" align="right" valign="top"><a id="aecc853968a6c0811963e2c8bedc5549c"></a>
+virtual std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_normals</b> () const</td></tr>
+<tr class="separator:aecc853968a6c0811963e2c8bedc5549c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee02a31e93ac0bcdd12ee6b043ee95c9"><td class="memItemLeft" align="right" valign="top"><a id="aee02a31e93ac0bcdd12ee6b043ee95c9"></a>
+virtual std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_covs</b> () const</td></tr>
+<tr class="separator:aee02a31e93ac0bcdd12ee6b043ee95c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adcae536affea7bb0877fc6b8acf9ffe5"><td class="memItemLeft" align="right" valign="top"><a id="adcae536affea7bb0877fc6b8acf9ffe5"></a>
+virtual std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_intensities</b> () const</td></tr>
+<tr class="separator:adcae536affea7bb0877fc6b8acf9ffe5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03c34f5f93f948522a87d2cbbee5ef16"><td class="memItemLeft" align="right" valign="top"><a id="a03c34f5f93f948522a87d2cbbee5ef16"></a>
+virtual PointCloudCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>voxel_data</b> () const</td></tr>
+<tr class="separator:a03c34f5f93f948522a87d2cbbee5ef16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a324e8dacc90cc5eff4c5522498d2cddf"><td class="memItemLeft" align="right" valign="top"><a id="a324e8dacc90cc5eff4c5522498d2cddf"></a>
+std::vector&lt; Eigen::Vector3i &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>neighbor_offsets</b> (const int neighbor_voxel_mode) const</td></tr>
+<tr class="separator:a324e8dacc90cc5eff4c5522498d2cddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa609940737aeb1436aaba35f6af48b9a"><td class="memTemplParams" colspan="2"><a id="aa609940737aeb1436aaba35f6af48b9a"></a>
+template&lt;typename Func &gt; </td></tr>
+<tr class="memitem:aa609940737aeb1436aaba35f6af48b9a"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>visit_points</b> (const Func &amp;f) const</td></tr>
+<tr class="separator:aa609940737aeb1436aaba35f6af48b9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a04f366016bcdcf99a6d2688d70956c65"><td class="memItemLeft" align="right" valign="top"><a id="a04f366016bcdcf99a6d2688d70956c65"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a04f366016bcdcf99a6d2688d70956c65">inv_leaf_size</a></td></tr>
+<tr class="memdesc:a04f366016bcdcf99a6d2688d70956c65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse of the voxel size. <br /></td></tr>
+<tr class="separator:a04f366016bcdcf99a6d2688d70956c65"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a7438b9d26d033f62cdd4ecfa18fd03"><td class="memItemLeft" align="right" valign="top"><a id="a2a7438b9d26d033f62cdd4ecfa18fd03"></a>
+std::vector&lt; Eigen::Vector3i &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a2a7438b9d26d033f62cdd4ecfa18fd03">offsets</a></td></tr>
+<tr class="memdesc:a2a7438b9d26d033f62cdd4ecfa18fd03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Neighbor voxel offsets. <br /></td></tr>
+<tr class="separator:a2a7438b9d26d033f62cdd4ecfa18fd03"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86d624f37c2f2f717468a4861ef21392"><td class="memItemLeft" align="right" valign="top"><a id="a86d624f37c2f2f717468a4861ef21392"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a86d624f37c2f2f717468a4861ef21392">lru_horizon</a></td></tr>
+<tr class="memdesc:a86d624f37c2f2f717468a4861ef21392"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU horizon size. Voxels that have not been accessed for lru_horizon steps are deleted. <br /></td></tr>
+<tr class="separator:a86d624f37c2f2f717468a4861ef21392"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac89d90c1c844821e8cf33dd79c736f7d"><td class="memItemLeft" align="right" valign="top"><a id="ac89d90c1c844821e8cf33dd79c736f7d"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ac89d90c1c844821e8cf33dd79c736f7d">lru_clear_cycle</a></td></tr>
+<tr class="memdesc:ac89d90c1c844821e8cf33dd79c736f7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU clear cycle. Voxel deletion is performed every lru_clear_cycle steps. <br /></td></tr>
+<tr class="separator:ac89d90c1c844821e8cf33dd79c736f7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c7f4629f42fac6532259dbb83251b5a"><td class="memItemLeft" align="right" valign="top"><a id="a4c7f4629f42fac6532259dbb83251b5a"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a4c7f4629f42fac6532259dbb83251b5a">lru_counter</a></td></tr>
+<tr class="memdesc:a4c7f4629f42fac6532259dbb83251b5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">LRU counter. Incremented every step. <br /></td></tr>
+<tr class="separator:a4c7f4629f42fac6532259dbb83251b5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa7fb935ee171f3aa1a638c7f5a00cf31"><td class="memItemLeft" align="right" valign="top"><a id="aa7fb935ee171f3aa1a638c7f5a00cf31"></a>
+VoxelContents::Setting&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#aa7fb935ee171f3aa1a638c7f5a00cf31">voxel_setting</a></td></tr>
+<tr class="memdesc:aa7fb935ee171f3aa1a638c7f5a00cf31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel setting. <br /></td></tr>
+<tr class="separator:aa7fb935ee171f3aa1a638c7f5a00cf31"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad7b32a252f510a8d1adbe2f00ea43420"><td class="memItemLeft" align="right" valign="top"><a id="ad7b32a252f510a8d1adbe2f00ea43420"></a>
+std::vector&lt; std::shared_ptr&lt; std::pair&lt; <a class="el" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a>, VoxelContents &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad7b32a252f510a8d1adbe2f00ea43420">flat_voxels</a></td></tr>
+<tr class="memdesc:ad7b32a252f510a8d1adbe2f00ea43420"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel contents. <br /></td></tr>
+<tr class="separator:ad7b32a252f510a8d1adbe2f00ea43420"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a572eb934aca763a0f386e4739eae04"><td class="memItemLeft" align="right" valign="top"><a id="a5a572eb934aca763a0f386e4739eae04"></a>
+std::unordered_map&lt; Eigen::Vector3i, size_t, <a class="el" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a5a572eb934aca763a0f386e4739eae04">voxels</a></td></tr>
+<tr class="memdesc:a5a572eb934aca763a0f386e4739eae04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel index map. <br /></td></tr>
+<tr class="separator:a5a572eb934aca763a0f386e4739eae04"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
+Static Protected Attributes</h2></td></tr>
+<tr class="memitem:a6f3879cdf400b3d9e8f288f8272e5e8b"><td class="memItemLeft" align="right" valign="top"><a id="a6f3879cdf400b3d9e8f288f8272e5e8b"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a> = 32</td></tr>
+<tr class="memdesc:a6f3879cdf400b3d9e8f288f8272e5e8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the first 32 bits for point id. <br /></td></tr>
+<tr class="separator:a6f3879cdf400b3d9e8f288f8272e5e8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2e6a3df1bba51789fba319a4420461f"><td class="memItemLeft" align="right" valign="top"><a id="ae2e6a3df1bba51789fba319a4420461f"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ae2e6a3df1bba51789fba319a4420461f">voxel_id_bits</a> = 64 - <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#a6f3879cdf400b3d9e8f288f8272e5e8b">point_id_bits</a></td></tr>
+<tr class="memdesc:ae2e6a3df1bba51789fba319a4420461f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the remaining bits for voxel id. <br /></td></tr>
+<tr class="separator:ae2e6a3df1bba51789fba319a4420461f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename VoxelContents&gt;<br />
+struct gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</h3>
+
+<p>Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion. </p>
+<dl class="section note"><dt>Note</dt><dd>This class can be used as a point cloud as well as a neighbor search structure. </dd>
+<dd>
+For the compatibility with other nearest neighbor search methods, this implementation returns indices that encode the voxel and point IDs. The first <code>point_id_bits</code> (e.g., 32) bits of a point index represent the point ID, and the rest <code>voxel_id_bits</code> (e.g., 32) bits represent the voxel ID that contains the point. The specified point can be looked up by <code>voxelmap.point(index)</code>; </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a985e94ab0de7517bcb597f925fb34da8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a985e94ab0de7517bcb597f925fb34da8">&#9670;&nbsp;</a></span>IncrementalVoxelMap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename VoxelContents &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a>&lt; VoxelContents &gt;::<a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>leaf_size</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">leaf_size</td><td>Voxel size </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4e8f10d43973d573b1e5bd99ba91dcc0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e8f10d43973d573b1e5bd99ba91dcc0">&#9670;&nbsp;</a></span>insert()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename VoxelContents &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a>&lt; VoxelContents &gt;::insert </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Insert points to the voxelmap. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
+    <tr><td class="paramname">T</td><td>Transformation matrix </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#ac989a7bd9d2245cd621bf3774390a915">gtsam_points::IncrementalCovarianceVoxelMap</a>, and <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html#a1b3e2320eb0277a07579e1c0ad9b3f1b">gtsam_points::GaussianVoxelMapCPU</a>.</p>
+
+</div>
+</div>
+<a id="ad618fcc1f351eed2239873aaa7caf66b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad618fcc1f351eed2239873aaa7caf66b">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename VoxelContents &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">gtsam_points::IncrementalVoxelMap</a>&lt; VoxelContents &gt;::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;double&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors to search </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of the k nearest neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances of the k nearest neighbors </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>
+
+<p>Reimplemented from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>.</p>
+
+<p>Reimplemented in <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">gtsam_points::IncrementalCovarianceVoxelMap</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__voxelmap_8hpp_source.html">incremental_voxelmap.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/impl/<a class="el" href="incremental__voxelmap__impl_8hpp_source.html">incremental_voxelmap_impl.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<area shape="rect" id="node1" title="Incremental voxelmap. This class supports incremental point cloud insertion and LRU&#45;based voxel delet..." alt="" coords="15,95,223,136"/>
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.map b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.map
new file mode 100644
index 00000000..4fb0c6c6
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.map
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+<area shape="rect" id="node2" href="$structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
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diff --git a/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1IncrementalVoxelMap__inherit__graph.md5
new file mode 100644
index 00000000..1373ae2d
--- /dev/null
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diff --git a/doc_cpp/structgtsam__points_1_1IntensityKdTree-members.html b/doc_cpp/structgtsam__points_1_1IntensityKdTree-members.html
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::IntensityKdTree Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>index</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Index</b> typedef (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensities</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity_scale</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">IntensityKdTree</a>(const Eigen::Vector4d *points, const double *intensities, int num_points, double intensity_scale=1.0)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>kdtree_get_bbox</b>(BBox &amp;) const (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>kdtree_get_point_count</b>() const (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>kdtree_get_pt</b>(const size_t idx, const size_t dim) const (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>num_points</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>points</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>search_eps</b> (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~IntensityKdTree</b>() override (defined in <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">gtsam_points::IntensityKdTree</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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+</html>
diff --git a/doc_cpp/structgtsam__points_1_1IntensityKdTree.html b/doc_cpp/structgtsam__points_1_1IntensityKdTree.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IntensityKdTree.html
@@ -0,0 +1,285 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::IntensityKdTree Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1IntensityKdTree-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::IntensityKdTree Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> on intensity augmented coordinates. This class concatenates point coordinates (x, y, z) and intensity (i) and finds nearest neighbors on the XYZI space.  
+ <a href="structgtsam__points_1_1IntensityKdTree.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="intensity__kdtree_8hpp_source.html">intensity_kdtree.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::IntensityKdTree:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IntensityKdTree__inherit__graph.png" border="0" usemap="#agtsam__points_1_1IntensityKdTree_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1IntensityKdTree_inherit__map" id="agtsam__points_1_1IntensityKdTree_inherit__map">
+<area shape="rect" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,..." alt="" coords="10,95,229,121"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::IntensityKdTree:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1IntensityKdTree__coll__graph.png" border="0" usemap="#agtsam__points_1_1IntensityKdTree_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1IntensityKdTree_coll__map" id="agtsam__points_1_1IntensityKdTree_coll__map">
+<area shape="rect" title="KdTree on intensity augmented coordinates. This class concatenates point coordinates (x,..." alt="" coords="10,95,229,121"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aeebe5a0f15e75f2b3b09c2482f70928a"><td class="memItemLeft" align="right" valign="top"><a id="aeebe5a0f15e75f2b3b09c2482f70928a"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Index</b> = <a class="el" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">nanoflann::KDTreeSingleIndexAdaptor</a>&lt; <a class="el" href="classnanoflann_1_1L2__Simple__Adaptor.html">nanoflann::L2_Simple_Adaptor</a>&lt; double, <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a>, double &gt;, <a class="el" href="structgtsam__points_1_1IntensityKdTree.html">IntensityKdTree</a>, 4, size_t &gt;</td></tr>
+<tr class="separator:aeebe5a0f15e75f2b3b09c2482f70928a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afc8cba8eff515fe46e0d3010a3a03256"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">IntensityKdTree</a> (const Eigen::Vector4d *points, const double *intensities, int num_points, double intensity_scale=1.0)</td></tr>
+<tr class="memdesc:afc8cba8eff515fe46e0d3010a3a03256"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1IntensityKdTree.html#afc8cba8eff515fe46e0d3010a3a03256">More...</a><br /></td></tr>
+<tr class="separator:afc8cba8eff515fe46e0d3010a3a03256"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+size_t&#160;</td><td class="memItemRight" valign="bottom"><b>kdtree_get_point_count</b> () const</td></tr>
+<tr class="separator:af3884608734b705afd388b78e2bdec37"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad30afe04e3a755cbc0ac641c158898aa"><td class="memItemLeft" align="right" valign="top"><a id="ad30afe04e3a755cbc0ac641c158898aa"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>kdtree_get_pt</b> (const size_t idx, const size_t dim) const</td></tr>
+<tr class="separator:ad30afe04e3a755cbc0ac641c158898aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f6d8f3c287063ba24231fae2cb808d"><td class="memTemplParams" colspan="2"><a id="a53f6d8f3c287063ba24231fae2cb808d"></a>
+template&lt;class BBox &gt; </td></tr>
+<tr class="memitem:a53f6d8f3c287063ba24231fae2cb808d"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><b>kdtree_get_bbox</b> (BBox &amp;) const</td></tr>
+<tr class="separator:a53f6d8f3c287063ba24231fae2cb808d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa480ee34a9cacc8324b21cf8375ba95"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td></tr>
+<tr class="memdesc:aaa480ee34a9cacc8324b21cf8375ba95"><td class="mdescLeft">&#160;</td><td class="mdescRight">k-nearest neighbor search  <a href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">More...</a><br /></td></tr>
+<tr class="separator:aaa480ee34a9cacc8324b21cf8375ba95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad3894cf0c90350717d7b8e65aff3acd1"><td class="memItemLeft" align="right" valign="top"><a id="ad3894cf0c90350717d7b8e65aff3acd1"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>num_points</b></td></tr>
+<tr class="separator:ad3894cf0c90350717d7b8e65aff3acd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea9cfbc6cecd9747f39444b906c50254"><td class="memItemLeft" align="right" valign="top"><a id="aea9cfbc6cecd9747f39444b906c50254"></a>
+const double *&#160;</td><td class="memItemRight" valign="bottom"><b>intensities</b></td></tr>
+<tr class="separator:aea9cfbc6cecd9747f39444b906c50254"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4561d59c82b8c1276f4e7c1cbfcc37d2"><td class="memItemLeft" align="right" valign="top"><a id="a4561d59c82b8c1276f4e7c1cbfcc37d2"></a>
+const Eigen::Vector4d *&#160;</td><td class="memItemRight" valign="bottom"><b>points</b></td></tr>
+<tr class="separator:a4561d59c82b8c1276f4e7c1cbfcc37d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20da73633532e8bb09cc3d00d71c3a2d"><td class="memItemLeft" align="right" valign="top"><a id="a20da73633532e8bb09cc3d00d71c3a2d"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity_scale</b></td></tr>
+<tr class="separator:a20da73633532e8bb09cc3d00d71c3a2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a562a3332fde4ebd81bb5db43af4f271a"><td class="memItemLeft" align="right" valign="top"><a id="a562a3332fde4ebd81bb5db43af4f271a"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>search_eps</b></td></tr>
+<tr class="separator:a562a3332fde4ebd81bb5db43af4f271a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac06ecd405ba60bf5e541a9804f58e15a"><td class="memItemLeft" align="right" valign="top"><a id="ac06ecd405ba60bf5e541a9804f58e15a"></a>
+std::unique_ptr&lt; <a class="el" href="classnanoflann_1_1KDTreeSingleIndexAdaptor.html">Index</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>index</b></td></tr>
+<tr class="separator:ac06ecd405ba60bf5e541a9804f58e15a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> on intensity augmented coordinates. This class concatenates point coordinates (x, y, z) and intensity (i) and finds nearest neighbors on the XYZI space. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afc8cba8eff515fe46e0d3010a3a03256"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc8cba8eff515fe46e0d3010a3a03256">&#9670;&nbsp;</a></span>IntensityKdTree()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::IntensityKdTree::IntensityKdTree </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector4d *&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>intensities</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>intensity_scale</em> = <code>1.0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Input points </td></tr>
+    <tr><td class="paramname">intensities</td><td>Input point intensities </td></tr>
+    <tr><td class="paramname">num_points</td><td>Number of points </td></tr>
+    <tr><td class="paramname">intensity_scale</td><td>Scaling parameter to balance Euclidean coordinates and intensities </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaa480ee34a9cacc8324b21cf8375ba95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa480ee34a9cacc8324b21cf8375ba95">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::IntensityKdTree::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;double&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>k-nearest neighbor search </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of k-nearest neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to the neighbors </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="intensity__kdtree_8hpp_source.html">intensity_kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/doc_cpp/structgtsam__points_1_1IntensityKdTree__inherit__graph.map b/doc_cpp/structgtsam__points_1_1IntensityKdTree__inherit__graph.map
new file mode 100644
index 00000000..6101fcaf
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1IntensityKdTree__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" href="$structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
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diff --git a/doc_cpp/structgtsam__points_1_1IntensityKdTree__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1IntensityKdTree__inherit__graph.md5
new file mode 100644
index 00000000..ee522a12
--- /dev/null
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTree Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Index</b> typedef (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>index</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>KdTree</b>(const Eigen::Vector4d *points, int num_points, int build_num_threads=1) (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>num_points</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>search_eps</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~KdTree</b>() override (defined in <a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree.html">gtsam_points::KdTree</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree.html b/doc_cpp/structgtsam__points_1_1KdTree.html
new file mode 100644
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: gtsam_points::KdTree Struct Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KdTree-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTree Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>KdTree-based nearest neighbor search.  
+ <a href="structgtsam__points_1_1KdTree.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::KdTree:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1KdTree__inherit__graph.png" border="0" usemap="#agtsam__points_1_1KdTree_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1KdTree_inherit__map" id="agtsam__points_1_1KdTree_inherit__map">
+<area shape="rect" title="KdTree&#45;based nearest neighbor search." alt="" coords="38,95,201,121"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::KdTree:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1KdTree__coll__graph.png" border="0" usemap="#agtsam__points_1_1KdTree_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1KdTree_coll__map" id="agtsam__points_1_1KdTree_coll__map">
+<area shape="rect" title="KdTree&#45;based nearest neighbor search." alt="" coords="38,95,201,121"/>
+<area shape="rect" href="structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a85bdd4a319ba88dce567ae0f419d7b1b"><td class="memItemLeft" align="right" valign="top"><a id="a85bdd4a319ba88dce567ae0f419d7b1b"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Index</b> = <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a>&lt; <a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a>, <a class="el" href="structgtsam__points_1_1AxisAlignedProjection.html">AxisAlignedProjection</a> &gt;</td></tr>
+<tr class="separator:a85bdd4a319ba88dce567ae0f419d7b1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7878b18711b8729239349870370324c0"><td class="memItemLeft" align="right" valign="top"><a id="a7878b18711b8729239349870370324c0"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b> (const Eigen::Vector4d *points, int num_points, int build_num_threads=1)</td></tr>
+<tr class="separator:a7878b18711b8729239349870370324c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6539e3f2b5fa1103cb9fd0dcaec4abb6"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td></tr>
+<tr class="memdesc:a6539e3f2b5fa1103cb9fd0dcaec4abb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">More...</a><br /></td></tr>
+<tr class="separator:a6539e3f2b5fa1103cb9fd0dcaec4abb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a7ea8e95f1c4fca8f9cf94f1d1f793705"><td class="memItemLeft" align="right" valign="top"><a id="a7ea8e95f1c4fca8f9cf94f1d1f793705"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>num_points</b></td></tr>
+<tr class="separator:a7ea8e95f1c4fca8f9cf94f1d1f793705"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a72e3858be5731dc8fd33325ad4058dc6"><td class="memItemLeft" align="right" valign="top"><a id="a72e3858be5731dc8fd33325ad4058dc6"></a>
+const Eigen::Vector4d *&#160;</td><td class="memItemRight" valign="bottom"><b>points</b></td></tr>
+<tr class="separator:a72e3858be5731dc8fd33325ad4058dc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a749b10a18d4b8f862056aa17f34fa335"><td class="memItemLeft" align="right" valign="top"><a id="a749b10a18d4b8f862056aa17f34fa335"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>search_eps</b></td></tr>
+<tr class="separator:a749b10a18d4b8f862056aa17f34fa335"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8067ac41fcb04f8086c350778f31dfef"><td class="memItemLeft" align="right" valign="top"><a id="a8067ac41fcb04f8086c350778f31dfef"></a>
+std::unique_ptr&lt; <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">Index</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>index</b></td></tr>
+<tr class="separator:a8067ac41fcb04f8086c350778f31dfef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>KdTree-based nearest neighbor search. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6539e3f2b5fa1103cb9fd0dcaec4abb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6539e3f2b5fa1103cb9fd0dcaec4abb6">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::KdTree::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;&#160;double&#160;&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point (must be 4D vector [x, y, z, 1]) </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors to search </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of k nearest neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances of k nearest neighbors </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of neighbors found </dd></dl>
+
+<p>Reimplemented from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1KdTree2-members.html b/doc_cpp/structgtsam__points_1_1KdTree2-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+</script>
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+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTree2.html">KdTree2</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTree2&lt; Frame &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>frame</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Index</b> typedef (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>index</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>KdTree2</b>(const std::shared_ptr&lt; const Frame &gt; &amp;frame, int build_num_threads=1) (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>search_eps</b> (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~KdTree2</b>() override (defined in <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2&lt; Frame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree2.html b/doc_cpp/structgtsam__points_1_1KdTree2.html
new file mode 100644
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--- /dev/null
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::KdTree2&lt; Frame &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTree2.html">KdTree2</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KdTree2-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTree2&lt; Frame &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>KdTree-based nearest neighbor search.  
+ <a href="structgtsam__points_1_1KdTree2.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="kdtree2_8hpp_source.html">kdtree2.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::KdTree2&lt; Frame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1KdTree2__inherit__graph.png" border="0" usemap="#agtsam__points_1_1KdTree2_3_01Frame_01_4_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::KdTree2&lt; Frame &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1KdTree2__coll__graph.png" border="0" usemap="#agtsam__points_1_1KdTree2_3_01Frame_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a01d542fee0ef84a91368788f3c7d9a5c"><td class="memItemLeft" align="right" valign="top"><a id="a01d542fee0ef84a91368788f3c7d9a5c"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Index</b> = <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a>&lt; Frame &gt;</td></tr>
+<tr class="separator:a01d542fee0ef84a91368788f3c7d9a5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1NearestNeighborSearch"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1NearestNeighborSearch')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021 inherit pub_types_structgtsam__points_1_1NearestNeighborSearch"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5b90d010184149e4c4b2bd2c6fa0efb1"><td class="memItemLeft" align="right" valign="top"><a id="a5b90d010184149e4c4b2bd2c6fa0efb1"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree2</b> (const std::shared_ptr&lt; const Frame &gt; &amp;frame, int build_num_threads=1)</td></tr>
+<tr class="separator:a5b90d010184149e4c4b2bd2c6fa0efb1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af77d7cea9d3b324038b8207aefbb63e6"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const override</td></tr>
+<tr class="memdesc:af77d7cea9d3b324038b8207aefbb63e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k nearest neighbors.  <a href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">More...</a><br /></td></tr>
+<tr class="separator:af77d7cea9d3b324038b8207aefbb63e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a751b53a366091ee85657937d35feb3b0"><td class="memItemLeft" align="right" valign="top"><a id="a751b53a366091ee85657937d35feb3b0"></a>
+const std::shared_ptr&lt; const Frame &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>frame</b></td></tr>
+<tr class="separator:a751b53a366091ee85657937d35feb3b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a731edd577c363b9fb76dd5a9c3ce35af"><td class="memItemLeft" align="right" valign="top"><a id="a731edd577c363b9fb76dd5a9c3ce35af"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>search_eps</b></td></tr>
+<tr class="separator:a731edd577c363b9fb76dd5a9c3ce35af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06590f1b369c051c489fb4664b33240b"><td class="memItemLeft" align="right" valign="top"><a id="a06590f1b369c051c489fb4664b33240b"></a>
+std::unique_ptr&lt; <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">Index</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>index</b></td></tr>
+<tr class="separator:a06590f1b369c051c489fb4664b33240b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename Frame&gt;<br />
+struct gtsam_points::KdTree2&lt; Frame &gt;</h3>
+
+<p>KdTree-based nearest neighbor search. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="af77d7cea9d3b324038b8207aefbb63e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af77d7cea9d3b324038b8207aefbb63e6">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Frame &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t <a class="el" href="structgtsam__points_1_1KdTree2.html">gtsam_points::KdTree2</a>&lt; Frame &gt;::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;double&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k nearest neighbors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Query point (must be 4D vector [x, y, z, 1]) </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors to search </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of k nearest neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances of k nearest neighbors </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of neighbors found </dd></dl>
+
+<p>Reimplemented from <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">gtsam_points::NearestNeighborSearch</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="kdtree2_8hpp_source.html">kdtree2.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1KdTree2__coll__graph.map b/doc_cpp/structgtsam__points_1_1KdTree2__coll__graph.map
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+<area shape="rect" id="node1" title="KdTree&#45;based nearest neighbor search." alt="" coords="34,95,205,136"/>
+<area shape="rect" id="node2" href="$structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree2__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1KdTree2__coll__graph.md5
new file mode 100644
index 00000000..509428e3
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree2__inherit__graph.map b/doc_cpp/structgtsam__points_1_1KdTree2__inherit__graph.map
new file mode 100644
index 00000000..30b9c1a3
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1KdTree2__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" href="$structgtsam__points_1_1NearestNeighborSearch.html" title="Nearest neighbor search interface." alt="" coords="5,5,233,47"/>
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree2__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1KdTree2__inherit__graph.md5
new file mode 100644
index 00000000..509428e3
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeBuilder Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">build_tree</a>(KdTree &amp;kdtree, const PointCloud &amp;points) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a>(KdTree &amp;kdtree, size_t &amp;node_count, const PointCloud &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">max_leaf_size</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">projection_setting</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">gtsam_points::KdTreeBuilder</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1KdTreeBuilder.html b/doc_cpp/structgtsam__points_1_1KdTreeBuilder.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::KdTreeBuilder Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KdTreeBuilder-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeBuilder Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Single thread Kd-tree builder.  
+ <a href="structgtsam__points_1_1KdTreeBuilder.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::KdTreeBuilder:</div>
+<div class="dyncontent">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afc882d171abe717644d2d520d3b26238"><td class="memTemplParams" colspan="2">template&lt;typename KdTree , typename PointCloud &gt; </td></tr>
+<tr class="memitem:afc882d171abe717644d2d520d3b26238"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">build_tree</a> (<a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;kdtree, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points) const</td></tr>
+<tr class="memdesc:afc882d171abe717644d2d520d3b26238"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a>.  <a href="structgtsam__points_1_1KdTreeBuilder.html#afc882d171abe717644d2d520d3b26238">More...</a><br /></td></tr>
+<tr class="separator:afc882d171abe717644d2d520d3b26238"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae883ad14f657b27b545dee9f43f86111"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </td></tr>
+<tr class="memitem:ae883ad14f657b27b545dee9f43f86111"><td class="memTemplItemLeft" align="right" valign="top">NodeIndexType&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">create_node</a> (<a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;kdtree, size_t &amp;node_count, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</td></tr>
+<tr class="memdesc:ae883ad14f657b27b545dee9f43f86111"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a Kd-tree node from the given point indices.  <a href="structgtsam__points_1_1KdTreeBuilder.html#ae883ad14f657b27b545dee9f43f86111">More...</a><br /></td></tr>
+<tr class="separator:ae883ad14f657b27b545dee9f43f86111"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a831413085c38efc7f4df38bb099daebc"><td class="memItemLeft" align="right" valign="top"><a id="a831413085c38efc7f4df38bb099daebc"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#a831413085c38efc7f4df38bb099daebc">max_leaf_size</a> = 20</td></tr>
+<tr class="memdesc:a831413085c38efc7f4df38bb099daebc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of points in a leaf node. <br /></td></tr>
+<tr class="separator:a831413085c38efc7f4df38bb099daebc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9ddf87c65720a8794cafeb8a5de6b43"><td class="memItemLeft" align="right" valign="top"><a id="af9ddf87c65720a8794cafeb8a5de6b43"></a>
+<a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html#af9ddf87c65720a8794cafeb8a5de6b43">projection_setting</a></td></tr>
+<tr class="memdesc:af9ddf87c65720a8794cafeb8a5de6b43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Projection setting. <br /></td></tr>
+<tr class="separator:af9ddf87c65720a8794cafeb8a5de6b43"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Single thread Kd-tree builder. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="afc882d171abe717644d2d520d3b26238"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc882d171abe717644d2d520d3b26238">&#9670;&nbsp;</a></span>build_tree()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename KdTree , typename PointCloud &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::KdTreeBuilder::build_tree </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;&#160;</td>
+          <td class="paramname"><em>kdtree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Build <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a>. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">kdtree</td><td>Kd-tree to build </td></tr>
+    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae883ad14f657b27b545dee9f43f86111"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae883ad14f657b27b545dee9f43f86111">&#9670;&nbsp;</a></span>create_node()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">NodeIndexType gtsam_points::KdTreeBuilder::create_node </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;&#160;</td>
+          <td class="paramname"><em>kdtree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t &amp;&#160;</td>
+          <td class="paramname"><em>node_count</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>global_first</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>first</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>last</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Create a Kd-tree node from the given point indices. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">global_first</td><td>Global first point index iterator (i.e., this-&gt;indices.begin()). </td></tr>
+    <tr><td class="paramname">first</td><td>First point index iterator to be scanned. </td></tr>
+    <tr><td class="paramname">last</td><td>Last point index iterator to be scanned. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Index of the created node. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP-members.html b/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP-members.html
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+   <div id="projectname">gtsam_points
+   </div>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeBuilderOMP Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">build_tree</a>(KdTree &amp;kdtree, const PointCloud &amp;points) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a>(KdTree &amp;kdtree, std::atomic_uint64_t &amp;node_count, const PointCloud &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">KdTreeBuilderOMP</a>(int num_threads=4)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">max_leaf_size</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">projection_setting</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">gtsam_points::KdTreeBuilderOMP</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP.html b/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP.html
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+<title>gtsam_points: gtsam_points::KdTreeBuilderOMP Struct Reference</title>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KdTreeBuilderOMP-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeBuilderOMP Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Kd-tree builder with OpenMP.  
+ <a href="structgtsam__points_1_1KdTreeBuilderOMP.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::KdTreeBuilderOMP:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1KdTreeBuilderOMP__coll__graph.png" border="0" usemap="#agtsam__points_1_1KdTreeBuilderOMP_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acb752f19a67e3bdc70bacca73f9cb4ac"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">KdTreeBuilderOMP</a> (int <a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a>=4)</td></tr>
+<tr class="memdesc:acb752f19a67e3bdc70bacca73f9cb4ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1KdTreeBuilderOMP.html#acb752f19a67e3bdc70bacca73f9cb4ac">More...</a><br /></td></tr>
+<tr class="separator:acb752f19a67e3bdc70bacca73f9cb4ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52d36b66763f524fedeb8e4f7ef3b728"><td class="memTemplParams" colspan="2"><a id="a52d36b66763f524fedeb8e4f7ef3b728"></a>
+template&lt;typename KdTree , typename PointCloud &gt; </td></tr>
+<tr class="memitem:a52d36b66763f524fedeb8e4f7ef3b728"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a52d36b66763f524fedeb8e4f7ef3b728">build_tree</a> (<a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;kdtree, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points) const</td></tr>
+<tr class="memdesc:a52d36b66763f524fedeb8e4f7ef3b728"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a>. <br /></td></tr>
+<tr class="separator:a52d36b66763f524fedeb8e4f7ef3b728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8772dc6debb447530e103a94437f2fbe"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </td></tr>
+<tr class="memitem:a8772dc6debb447530e103a94437f2fbe"><td class="memTemplItemLeft" align="right" valign="top">NodeIndexType&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">create_node</a> (<a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;kdtree, std::atomic_uint64_t &amp;node_count, const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</td></tr>
+<tr class="memdesc:a8772dc6debb447530e103a94437f2fbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a Kd-tree node from the given point indices.  <a href="structgtsam__points_1_1KdTreeBuilderOMP.html#a8772dc6debb447530e103a94437f2fbe">More...</a><br /></td></tr>
+<tr class="separator:a8772dc6debb447530e103a94437f2fbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a15daba68596166210dd56f1398e7b7d1"><td class="memItemLeft" align="right" valign="top"><a id="a15daba68596166210dd56f1398e7b7d1"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#a15daba68596166210dd56f1398e7b7d1">num_threads</a></td></tr>
+<tr class="memdesc:a15daba68596166210dd56f1398e7b7d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of threads. <br /></td></tr>
+<tr class="separator:a15daba68596166210dd56f1398e7b7d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe95043c3cc1723b7bb30d542b79d8c1"><td class="memItemLeft" align="right" valign="top"><a id="afe95043c3cc1723b7bb30d542b79d8c1"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#afe95043c3cc1723b7bb30d542b79d8c1">max_leaf_size</a></td></tr>
+<tr class="memdesc:afe95043c3cc1723b7bb30d542b79d8c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of points in a leaf node. <br /></td></tr>
+<tr class="separator:afe95043c3cc1723b7bb30d542b79d8c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac39dcf6d38efa4698f668ce5e4b4e7dc"><td class="memItemLeft" align="right" valign="top"><a id="ac39dcf6d38efa4698f668ce5e4b4e7dc"></a>
+<a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeBuilderOMP.html#ac39dcf6d38efa4698f668ce5e4b4e7dc">projection_setting</a></td></tr>
+<tr class="memdesc:ac39dcf6d38efa4698f668ce5e4b4e7dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Projection setting. <br /></td></tr>
+<tr class="separator:ac39dcf6d38efa4698f668ce5e4b4e7dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Kd-tree builder with OpenMP. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acb752f19a67e3bdc70bacca73f9cb4ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb752f19a67e3bdc70bacca73f9cb4ac">&#9670;&nbsp;</a></span>KdTreeBuilderOMP()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::KdTreeBuilderOMP::KdTreeBuilderOMP </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_threads</em> = <code>4</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">num_threads</td><td>Number of threads </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8772dc6debb447530e103a94437f2fbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8772dc6debb447530e103a94437f2fbe">&#9670;&nbsp;</a></span>create_node()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">NodeIndexType gtsam_points::KdTreeBuilderOMP::create_node </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structgtsam__points_1_1KdTree.html">KdTree</a> &amp;&#160;</td>
+          <td class="paramname"><em>kdtree</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::atomic_uint64_t &amp;&#160;</td>
+          <td class="paramname"><em>node_count</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>global_first</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>first</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">IndexConstIterator&#160;</td>
+          <td class="paramname"><em>last</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Create a Kd-tree node from the given point indices. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">global_first</td><td>Global first point index iterator (i.e., this-&gt;indices.begin()). </td></tr>
+    <tr><td class="paramname">first</td><td>First point index iterator to be scanned. </td></tr>
+    <tr><td class="paramname">last</td><td>Last point index iterator to be scanned. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Index of the created node. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP__coll__graph.map b/doc_cpp/structgtsam__points_1_1KdTreeBuilderOMP__coll__graph.map
new file mode 100644
index 00000000..01c1daf2
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diff --git a/doc_cpp/structgtsam__points_1_1KdTreeNode-members.html b/doc_cpp/structgtsam__points_1_1KdTreeNode-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeNode&lt; Projection &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">first</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#af6487749e4ff35d988823e5a3cf4c3b4">last</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a3aeda130c2e70dac5f1830fec2a2a54c">left</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">lr</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>node_type</b> (defined in <a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">proj</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">right</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">sub</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1c813a1f909167be97b6fe87d8e33610">thresh</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">gtsam_points::KdTreeNode&lt; Projection &gt;</a></td><td class="entry"></td></tr>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KdTreeNode-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KdTreeNode&lt; Projection &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> node.  
+ <a href="structgtsam__points_1_1KdTreeNode.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memitem:ae6aa5f8a5b8e3d6aa34ea6f9e371d74d"><td class="memItemLeft" ><a id="ae6aa5f8a5b8e3d6aa34ea6f9e371d74d"></a>
+union {</td></tr>
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+&#160;&#160;&#160;struct <b>Leaf</b> {</td></tr>
+<tr class="memitem:ab52abc64465b8fecbb269a9b7bae23c4"><td class="memItemLeft" >
+&#160;&#160;&#160;&#160;&#160;&#160;NodeIndexType&#160;&#160;&#160;<a class="el" href="structgtsam__points_1_1KdTreeNode.html#acfe1873170c3fe5f3e5fb8f1f90a3d4a">first</a></td></tr>
+<tr class="memdesc:ab52abc64465b8fecbb269a9b7bae23c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">First point index in the leaf node. <br /></td></tr>
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+<tr class="separator:ac01bf342274a6ddf8f23dcc48d25da10"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad0dc59c7bfd77e4fe9e970b8845c8448"><td class="memItemLeft" valign="top">&#160;&#160;&#160;}&#160;&#160;&#160;<a class="el" href="structgtsam__points_1_1KdTreeNode.html#a60d43529b6d950af0a7d47829a9d86f7">lr</a></td></tr>
+<tr class="memdesc:ad0dc59c7bfd77e4fe9e970b8845c8448"><td class="mdescLeft">&#160;</td><td class="mdescRight">Leaf node. <br /></td></tr>
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+<tr class="memitem:a70d2e7b5d25d6cdc960e98bccd33c2f7"><td class="memItemLeft" >
+&#160;&#160;&#160;struct <b>NonLeaf</b> {</td></tr>
+<tr class="memitem:ab267c24af41fad56328b693cec9bb115"><td class="memItemLeft" >
+&#160;&#160;&#160;&#160;&#160;&#160;Projection&#160;&#160;&#160;<a class="el" href="structgtsam__points_1_1KdTreeNode.html#a2ecb5c86054669d9a24e138bf6a8e959">proj</a></td></tr>
+<tr class="memdesc:ab267c24af41fad56328b693cec9bb115"><td class="mdescLeft">&#160;</td><td class="mdescRight">Projection axis. <br /></td></tr>
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+<tr class="memitem:aed5dcb6ccc05e770927600c37f8bd4f6"><td class="memItemLeft" >
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+<tr class="memdesc:aed5dcb6ccc05e770927600c37f8bd4f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold value. <br /></td></tr>
+<tr class="separator:aed5dcb6ccc05e770927600c37f8bd4f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a70d2e7b5d25d6cdc960e98bccd33c2f7"><td class="memItemLeft" valign="top">&#160;&#160;&#160;}&#160;&#160;&#160;<a class="el" href="structgtsam__points_1_1KdTreeNode.html#a9417f9d43070db6aea11026adff49ae2">sub</a></td></tr>
+<tr class="memdesc:a70d2e7b5d25d6cdc960e98bccd33c2f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Non-leaf node. <br /></td></tr>
+<tr class="separator:a70d2e7b5d25d6cdc960e98bccd33c2f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6aa5f8a5b8e3d6aa34ea6f9e371d74d"><td class="memItemLeft" valign="top">}&#160;</td><td class="memItemRight" valign="bottom"><b>node_type</b></td></tr>
+<tr class="separator:ae6aa5f8a5b8e3d6aa34ea6f9e371d74d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3aeda130c2e70dac5f1830fec2a2a54c"><td class="memItemLeft" align="right" valign="top"><a id="a3aeda130c2e70dac5f1830fec2a2a54c"></a>
+NodeIndexType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a3aeda130c2e70dac5f1830fec2a2a54c">left</a> = INVALID_NODE</td></tr>
+<tr class="memdesc:a3aeda130c2e70dac5f1830fec2a2a54c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Left child node index. <br /></td></tr>
+<tr class="separator:a3aeda130c2e70dac5f1830fec2a2a54c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1b6a68f3ccbcea414044e22fa0e43e5a"><td class="memItemLeft" align="right" valign="top"><a id="a1b6a68f3ccbcea414044e22fa0e43e5a"></a>
+NodeIndexType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KdTreeNode.html#a1b6a68f3ccbcea414044e22fa0e43e5a">right</a> = INVALID_NODE</td></tr>
+<tr class="memdesc:a1b6a68f3ccbcea414044e22fa0e43e5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Right child node index. <br /></td></tr>
+<tr class="separator:a1b6a68f3ccbcea414044e22fa0e43e5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename Projection&gt;<br />
+struct gtsam_points::KdTreeNode&lt; Projection &gt;</h3>
+
+<p><a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a> node. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
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new file mode 100644
index 00000000..3a6271d2
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diff --git a/doc_cpp/structgtsam__points_1_1KdTree__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1KdTree__inherit__graph.md5
new file mode 100644
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+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">gtsam_points
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::KnnResult&lt; N, IndexTransform &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#a5483060b0e21180d20f046fca2e927a7">buffer_size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">capacity</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>index_transform</b> (defined in <a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#aaee7d342357b0bbd749a924e5110a5c8">indices</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>INVALID</b> (defined in <a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#aa5890ca404864d0d0f7274649f13ada7">KnnResult</a>(size_t *indices, double *distances, int num_neighbors=-1, const IndexTransform &amp;index_transform=IndexTransform(), double max_sq_dist=std::numeric_limits&lt; double &gt;::max())</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">explicit</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#aa2dab520fc2bb23d36cbc0d6a82bbc57">num_found</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">push</a>(size_t index, double distance)</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">worst_distance</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult&lt; N, IndexTransform &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KnnResult-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::KnnResult&lt; N, IndexTransform &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
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+<p>K-nearest neighbor search result container.  
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+<tr class="memdesc:a5483060b0e21180d20f046fca2e927a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Buffer size (i.e., Maximum number of neighbors) <br /></td></tr>
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+<tr class="memdesc:aa2dab520fc2bb23d36cbc0d6a82bbc57"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of found neighbors. <br /></td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnResult.html#a26487343696f5844be7a111028f2006b">worst_distance</a> () const</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnResult.html#a0fcd601cdd4f0fa64b4b9784f8ddcb77">push</a> (size_t index, double distance)</td></tr>
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+const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnResult.html#a569d44aac3522159928cf85036496b88">capacity</a></td></tr>
+<tr class="memdesc:a569d44aac3522159928cf85036496b88"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of neighbors to search. <br /></td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnResult.html#ac44d2abca51208d7ac3abb3bbb2c3328">num_found_neighbors</a></td></tr>
+<tr class="memdesc:ac44d2abca51208d7ac3abb3bbb2c3328"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of found neighbors. <br /></td></tr>
+<tr class="separator:ac44d2abca51208d7ac3abb3bbb2c3328"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aaee7d342357b0bbd749a924e5110a5c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of neighbors. <br /></td></tr>
+<tr class="separator:aaee7d342357b0bbd749a924e5110a5c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac341eca01e191bb356db75ef1433a5c8"><td class="memItemLeft" align="right" valign="top"><a id="ac341eca01e191bb356db75ef1433a5c8"></a>
+double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnResult.html#ac341eca01e191bb356db75ef1433a5c8">distances</a></td></tr>
+<tr class="memdesc:ac341eca01e191bb356db75ef1433a5c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Distances to neighbors. <br /></td></tr>
+<tr class="separator:ac341eca01e191bb356db75ef1433a5c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a2c9a2b5ffb24cc3cb606cbcd0d5b8477"><td class="memItemLeft" align="right" valign="top"><a id="a2c9a2b5ffb24cc3cb606cbcd0d5b8477"></a>
+static constexpr size_t&#160;</td><td class="memItemRight" valign="bottom"><b>INVALID</b> = std::numeric_limits&lt;size_t&gt;::max()</td></tr>
+<tr class="separator:a2c9a2b5ffb24cc3cb606cbcd0d5b8477"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int N, typename IndexTransform = identity_transform&gt;<br />
+struct gtsam_points::KnnResult&lt; N, IndexTransform &gt;</h3>
+
+<p>K-nearest neighbor search result container. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">N</td><td>Number of neighbors to search. If N == -1, the number of neighbors is dynamicaly determined. </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa5890ca404864d0d0f7274649f13ada7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5890ca404864d0d0f7274649f13ada7">&#9670;&nbsp;</a></span>KnnResult()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int N, typename IndexTransform  = identity_transform&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structgtsam__points_1_1KnnResult.html">gtsam_points::KnnResult</a>&lt; N, IndexTransform &gt;::<a class="el" href="structgtsam__points_1_1KnnResult.html">KnnResult</a> </td>
+          <td>(</td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>distances</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_neighbors</em> = <code>-1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const IndexTransform &amp;&#160;</td>
+          <td class="paramname"><em>index_transform</em> = <code>IndexTransform()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;double&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">indices</td><td>Buffer to store indices (must be larger than k=max(N, num_neighbors)) </td></tr>
+    <tr><td class="paramname">distances</td><td>Buffer to store distances (must be larger than k=max(N, num_neighbors)) </td></tr>
+    <tr><td class="paramname">num_neighbors</td><td>Number of neighbors to search (must be -1 for static case N &gt; 0) </td></tr>
+    <tr><td class="paramname">index_transform</td><td>Index transformation function (e.g., local point index -&gt; global voxel + point index) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="knn__result_8hpp_source.html">knn_result.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1KnnResult__coll__graph.map b/doc_cpp/structgtsam__points_1_1KnnResult__coll__graph.map
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index 00000000..417c5260
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+<area shape="rect" id="node1" title="K&#45;nearest neighbor search result container." alt="" coords="5,109,189,151"/>
+<area shape="rect" id="node2" href="$structgtsam__points_1_1identity__transform.html" title="Identity transformation function. (use std::identity instead in C++20)" alt="" coords="13,5,181,47"/>
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diff --git a/doc_cpp/structgtsam__points_1_1KnnResult__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1KnnResult__coll__graph.md5
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index 00000000..1dab844a
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1KnnSetting-members.html">List of all members</a>  </div>
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+
+<p>K-nearest neighbor search setting.  
+ <a href="structgtsam__points_1_1KnnSetting.html#details">More...</a></p>
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+<p><code>#include &lt;<a class="el" href="knn__result_8hpp_source.html">knn_result.hpp</a>&gt;</code></p>
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+double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1KnnSetting.html#a9561ba6a82cf4bb8cb4d01e4fe801d5e">epsilon</a> = 0.0</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>K-nearest neighbor search setting. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="knn__result_8hpp_source.html">knn_result.hpp</a></li>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::NearestNeighborSearch Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">knn_search</a>(const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~NearestNeighborSearch</b>() (defined in <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">gtsam_points::NearestNeighborSearch</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1NearestNeighborSearch.html b/doc_cpp/structgtsam__points_1_1NearestNeighborSearch.html
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+<title>gtsam_points: gtsam_points::NearestNeighborSearch Struct Reference</title>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1NearestNeighborSearch-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::NearestNeighborSearch Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Nearest neighbor search interface.  
+ <a href="structgtsam__points_1_1NearestNeighborSearch.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="nearest__neighbor__search_8hpp_source.html">nearest_neighbor_search.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::NearestNeighborSearch:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1NearestNeighborSearch__inherit__graph.png" border="0" usemap="#agtsam__points_1_1NearestNeighborSearch_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1NearestNeighborSearch_inherit__map" id="agtsam__points_1_1NearestNeighborSearch_inherit__map">
+<area shape="rect" title="Nearest neighbor search interface." alt="" coords="5,181,233,223"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a7bac6a1e9860f7e6c814885efd491fa7"><td class="memItemLeft" align="right" valign="top"><a id="a7bac6a1e9860f7e6c814885efd491fa7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a7bac6a1e9860f7e6c814885efd491fa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4478b82aa0c45042eb1b8d95ef687021"><td class="memItemLeft" align="right" valign="top"><a id="a4478b82aa0c45042eb1b8d95ef687021"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html">NearestNeighborSearch</a> &gt;</td></tr>
+<tr class="separator:a4478b82aa0c45042eb1b8d95ef687021"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1a76b4c73edddc47916c5fba1d41e1e2"><td class="memItemLeft" align="right" valign="top">virtual size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">knn_search</a> (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits&lt; double &gt;::max()) const</td></tr>
+<tr class="memdesc:a1a76b4c73edddc47916c5fba1d41e1e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">k-nearest neighbor search  <a href="structgtsam__points_1_1NearestNeighborSearch.html#a1a76b4c73edddc47916c5fba1d41e1e2">More...</a><br /></td></tr>
+<tr class="separator:a1a76b4c73edddc47916c5fba1d41e1e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Nearest neighbor search interface. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1a76b4c73edddc47916c5fba1d41e1e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a76b4c73edddc47916c5fba1d41e1e2">&#9670;&nbsp;</a></span>knn_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual size_t gtsam_points::NearestNeighborSearch::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const double *&#160;</td>
+          <td class="paramname"><em>pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_sq_dist</em> = <code>std::numeric_limits&lt;double&gt;::max()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>k-nearest neighbor search </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pt</td><td>Point </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of k-nearest neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to the neighbors </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="structgtsam__points_1_1KdTree2.html#af77d7cea9d3b324038b8207aefbb63e6">gtsam_points::KdTree2&lt; Frame &gt;</a>, <a class="el" href="structgtsam__points_1_1KdTree.html#a6539e3f2b5fa1103cb9fd0dcaec4abb6">gtsam_points::KdTree</a>, <a class="el" href="structgtsam__points_1_1IntensityKdTree.html#aaa480ee34a9cacc8324b21cf8375ba95">gtsam_points::IntensityKdTree</a>, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap&lt; VoxelContents &gt;</a>, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap&lt; GaussianVoxel &gt;</a>, <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html#ad618fcc1f351eed2239873aaa7caf66b">gtsam_points::IncrementalVoxelMap&lt; IncrementalCovarianceContainer &gt;</a>, and <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html#abdec741292e2fb009ddbd143d7ec823b">gtsam_points::IncrementalCovarianceVoxelMap</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="nearest__neighbor__search_8hpp_source.html">nearest_neighbor_search.hpp</a></li>
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+<title>gtsam_points: Member List</title>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloud Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">aux_attribute</a>(const std::string &amp;attrib) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">check_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">check_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">check_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">check_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">check_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">check_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">check_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">check_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">check_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">check_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">has_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">has_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">has_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">has_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">has_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">has_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">has_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">has_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">has_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(PointCloud const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloud</b>(const PointCloud &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">save</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">save_compact</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloud.html b/doc_cpp/structgtsam__points_1_1PointCloud.html
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+<title>gtsam_points: gtsam_points::PointCloud Struct Reference</title>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1PointCloud-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloud Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Standard point cloud class that holds only pointers to point attributes.  
+ <a href="structgtsam__points_1_1PointCloud.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="point__cloud_8hpp_source.html">point_cloud.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::PointCloud:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1PointCloud__inherit__graph.png" border="0" usemap="#agtsam__points_1_1PointCloud_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1PointCloud_inherit__map" id="agtsam__points_1_1PointCloud_inherit__map">
+<area shape="rect" title="Standard point cloud class that holds only pointers to point attributes." alt="" coords="19,5,207,32"/>
+<area shape="rect" href="structgtsam__points_1_1PointCloudCPU.html" title="Point cloud frame on CPU memory." alt="" coords="6,80,221,107"/>
+<area shape="rect" href="structgtsam__points_1_1PointCloudGPU.html" title="Point cloud frame on GPU memory." alt="" coords="5,155,221,181"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a4f36be753056db04ea58337a45ed2173"><td class="memItemLeft" align="right" valign="top"><a id="a4f36be753056db04ea58337a45ed2173"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &gt;</td></tr>
+<tr class="separator:a4f36be753056db04ea58337a45ed2173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed519f4365a421c3e73fcb29323e9e38"><td class="memItemLeft" align="right" valign="top"><a id="aed519f4365a421c3e73fcb29323e9e38"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &gt;</td></tr>
+<tr class="separator:aed519f4365a421c3e73fcb29323e9e38"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a49436944eedfd960a3932b27aaf59f24"><td class="memItemLeft" align="right" valign="top"><a id="a49436944eedfd960a3932b27aaf59f24"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;)=delete</td></tr>
+<tr class="separator:a49436944eedfd960a3932b27aaf59f24"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a558809e5f3e2d19d98401c22ca5a4fa6"><td class="memItemLeft" align="right" valign="top"><a id="a558809e5f3e2d19d98401c22ca5a4fa6"></a>
+<a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> const &amp;)=delete</td></tr>
+<tr class="separator:a558809e5f3e2d19d98401c22ca5a4fa6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a79fa5fb881a7c1d9b7ff9c8efe421366"><td class="memItemLeft" align="right" valign="top"><a id="a79fa5fb881a7c1d9b7ff9c8efe421366"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a> () const</td></tr>
+<tr class="memdesc:a79fa5fb881a7c1d9b7ff9c8efe421366"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points. <br /></td></tr>
+<tr class="separator:a79fa5fb881a7c1d9b7ff9c8efe421366"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a> () const</td></tr>
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+<tr class="separator:a7d2ac0ed4c86c7db74dea61e89f1fc16"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a05a9841fbd1b5f9af0a076db3453fd38"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1327c32be909e1163ffe0380743d37d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memdesc:af53c5f109af6d7f112e1d42489322fbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Aux attributes &lt;attribute_name, pair&lt;element_size, data_ptr&gt;&gt; <br /></td></tr>
+<tr class="separator:af53c5f109af6d7f112e1d42489322fbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae30528b17ae167714d3086704a4b84cc"><td class="memItemLeft" align="right" valign="top"><a id="ae30528b17ae167714d3086704a4b84cc"></a>
+float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a></td></tr>
+<tr class="memdesc:ae30528b17ae167714d3086704a4b84cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Per-point timestamp on GPU. <br /></td></tr>
+<tr class="separator:ae30528b17ae167714d3086704a4b84cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65928cfdccf66c254e13a227432d7a33"><td class="memItemLeft" align="right" valign="top"><a id="a65928cfdccf66c254e13a227432d7a33"></a>
+Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a></td></tr>
+<tr class="memdesc:a65928cfdccf66c254e13a227432d7a33"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point coordinates on GPU. <br /></td></tr>
+<tr class="separator:a65928cfdccf66c254e13a227432d7a33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a981b17436a9ac8f339ffcb79e8447cda"><td class="memItemLeft" align="right" valign="top"><a id="a981b17436a9ac8f339ffcb79e8447cda"></a>
+Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a></td></tr>
+<tr class="memdesc:a981b17436a9ac8f339ffcb79e8447cda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point normals on GPU. <br /></td></tr>
+<tr class="separator:a981b17436a9ac8f339ffcb79e8447cda"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5eeb499908a9adc07d7cb6f183f10db6"><td class="memItemLeft" align="right" valign="top"><a id="a5eeb499908a9adc07d7cb6f183f10db6"></a>
+Eigen::Matrix3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a></td></tr>
+<tr class="memdesc:a5eeb499908a9adc07d7cb6f183f10db6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point covariances on GPU. <br /></td></tr>
+<tr class="separator:a5eeb499908a9adc07d7cb6f183f10db6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a594f65fe7ddd7a9dcdf2154b533fc1ce"><td class="memItemLeft" align="right" valign="top"><a id="a594f65fe7ddd7a9dcdf2154b533fc1ce"></a>
+float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a></td></tr>
+<tr class="memdesc:a594f65fe7ddd7a9dcdf2154b533fc1ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point intensities on GPU. <br /></td></tr>
+<tr class="separator:a594f65fe7ddd7a9dcdf2154b533fc1ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Standard point cloud class that holds only pointers to point attributes. </p>
+<dl class="section note"><dt>Note</dt><dd>If you don't want to manage the lifetime of point data by yourself, use <a class="el" href="structgtsam__points_1_1PointCloudCPU.html" title="Point cloud frame on CPU memory.">gtsam_points::PointCloudCPU</a>. </dd></dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7d2ac0ed4c86c7db74dea61e89f1fc16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d2ac0ed4c86c7db74dea61e89f1fc16">&#9670;&nbsp;</a></span>aux_attribute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const T* gtsam_points::PointCloud::aux_attribute </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>attrib</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the pointer to an aux attribute. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">attrib</td><td>Attribute name </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Returns the pointer to it if the specified attribute exists. Otherwise, returns nullptr. </dd></dl>
+
+</div>
+</div>
+<a id="a05a9841fbd1b5f9af0a076db3453fd38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05a9841fbd1b5f9af0a076db3453fd38">&#9670;&nbsp;</a></span>save()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::PointCloud::save </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the point cloud data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>Destination path </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1327c32be909e1163ffe0380743d37d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1327c32be909e1163ffe0380743d37d5">&#9670;&nbsp;</a></span>save_compact()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void gtsam_points::PointCloud::save_compact </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="point__cloud_8hpp_source.html">point_cloud.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1PointCloudCPU-members.html b/doc_cpp/structgtsam__points_1_1PointCloudCPU-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloudCPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_aux_attribute</b>(const std::string &amp;attrib_name, const T *values, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_aux_attribute</b>(const std::string &amp;attrib_name, const std::vector&lt; T, Alloc &gt; &amp;values) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_covs</b>(const Eigen::Matrix&lt; T, D, D &gt; *covs, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_covs</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, D &gt;, Alloc &gt; &amp;covs) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_intensities</b>(const T *intensities, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_intensities</b>(const std::vector&lt; T &gt; &amp;intensities) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_normals</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *normals, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_normals</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;normals) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_points</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_points</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_times</b>(const T *times, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_times</b>(const std::vector&lt; T &gt; &amp;times) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">aux_attribute</a>(const std::string &amp;attrib) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>aux_attributes_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">check_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">check_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">check_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">check_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">check_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">check_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">check_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">check_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">check_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">check_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#a56027ef4dd5e5ce5fe3b4eb6684d6d7d">clone</a>(const PointCloud &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>covs_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">has_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">has_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">has_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">has_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">has_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">has_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">has_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">has_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">has_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensities_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>load</b>(const std::string &amp;path) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normals_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(PointCloudCPU const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(PointCloud const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloud</b>(const PointCloud &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloudCPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">PointCloudCPU</a>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#ac8c3a044fc9aabaec5bda90966776206">PointCloudCPU</a>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloudCPU</b>(const PointCloudCPU &amp;points)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>points_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">save</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">save_compact</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>times_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~PointCloudCPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloudCPU.html b/doc_cpp/structgtsam__points_1_1PointCloudCPU.html
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+<title>gtsam_points: gtsam_points::PointCloudCPU Struct Reference</title>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1PointCloudCPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloudCPU Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Point cloud frame on CPU memory.  
+ <a href="structgtsam__points_1_1PointCloudCPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="point__cloud__cpu_8hpp_source.html">point_cloud_cpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::PointCloudCPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1PointCloudCPU__inherit__graph.png" border="0" usemap="#agtsam__points_1_1PointCloudCPU_inherit__map" alt="Inheritance graph"/></div>
+<map name="agtsam__points_1_1PointCloudCPU_inherit__map" id="agtsam__points_1_1PointCloudCPU_inherit__map">
+<area shape="rect" title="Point cloud frame on CPU memory." alt="" coords="6,80,221,107"/>
+<area shape="rect" href="structgtsam__points_1_1PointCloudGPU.html" title="Point cloud frame on GPU memory." alt="" coords="5,155,221,181"/>
+<area shape="rect" href="structgtsam__points_1_1PointCloud.html" title="Standard point cloud class that holds only pointers to point attributes." alt="" coords="19,5,207,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for gtsam_points::PointCloudCPU:</div>
+<div class="dyncontent">
+<div class="center"><img src="structgtsam__points_1_1PointCloudCPU__coll__graph.png" border="0" usemap="#agtsam__points_1_1PointCloudCPU_coll__map" alt="Collaboration graph"/></div>
+<map name="agtsam__points_1_1PointCloudCPU_coll__map" id="agtsam__points_1_1PointCloudCPU_coll__map">
+<area shape="rect" title="Point cloud frame on CPU memory." alt="" coords="5,80,220,107"/>
+<area shape="rect" href="structgtsam__points_1_1PointCloud.html" title="Standard point cloud class that holds only pointers to point attributes." alt="" coords="19,5,207,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a822008bbe6145b90ebaa5780988bb61a"><td class="memItemLeft" align="right" valign="top"><a id="a822008bbe6145b90ebaa5780988bb61a"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> &gt;</td></tr>
+<tr class="separator:a822008bbe6145b90ebaa5780988bb61a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aefed2f2da2577ed9d9c0f3547ca6b6e0"><td class="memItemLeft" align="right" valign="top"><a id="aefed2f2da2577ed9d9c0f3547ca6b6e0"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b> = std::shared_ptr&lt; const <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> &gt;</td></tr>
+<tr class="separator:aefed2f2da2577ed9d9c0f3547ca6b6e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_structgtsam__points_1_1PointCloud"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structgtsam__points_1_1PointCloud')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td></tr>
+<tr class="memitem:a4f36be753056db04ea58337a45ed2173 inherit pub_types_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a4f36be753056db04ea58337a45ed2173"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b> = std::shared_ptr&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &gt;</td></tr>
+<tr class="separator:a4f36be753056db04ea58337a45ed2173 inherit pub_types_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed519f4365a421c3e73fcb29323e9e38 inherit pub_types_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af1e178d890f652b4792f8ca307f9b82f"><td class="memTemplParams" colspan="2">template&lt;typename T , int D&gt; </td></tr>
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+<tr class="memdesc:af1e178d890f652b4792f8ca307f9b82f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">More...</a><br /></td></tr>
+<tr class="separator:af1e178d890f652b4792f8ca307f9b82f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8c3a044fc9aabaec5bda90966776206"><td class="memTemplParams" colspan="2">template&lt;typename T , int D, typename Alloc &gt; </td></tr>
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+<tr class="memdesc:ac8c3a044fc9aabaec5bda90966776206"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1PointCloudCPU.html#ac8c3a044fc9aabaec5bda90966776206">More...</a><br /></td></tr>
+<tr class="separator:ac8c3a044fc9aabaec5bda90966776206"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f85baa6ea33b6c1f433c19c610a59de"><td class="memItemLeft" align="right" valign="top"><a id="a8f85baa6ea33b6c1f433c19c610a59de"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudCPU</b> (const <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">PointCloudCPU</a> &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>)=delete</td></tr>
+<tr class="separator:a8f85baa6ea33b6c1f433c19c610a59de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1cb14a9e08c94ee4b4b0bc9c8f447530"><td class="memItemLeft" align="right" valign="top"><a id="a1cb14a9e08c94ee4b4b0bc9c8f447530"></a>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
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+<tr class="separator:ac69965f6b5da9497b8dc72b9bb75e485"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
+<tr class="memitem:a02a21ef4abd97a6e31d40f645d451178"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_normals</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>)</td></tr>
+<tr class="separator:a02a21ef4abd97a6e31d40f645d451178"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
+<tr class="memitem:aef34d3ae5b171cc26c39bca286ee4c10"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_covs</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, D &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a>)</td></tr>
+<tr class="separator:aef34d3ae5b171cc26c39bca286ee4c10"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a7126574d21c63c0efd8e02f820d05b27"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:aa644f9109f16033ee0fe6e4452677b54"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_aux_attribute</b> (const std::string &amp;attrib_name, const T *values, int <a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>)</td></tr>
+<tr class="separator:aa644f9109f16033ee0fe6e4452677b54"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , typename Alloc &gt; </td></tr>
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+<tr class="separator:ab40ebdd5c3b034a972c2d4e1eba6e09d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_structgtsam__points_1_1PointCloud"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structgtsam__points_1_1PointCloud')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td></tr>
+<tr class="memitem:a49436944eedfd960a3932b27aaf59f24 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a49436944eedfd960a3932b27aaf59f24"></a>
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+<tr class="separator:a49436944eedfd960a3932b27aaf59f24 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a79fa5fb881a7c1d9b7ff9c8efe421366 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points. <br /></td></tr>
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+<tr class="memitem:a296a3ab6ec862c01f9ffb11c47af3473 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a296a3ab6ec862c01f9ffb11c47af3473"></a>
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+<tr class="separator:a28e64a5eb1f1653077fd30296222add2 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af423404aab0ab0dd86757661f03afa89 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a925809e7fb79286c18c6d062c7e2267a inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ade95b02ef5de1841941c6cf3fa98fe21 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae36606cd30118f9066a8913497a1294f inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="ae36606cd30118f9066a8913497a1294f"></a>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">check_points_gpu</a> () const</td></tr>
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+<tr class="separator:aa36dab9a1cdf7048d6ad115d2c28df99 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7138612f8d2845788625e5b2edc5804c inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a7138612f8d2845788625e5b2edc5804c"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">check_intensities_gpu</a> () const</td></tr>
+<tr class="memdesc:a7138612f8d2845788625e5b2edc5804c inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Warn if the point cloud doesn't have intensities on GPU. <br /></td></tr>
+<tr class="separator:a7138612f8d2845788625e5b2edc5804c inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d2ac0ed4c86c7db74dea61e89f1fc16 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="memdesc:a7d2ac0ed4c86c7db74dea61e89f1fc16 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the pointer to an aux attribute.  <a href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">More...</a><br /></td></tr>
+<tr class="separator:a7d2ac0ed4c86c7db74dea61e89f1fc16 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a05a9841fbd1b5f9af0a076db3453fd38 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the point cloud data.  <a href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">More...</a><br /></td></tr>
+<tr class="separator:a05a9841fbd1b5f9af0a076db3453fd38 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1327c32be909e1163ffe0380743d37d5 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates).  <a href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">More...</a><br /></td></tr>
+<tr class="separator:a1327c32be909e1163ffe0380743d37d5 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a56027ef4dd5e5ce5fe3b4eb6684d6d7d"><td class="memItemLeft" align="right" valign="top"><a id="a56027ef4dd5e5ce5fe3b4eb6684d6d7d"></a>
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+<tr class="memdesc:a56027ef4dd5e5ce5fe3b4eb6684d6d7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deep copy. <br /></td></tr>
+<tr class="separator:a56027ef4dd5e5ce5fe3b4eb6684d6d7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63d2a6ac1c2a26712982007e2918732c"><td class="memItemLeft" align="right" valign="top"><a id="a63d2a6ac1c2a26712982007e2918732c"></a>
+static PointCloudCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>load</b> (const std::string &amp;path)</td></tr>
+<tr class="separator:a63d2a6ac1c2a26712982007e2918732c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a87d818ea71f4d90f9e4773688d6a0f46"><td class="memItemLeft" align="right" valign="top"><a id="a87d818ea71f4d90f9e4773688d6a0f46"></a>
+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>times_storage</b></td></tr>
+<tr class="separator:a87d818ea71f4d90f9e4773688d6a0f46"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64da18799dbbecb0421ab891823af58b"><td class="memItemLeft" align="right" valign="top"><a id="a64da18799dbbecb0421ab891823af58b"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>points_storage</b></td></tr>
+<tr class="separator:a64da18799dbbecb0421ab891823af58b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a7802331118063163410158b7c45588"><td class="memItemLeft" align="right" valign="top"><a id="a2a7802331118063163410158b7c45588"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>normals_storage</b></td></tr>
+<tr class="separator:a2a7802331118063163410158b7c45588"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af73af498b66948540cc2feb0c748ed2c"><td class="memItemLeft" align="right" valign="top"><a id="af73af498b66948540cc2feb0c748ed2c"></a>
+std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>covs_storage</b></td></tr>
+<tr class="separator:af73af498b66948540cc2feb0c748ed2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a495f32f1cba900af808ed18d8c9a4e60"><td class="memItemLeft" align="right" valign="top"><a id="a495f32f1cba900af808ed18d8c9a4e60"></a>
+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>intensities_storage</b></td></tr>
+<tr class="separator:a495f32f1cba900af808ed18d8c9a4e60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab343298723acf497b9427732be54b062"><td class="memItemLeft" align="right" valign="top"><a id="ab343298723acf497b9427732be54b062"></a>
+std::unordered_map&lt; std::string, std::shared_ptr&lt; void &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>aux_attributes_storage</b></td></tr>
+<tr class="separator:ab343298723acf497b9427732be54b062"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structgtsam__points_1_1PointCloud"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structgtsam__points_1_1PointCloud')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td></tr>
+<tr class="memitem:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a555672689c42e963a2ec87279711f9fa"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a></td></tr>
+<tr class="memdesc:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points. <br /></td></tr>
+<tr class="separator:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5895dd8aa279b30a1b7183ff9108553f inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a5895dd8aa279b30a1b7183ff9108553f"></a>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Point cloud frame on CPU memory. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af1e178d890f652b4792f8ca307f9b82f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1e178d890f652b4792f8ca307f9b82f">&#9670;&nbsp;</a></span>PointCloudCPU() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , int D&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::PointCloudCPU::PointCloudCPU </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Matrix&lt; T, D, 1 &gt; *&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_points</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Pointer to point data </td></tr>
+    <tr><td class="paramname">num_points</td><td>Number of points </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac8c3a044fc9aabaec5bda90966776206"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8c3a044fc9aabaec5bda90966776206">&#9670;&nbsp;</a></span>PointCloudCPU() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , int D, typename Alloc &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::PointCloudCPU::PointCloudCPU </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;&#160;</td>
+          <td class="paramname"><em>points</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Points </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="point__cloud__cpu_8hpp_source.html">point_cloud_cpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1PointCloudCPU__coll__graph.map b/doc_cpp/structgtsam__points_1_1PointCloudCPU__coll__graph.map
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index 00000000..ce7ea5bd
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+<map id="gtsam_points::PointCloudCPU" name="gtsam_points::PointCloudCPU">
+<area shape="rect" id="node1" title="Point cloud frame on CPU memory." alt="" coords="5,80,220,107"/>
+<area shape="rect" id="node2" href="$structgtsam__points_1_1PointCloud.html" title="Standard point cloud class that holds only pointers to point attributes." alt="" coords="19,5,207,32"/>
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new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloudGPU-members.html b/doc_cpp/structgtsam__points_1_1PointCloudGPU-members.html
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloudGPU Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_aux_attribute</b>(const std::string &amp;attrib_name, const T *values, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_aux_attribute</b>(const std::string &amp;attrib_name, const std::vector&lt; T, Alloc &gt; &amp;values) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_covs</b>(const Eigen::Matrix&lt; T, D, D &gt; *covs, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_covs</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, D &gt;, Alloc &gt; &amp;covs, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_covs</b>(const Eigen::Matrix&lt; T, D, D &gt; *covs, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_covs</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, D &gt;, Alloc &gt; &amp;covs) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_covs_gpu</b>(const Eigen::Matrix&lt; T, D, D &gt; *covs, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_covs_gpu</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, D &gt;, Alloc &gt; &amp;covs, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_intensities</b>(const T *intensities, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_intensities</b>(const std::vector&lt; T &gt; &amp;intensities, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_intensities</b>(const T *intensities, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_intensities</b>(const std::vector&lt; T &gt; &amp;intensities) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_intensities_gpu</b>(const T *intensities, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_intensities_gpu</b>(const std::vector&lt; T &gt; &amp;intensities, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_normals</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *normals, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_normals</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;normals, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_normals</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *normals, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_normals</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;normals) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_normals_gpu</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *normals, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_normals_gpu</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;normals, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_points</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_points</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_points</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_points</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_points_gpu</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_points_gpu</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_times</b>(const T *times, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_times</b>(const std::vector&lt; T &gt; &amp;times, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_times</b>(const T *times, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_times</b>(const std::vector&lt; T &gt; &amp;times) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>add_times_gpu</b>(const T *times, int num_points, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>add_times_gpu</b>(const std::vector&lt; T &gt; &amp;times, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7d2ac0ed4c86c7db74dea61e89f1fc16">aux_attribute</a>(const std::string &amp;attrib) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af53c5f109af6d7f112e1d42489322fbb">aux_attributes</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>aux_attributes_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a28e64a5eb1f1653077fd30296222add2">check_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa36dab9a1cdf7048d6ad115d2c28df99">check_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#af423404aab0ab0dd86757661f03afa89">check_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a7138612f8d2845788625e5b2edc5804c">check_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9c03e5dfcc58dc0a7ff153fd4fab953c">check_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2c004e0d303c85d7e86fe09e5e3d57a7">check_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#aa3a96d9017d1c3a178f61d933bf4e19e">check_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a023eec904e88df71f5dc34a8a2e6fdf1">check_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a2693d21aca4f23ae831caa0e68975fb7">check_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ace3aad88d850dc7e601386f31c95ae9b">check_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>clone</b>(const PointCloud &amp;frame, CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#a56027ef4dd5e5ce5fe3b4eb6684d6d7d">gtsam_points::PointCloudCPU::clone</a>(const PointCloud &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ConstPtr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5eeb499908a9adc07d7cb6f183f10db6">covs_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>covs_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>download_points</b>(CUstream_st *stream=0) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8cbbf2c7d29549f41336c1ab112584cc">has_covs</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a35211c4f2df7cd7de8313a7eacd677f2">has_covs_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a82495f31a722f22e84f67cb87afac435">has_intensities</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a61416c9b0a8ad1887d61355d93f50324">has_intensities_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5f3a71e1f783dd0bd2159396903f6167">has_normals</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae36606cd30118f9066a8913497a1294f">has_normals_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a296a3ab6ec862c01f9ffb11c47af3473">has_points</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ade95b02ef5de1841941c6cf3fa98fe21">has_points_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a930a0c0f487aa6a8a6d279dbaaebe874">has_times</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a925809e7fb79286c18c6d062c7e2267a">has_times_gpu</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a594f65fe7ddd7a9dcdf2154b533fc1ce">intensities_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensities_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>load</b>(const std::string &amp;path) (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normals_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(PointCloudGPU const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(PointCloudCPU const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(PointCloud const &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloud</b>(const PointCloud &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloudCPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#af1e178d890f652b4792f8ca307f9b82f">PointCloudCPU</a>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html#ac8c3a044fc9aabaec5bda90966776206">PointCloudCPU</a>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloudCPU</b>(const PointCloudCPU &amp;points)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloudGPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloudGPU</b>(const Eigen::Matrix&lt; T, D, 1 &gt; *points, int num_points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>PointCloudGPU</b>(const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;points) (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PointCloudGPU</b>(const PointCloudGPU &amp;points)=delete (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Ptr</b> typedef (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a05a9841fbd1b5f9af0a076db3453fd38">save</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a1327c32be909e1163ffe0380743d37d5">save_compact</a>(const std::string &amp;path) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a79fa5fb881a7c1d9b7ff9c8efe421366">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>times_storage</b> (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~PointCloud</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PointCloudCPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~PointCloudGPU</b>() (defined in <a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">gtsam_points::PointCloudGPU</a></td><td class="entry"></td></tr>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1PointCloudGPU.html">PointCloudGPU</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1PointCloudGPU-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::PointCloudGPU Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Point cloud frame on GPU memory.  
+ <a href="structgtsam__points_1_1PointCloudGPU.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="point__cloud__gpu_8hpp_source.html">point_cloud_gpu.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for gtsam_points::PointCloudGPU:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="separator:a822008bbe6145b90ebaa5780988bb61a inherit pub_types_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a576dc439a6ae29dc50fc78877f7e9dae"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+<tr class="memitem:a8f4797c82e2bbbe0a734f87a63ee7dba"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_points</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>, CUstream_st *stream=0)</td></tr>
+<tr class="separator:a8f4797c82e2bbbe0a734f87a63ee7dba"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
+<tr class="memitem:a211e3d62f0d0297dcfccd64dc8917c7d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_points_gpu</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>, CUstream_st *stream=0)</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T &gt; </td></tr>
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+<tr class="memitem:af1e178d890f652b4792f8ca307f9b82f inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplParams" colspan="2">template&lt;typename T , int D&gt; </td></tr>
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+<tr class="separator:af1e178d890f652b4792f8ca307f9b82f inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac8c3a044fc9aabaec5bda90966776206 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+<tr class="separator:ad7291bef6743f26aa67a4efcaa1ae23e inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T &gt; </td></tr>
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+template&lt;typename T , int D&gt; </td></tr>
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+<tr class="separator:a214f47ff77854b85582639fc02d823d9 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
+<tr class="memitem:ac69965f6b5da9497b8dc72b9bb75e485 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_points</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a>)</td></tr>
+<tr class="separator:ac69965f6b5da9497b8dc72b9bb75e485 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa42a41abf56cb129ec164d5a9897e42d inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplParams" colspan="2"><a id="aa42a41abf56cb129ec164d5a9897e42d"></a>
+template&lt;typename T , int D&gt; </td></tr>
+<tr class="memitem:aa42a41abf56cb129ec164d5a9897e42d inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_normals</b> (const Eigen::Matrix&lt; T, D, 1 &gt; *<a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>, int <a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a>)</td></tr>
+<tr class="separator:aa42a41abf56cb129ec164d5a9897e42d inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+template&lt;typename T , int D, typename Alloc &gt; </td></tr>
+<tr class="memitem:a02a21ef4abd97a6e31d40f645d451178 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>add_normals</b> (const std::vector&lt; Eigen::Matrix&lt; T, D, 1 &gt;, Alloc &gt; &amp;<a class="el" href="structgtsam__points_1_1PointCloud.html#a1d898d1fb7984663e6be72e8d5d63496">normals</a>)</td></tr>
+<tr class="separator:a02a21ef4abd97a6e31d40f645d451178 inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a58bb3e4b059e42802f240cc742e009ea inherit pub_methods_structgtsam__points_1_1PointCloudCPU"><td class="memTemplParams" colspan="2"><a id="a58bb3e4b059e42802f240cc742e009ea"></a>
+template&lt;typename T , int D&gt; </td></tr>
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+<tr class="separator:a023eec904e88df71f5dc34a8a2e6fdf1 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2c004e0d303c85d7e86fe09e5e3d57a7 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aa36dab9a1cdf7048d6ad115d2c28df99 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7138612f8d2845788625e5b2edc5804c inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7d2ac0ed4c86c7db74dea61e89f1fc16 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a05a9841fbd1b5f9af0a076db3453fd38 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1327c32be909e1163ffe0380743d37d5 inherit pub_methods_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a04dd8d5bc6fb7352cc5c5027c87ea04a"><td class="memItemLeft" align="right" valign="top"><a id="a04dd8d5bc6fb7352cc5c5027c87ea04a"></a>
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+<tr class="separator:a04dd8d5bc6fb7352cc5c5027c87ea04a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structgtsam__points_1_1PointCloudCPU"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structgtsam__points_1_1PointCloudCPU')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td></tr>
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+<tr class="memitem:a63d2a6ac1c2a26712982007e2918732c inherit pub_static_methods_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="a63d2a6ac1c2a26712982007e2918732c"></a>
+static PointCloudCPU::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>load</b> (const std::string &amp;path)</td></tr>
+<tr class="separator:a63d2a6ac1c2a26712982007e2918732c inherit pub_static_methods_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_structgtsam__points_1_1PointCloudCPU"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structgtsam__points_1_1PointCloudCPU')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structgtsam__points_1_1PointCloudCPU.html">gtsam_points::PointCloudCPU</a></td></tr>
+<tr class="memitem:a87d818ea71f4d90f9e4773688d6a0f46 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="a87d818ea71f4d90f9e4773688d6a0f46"></a>
+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>times_storage</b></td></tr>
+<tr class="separator:a87d818ea71f4d90f9e4773688d6a0f46 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64da18799dbbecb0421ab891823af58b inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="a64da18799dbbecb0421ab891823af58b"></a>
+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>points_storage</b></td></tr>
+<tr class="separator:a64da18799dbbecb0421ab891823af58b inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+std::vector&lt; Eigen::Vector4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>normals_storage</b></td></tr>
+<tr class="separator:a2a7802331118063163410158b7c45588 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af73af498b66948540cc2feb0c748ed2c inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="af73af498b66948540cc2feb0c748ed2c"></a>
+std::vector&lt; Eigen::Matrix4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>covs_storage</b></td></tr>
+<tr class="separator:af73af498b66948540cc2feb0c748ed2c inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a495f32f1cba900af808ed18d8c9a4e60 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="a495f32f1cba900af808ed18d8c9a4e60"></a>
+std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>intensities_storage</b></td></tr>
+<tr class="separator:a495f32f1cba900af808ed18d8c9a4e60 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab343298723acf497b9427732be54b062 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memItemLeft" align="right" valign="top"><a id="ab343298723acf497b9427732be54b062"></a>
+std::unordered_map&lt; std::string, std::shared_ptr&lt; void &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>aux_attributes_storage</b></td></tr>
+<tr class="separator:ab343298723acf497b9427732be54b062 inherit pub_attribs_structgtsam__points_1_1PointCloudCPU"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structgtsam__points_1_1PointCloud"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structgtsam__points_1_1PointCloud')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structgtsam__points_1_1PointCloud.html">gtsam_points::PointCloud</a></td></tr>
+<tr class="memitem:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a555672689c42e963a2ec87279711f9fa"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a555672689c42e963a2ec87279711f9fa">num_points</a></td></tr>
+<tr class="memdesc:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points. <br /></td></tr>
+<tr class="separator:a555672689c42e963a2ec87279711f9fa inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5895dd8aa279b30a1b7183ff9108553f inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a5895dd8aa279b30a1b7183ff9108553f"></a>
+double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a5895dd8aa279b30a1b7183ff9108553f">times</a></td></tr>
+<tr class="memdesc:a5895dd8aa279b30a1b7183ff9108553f inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Per-point timestamp w.r.t. the first point (should be sorted) <br /></td></tr>
+<tr class="separator:a5895dd8aa279b30a1b7183ff9108553f inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9204af535708df67d32ecbcec2c635c4 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a9204af535708df67d32ecbcec2c635c4"></a>
+Eigen::Vector4d *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a9204af535708df67d32ecbcec2c635c4">points</a></td></tr>
+<tr class="memdesc:a9204af535708df67d32ecbcec2c635c4 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point coordinates (x, y, z, 1) <br /></td></tr>
+<tr class="separator:a9204af535708df67d32ecbcec2c635c4 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d898d1fb7984663e6be72e8d5d63496 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a1d898d1fb7984663e6be72e8d5d63496"></a>
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+<tr class="memdesc:a1d898d1fb7984663e6be72e8d5d63496 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point normals (nx, ny, nz, 0) <br /></td></tr>
+<tr class="separator:a1d898d1fb7984663e6be72e8d5d63496 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62abe6394c4d482ee3bd32d02e699253 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a62abe6394c4d482ee3bd32d02e699253"></a>
+Eigen::Matrix4d *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a62abe6394c4d482ee3bd32d02e699253">covs</a></td></tr>
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+<tr class="separator:a62abe6394c4d482ee3bd32d02e699253 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8fdc9c000e50ea2efc0d4b38a7121d6c inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a8fdc9c000e50ea2efc0d4b38a7121d6c"></a>
+double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a8fdc9c000e50ea2efc0d4b38a7121d6c">intensities</a></td></tr>
+<tr class="memdesc:a8fdc9c000e50ea2efc0d4b38a7121d6c inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point intensities. <br /></td></tr>
+<tr class="separator:a8fdc9c000e50ea2efc0d4b38a7121d6c inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af53c5f109af6d7f112e1d42489322fbb inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="af53c5f109af6d7f112e1d42489322fbb"></a>
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+<tr class="memdesc:af53c5f109af6d7f112e1d42489322fbb inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Aux attributes &lt;attribute_name, pair&lt;element_size, data_ptr&gt;&gt; <br /></td></tr>
+<tr class="separator:af53c5f109af6d7f112e1d42489322fbb inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae30528b17ae167714d3086704a4b84cc inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="ae30528b17ae167714d3086704a4b84cc"></a>
+float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#ae30528b17ae167714d3086704a4b84cc">times_gpu</a></td></tr>
+<tr class="memdesc:ae30528b17ae167714d3086704a4b84cc inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Per-point timestamp on GPU. <br /></td></tr>
+<tr class="separator:ae30528b17ae167714d3086704a4b84cc inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65928cfdccf66c254e13a227432d7a33 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a65928cfdccf66c254e13a227432d7a33"></a>
+Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a65928cfdccf66c254e13a227432d7a33">points_gpu</a></td></tr>
+<tr class="memdesc:a65928cfdccf66c254e13a227432d7a33 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point coordinates on GPU. <br /></td></tr>
+<tr class="separator:a65928cfdccf66c254e13a227432d7a33 inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a981b17436a9ac8f339ffcb79e8447cda inherit pub_attribs_structgtsam__points_1_1PointCloud"><td class="memItemLeft" align="right" valign="top"><a id="a981b17436a9ac8f339ffcb79e8447cda"></a>
+Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1PointCloud.html#a981b17436a9ac8f339ffcb79e8447cda">normals_gpu</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Point cloud frame on GPU memory. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="point__cloud__gpu_8hpp_source.html">point_cloud_gpu.hpp</a></li>
+</ul>
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloudGPU__coll__graph.map b/doc_cpp/structgtsam__points_1_1PointCloudGPU__coll__graph.map
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloudGPU__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1PointCloudGPU__coll__graph.md5
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new file mode 100644
index 00000000..8774dcb2
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new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloud__inherit__graph.map b/doc_cpp/structgtsam__points_1_1PointCloud__inherit__graph.map
new file mode 100644
index 00000000..20c83179
--- /dev/null
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diff --git a/doc_cpp/structgtsam__points_1_1PointCloud__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1PointCloud__inherit__graph.md5
new file mode 100644
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+<!-- Generated by Doxygen 1.9.1 -->
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1ProjectionSetting.html">ProjectionSetting</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1ProjectionSetting-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::ProjectionSetting Struct Reference</div>  </div>
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+<p>Parameters to control the projection axis search.  
+ <a href="structgtsam__points_1_1ProjectionSetting.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Parameters to control the projection axis search. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
+</ul>
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+<div class="contents">
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ptr</b> (defined in <a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a></td><td class="entry"></td></tr>
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>RegisteredMemory</b>(const RegisteredMemory &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~RegisteredMemory</b>() (defined in <a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RegisteredMemory.html">gtsam_points::RegisteredMemory</a></td><td class="entry"></td></tr>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1RegisteredMemory.html">RegisteredMemory</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1RegisteredMemory-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::RegisteredMemory Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a81d861cf876cd184e4ed6c170687d708"><td class="memItemLeft" align="right" valign="top"><a id="a81d861cf876cd184e4ed6c170687d708"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>RegisteredMemory</b> (void *ptr, size_t size, unsigned int flags=0x00)</td></tr>
+<tr class="separator:a81d861cf876cd184e4ed6c170687d708"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ac0a665146902b835cb7bfc847536f7"><td class="memItemLeft" align="right" valign="top"><a id="a4ac0a665146902b835cb7bfc847536f7"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>RegisteredMemory</b> (const <a class="el" href="structgtsam__points_1_1RegisteredMemory.html">RegisteredMemory</a> &amp;)=delete</td></tr>
+<tr class="separator:a4ac0a665146902b835cb7bfc847536f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af898db45aea2df5c8dd2f38b95fb8a3d"><td class="memItemLeft" align="right" valign="top"><a id="af898db45aea2df5c8dd2f38b95fb8a3d"></a>
+<a class="el" href="structgtsam__points_1_1RegisteredMemory.html">RegisteredMemory</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="structgtsam__points_1_1RegisteredMemory.html">RegisteredMemory</a> &amp;)=delete</td></tr>
+<tr class="separator:af898db45aea2df5c8dd2f38b95fb8a3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a77a63a60a9a2e5c41845c0c806bbc631"><td class="memItemLeft" align="right" valign="top"><a id="a77a63a60a9a2e5c41845c0c806bbc631"></a>
+void *&#160;</td><td class="memItemRight" valign="bottom"><b>ptr</b></td></tr>
+<tr class="separator:a77a63a60a9a2e5c41845c0c806bbc631"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="cuda__stream_8hpp_source.html">cuda_stream.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1RunningStatistics-members.html b/doc_cpp/structgtsam__points_1_1RunningStatistics-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::RunningStatistics&lt; T &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">add</a>(const T &amp;x)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">max</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">min</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">operator+=</a>(const RunningStatistics &amp;rhs)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>RunningStatistics</b>() (defined in <a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">size</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">std</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">var</a>() const</td><td class="entry"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">gtsam_points::RunningStatistics&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1RunningStatistics.html b/doc_cpp/structgtsam__points_1_1RunningStatistics.html
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+<title>gtsam_points: gtsam_points::RunningStatistics&lt; T &gt; Struct Template Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1RunningStatistics-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::RunningStatistics&lt; T &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Running statistics calculator.  
+ <a href="structgtsam__points_1_1RunningStatistics.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="runnning__statistics_8hpp_source.html">runnning_statistics.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a975d145c227e23e55bb36041c864e113"><td class="memItemLeft" align="right" valign="top"><a id="a975d145c227e23e55bb36041c864e113"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a975d145c227e23e55bb36041c864e113">add</a> (const T &amp;x)</td></tr>
+<tr class="memdesc:a975d145c227e23e55bb36041c864e113"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a data point. <br /></td></tr>
+<tr class="separator:a975d145c227e23e55bb36041c864e113"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1649b673f6b97b25268b18dc7f271c9d"><td class="memItemLeft" align="right" valign="top"><a id="a1649b673f6b97b25268b18dc7f271c9d"></a>
+<a class="el" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a1649b673f6b97b25268b18dc7f271c9d">operator+=</a> (const <a class="el" href="structgtsam__points_1_1RunningStatistics.html">RunningStatistics</a> &amp;rhs)</td></tr>
+<tr class="memdesc:a1649b673f6b97b25268b18dc7f271c9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Join two statistics. <br /></td></tr>
+<tr class="separator:a1649b673f6b97b25268b18dc7f271c9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca777f83d84df098df2996f50361fa4"><td class="memItemLeft" align="right" valign="top"><a id="a9ca777f83d84df098df2996f50361fa4"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a9ca777f83d84df098df2996f50361fa4">size</a> () const</td></tr>
+<tr class="memdesc:a9ca777f83d84df098df2996f50361fa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of data points. <br /></td></tr>
+<tr class="separator:a9ca777f83d84df098df2996f50361fa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c5becb1d45aa35df0ddf0e9a19f5110"><td class="memItemLeft" align="right" valign="top"><a id="a7c5becb1d45aa35df0ddf0e9a19f5110"></a>
+T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a7c5becb1d45aa35df0ddf0e9a19f5110">mean</a> () const</td></tr>
+<tr class="memdesc:a7c5becb1d45aa35df0ddf0e9a19f5110"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mean. <br /></td></tr>
+<tr class="separator:a7c5becb1d45aa35df0ddf0e9a19f5110"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aacbbb8706c85404b88d7700abe2c524e"><td class="memItemLeft" align="right" valign="top"><a id="aacbbb8706c85404b88d7700abe2c524e"></a>
+T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#aacbbb8706c85404b88d7700abe2c524e">var</a> () const</td></tr>
+<tr class="memdesc:aacbbb8706c85404b88d7700abe2c524e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variance. <br /></td></tr>
+<tr class="separator:aacbbb8706c85404b88d7700abe2c524e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adaaf0dfff9b5df9483b23ad10a8f287f"><td class="memItemLeft" align="right" valign="top"><a id="adaaf0dfff9b5df9483b23ad10a8f287f"></a>
+T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#adaaf0dfff9b5df9483b23ad10a8f287f">std</a> () const</td></tr>
+<tr class="memdesc:adaaf0dfff9b5df9483b23ad10a8f287f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Standard deviation. <br /></td></tr>
+<tr class="separator:adaaf0dfff9b5df9483b23ad10a8f287f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2436430421d9071715aa6a4dd98cb515"><td class="memItemLeft" align="right" valign="top"><a id="a2436430421d9071715aa6a4dd98cb515"></a>
+const T &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a2436430421d9071715aa6a4dd98cb515">min</a> () const</td></tr>
+<tr class="memdesc:a2436430421d9071715aa6a4dd98cb515"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum value. <br /></td></tr>
+<tr class="separator:a2436430421d9071715aa6a4dd98cb515"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08c56d1aa520858a079fb8be7d5aa08a"><td class="memItemLeft" align="right" valign="top"><a id="a08c56d1aa520858a079fb8be7d5aa08a"></a>
+const T &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1RunningStatistics.html#a08c56d1aa520858a079fb8be7d5aa08a">max</a> () const</td></tr>
+<tr class="memdesc:a08c56d1aa520858a079fb8be7d5aa08a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum value. <br /></td></tr>
+<tr class="separator:a08c56d1aa520858a079fb8be7d5aa08a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename T&gt;<br />
+struct gtsam_points::RunningStatistics&lt; T &gt;</h3>
+
+<p>Running statistics calculator. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>Type of data. Must be float, double, or fixed-size Eigen::Array. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>For vector types, the statistics are calculated element-wise. </dd></dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="runnning__statistics_8hpp_source.html">runnning_statistics.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1Stopwatch.html">Stopwatch</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::Stopwatch Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>lap</b>() (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>msec</b>() const (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sec</b>() const (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>start</b>() (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>stop</b>() (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>t1</b> (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>t2</b> (defined in <a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1Stopwatch.html">gtsam_points::Stopwatch</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1Stopwatch.html b/doc_cpp/structgtsam__points_1_1Stopwatch.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::Stopwatch Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1Stopwatch.html">Stopwatch</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1Stopwatch-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::Stopwatch Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Just a stopwatch.  
+ <a href="structgtsam__points_1_1Stopwatch.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="stopwatch_8hpp_source.html">stopwatch.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>start</b> ()</td></tr>
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+<tr class="memitem:ab59789038b9d68b952b7150b3378a1d0"><td class="memItemLeft" align="right" valign="top"><a id="ab59789038b9d68b952b7150b3378a1d0"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>stop</b> ()</td></tr>
+<tr class="separator:ab59789038b9d68b952b7150b3378a1d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a231a70029f30d4a4107a95d690ee8b06"><td class="memItemLeft" align="right" valign="top"><a id="a231a70029f30d4a4107a95d690ee8b06"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>lap</b> ()</td></tr>
+<tr class="separator:a231a70029f30d4a4107a95d690ee8b06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa13a8fcd0e8ed1c59fc83d3a1b2d62b9"><td class="memItemLeft" align="right" valign="top"><a id="aa13a8fcd0e8ed1c59fc83d3a1b2d62b9"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>sec</b> () const</td></tr>
+<tr class="separator:aa13a8fcd0e8ed1c59fc83d3a1b2d62b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9a8ba8f3530556bbbabb7b63946f45f"><td class="memItemLeft" align="right" valign="top"><a id="aa9a8ba8f3530556bbbabb7b63946f45f"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>msec</b> () const</td></tr>
+<tr class="separator:aa9a8ba8f3530556bbbabb7b63946f45f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a774783b8549444ff652769e443c9b4f8"><td class="memItemLeft" align="right" valign="top"><a id="a774783b8549444ff652769e443c9b4f8"></a>
+std::chrono::high_resolution_clock::time_point&#160;</td><td class="memItemRight" valign="bottom"><b>t1</b></td></tr>
+<tr class="separator:a774783b8549444ff652769e443c9b4f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a00f3d622bb22ca37e7bd11320a831d02"><td class="memItemLeft" align="right" valign="top"><a id="a00f3d622bb22ca37e7bd11320a831d02"></a>
+std::chrono::high_resolution_clock::time_point&#160;</td><td class="memItemRight" valign="bottom"><b>t2</b></td></tr>
+<tr class="separator:a00f3d622bb22ca37e7bd11320a831d02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Just a stopwatch. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="stopwatch_8hpp_source.html">stopwatch.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1TempBufferManager_1_1Buffer-members.html b/doc_cpp/structgtsam__points_1_1TempBufferManager_1_1Buffer-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="classgtsam__points_1_1TempBufferManager.html">TempBufferManager</a></li><li class="navelem"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">Buffer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::TempBufferManager::Buffer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>buffer</b> (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Buffer</b>(size_t size) (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Buffer</b>(const Buffer &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(const Buffer &amp;)=delete (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b> (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~Buffer</b>() (defined in <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">gtsam_points::TempBufferManager::Buffer</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1TempBufferManager_1_1Buffer.html b/doc_cpp/structgtsam__points_1_1TempBufferManager_1_1Buffer.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::TempBufferManager::Buffer Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1TempBufferManager_1_1Buffer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::TempBufferManager::Buffer Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">Buffer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="structgtsam__points_1_1TempBufferManager_1_1Buffer.html">Buffer</a> &amp;)=delete</td></tr>
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+<tr class="memitem:acc430468cbddbe6035a43c5657c80fff"><td class="memItemLeft" align="right" valign="top"><a id="acc430468cbddbe6035a43c5657c80fff"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b></td></tr>
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+char *&#160;</td><td class="memItemRight" valign="bottom"><b>buffer</b></td></tr>
+<tr class="separator:a718e4af65bbda39a0b13447c19c77e69"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/cuda/<a class="el" href="stream__temp__buffer__roundrobin_8hpp_source.html">stream_temp_buffer_roundrobin.hpp</a></li>
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diff --git a/doc_cpp/structgtsam__points_1_1UnsafeKdTree-members.html b/doc_cpp/structgtsam__points_1_1UnsafeKdTree-members.html
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">indices</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a>(const Eigen::Vector3d &amp;query_, int k, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">knn_search</a>(const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">nearest_neighbor_search</a>(const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const KnnSetting &amp;setting=KnnSetting()) const</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Node</b> typedef (defined in <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">nodes</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Projection</b> typedef (defined in <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">root</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">UnsafeKdTree</a>(const PointCloud &amp;points, const Builder &amp;builder=KdTreeBuilder())</td><td class="entry"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">explicit</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1UnsafeKdTree.html b/doc_cpp/structgtsam__points_1_1UnsafeKdTree.html
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1UnsafeKdTree-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>"Unsafe" <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a>.  
+ <a href="structgtsam__points_1_1UnsafeKdTree.html#details">More...</a></p>
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+<p><code>#include &lt;<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a>&gt;</code></p>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Projection</b> = Projection_</td></tr>
+<tr class="separator:acb66e73ff22785f4f5dc0c0cbe2bf492"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Node</b> = <a class="el" href="structgtsam__points_1_1KdTreeNode.html">KdTreeNode</a>&lt; Projection &gt;</td></tr>
+<tr class="separator:a745fb585972c53609f1cb6a6a379f43d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a91a78734bd7123759adf836cf017b01c"><td class="memTemplParams" colspan="2">template&lt;typename Builder  = KdTreeBuilder&gt; </td></tr>
+<tr class="memitem:a91a78734bd7123759adf836cf017b01c"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">UnsafeKdTree</a> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;<a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a>, const Builder &amp;builder=<a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a>())</td></tr>
+<tr class="memdesc:a91a78734bd7123759adf836cf017b01c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1UnsafeKdTree.html#a91a78734bd7123759adf836cf017b01c">More...</a><br /></td></tr>
+<tr class="separator:a91a78734bd7123759adf836cf017b01c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f9d1f1c913205040e0a5c29f23c28e3"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">nearest_neighbor_search</a> (const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
+<tr class="memdesc:a9f9d1f1c913205040e0a5c29f23c28e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the nearest neighbor.  <a href="structgtsam__points_1_1UnsafeKdTree.html#a9f9d1f1c913205040e0a5c29f23c28e3">More...</a><br /></td></tr>
+<tr class="separator:a9f9d1f1c913205040e0a5c29f23c28e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43163acec939ae5ed9796da417657f8b"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">knn_search</a> (const Eigen::Vector3d &amp;query_, int k, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
+<tr class="memdesc:a43163acec939ae5ed9796da417657f8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This method uses dynamic memory allocation.  <a href="structgtsam__points_1_1UnsafeKdTree.html#a43163acec939ae5ed9796da417657f8b">More...</a><br /></td></tr>
+<tr class="separator:a43163acec939ae5ed9796da417657f8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac310044907f0b4127aff67f41888aad1"><td class="memTemplParams" colspan="2">template&lt;int N&gt; </td></tr>
+<tr class="memitem:ac310044907f0b4127aff67f41888aad1"><td class="memTemplItemLeft" align="right" valign="top">size_t&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">knn_search</a> (const Eigen::Vector3d &amp;query_, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
+<tr class="memdesc:ac310044907f0b4127aff67f41888aad1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This method uses fixed and static memory allocation. Might be faster for small k.  <a href="structgtsam__points_1_1UnsafeKdTree.html#ac310044907f0b4127aff67f41888aad1">More...</a><br /></td></tr>
+<tr class="separator:ac310044907f0b4127aff67f41888aad1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:aaa0d43d73cbcc810b2aa6238c01745a5"><td class="memItemLeft" align="right" valign="top"><a id="aaa0d43d73cbcc810b2aa6238c01745a5"></a>
+const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#aaa0d43d73cbcc810b2aa6238c01745a5">points</a></td></tr>
+<tr class="memdesc:aaa0d43d73cbcc810b2aa6238c01745a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input points. <br /></td></tr>
+<tr class="separator:aaa0d43d73cbcc810b2aa6238c01745a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f02da5e546a08c009bb19e03231bb87"><td class="memItemLeft" align="right" valign="top"><a id="a9f02da5e546a08c009bb19e03231bb87"></a>
+std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9f02da5e546a08c009bb19e03231bb87">indices</a></td></tr>
+<tr class="memdesc:a9f02da5e546a08c009bb19e03231bb87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point indices refered by nodes. <br /></td></tr>
+<tr class="separator:a9f02da5e546a08c009bb19e03231bb87"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0182427bcc236bf90cdc6b6f9408709f"><td class="memItemLeft" align="right" valign="top"><a id="a0182427bcc236bf90cdc6b6f9408709f"></a>
+NodeIndexType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a0182427bcc236bf90cdc6b6f9408709f">root</a></td></tr>
+<tr class="memdesc:a0182427bcc236bf90cdc6b6f9408709f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Root node index (should be zero) <br /></td></tr>
+<tr class="separator:a0182427bcc236bf90cdc6b6f9408709f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9fd9a04631c53f6b1079bade14f0994d"><td class="memItemLeft" align="right" valign="top"><a id="a9fd9a04631c53f6b1079bade14f0994d"></a>
+std::vector&lt; <a class="el" href="structgtsam__points_1_1KdTreeNode.html">Node</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html#a9fd9a04631c53f6b1079bade14f0994d">nodes</a></td></tr>
+<tr class="memdesc:a9fd9a04631c53f6b1079bade14f0994d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kd-tree nodes. <br /></td></tr>
+<tr class="separator:a9fd9a04631c53f6b1079bade14f0994d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename PointCloud, typename Projection_ = AxisAlignedProjection&gt;<br />
+struct gtsam_points::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</h3>
+
+<p>"Unsafe" <a class="el" href="structgtsam__points_1_1KdTree.html" title="KdTree-based nearest neighbor search.">KdTree</a>. </p>
+<dl class="section note"><dt>Note</dt><dd>This class does not hold the ownership of the input points. You must keep the input points along with this class. </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a91a78734bd7123759adf836cf017b01c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91a78734bd7123759adf836cf017b01c">&#9670;&nbsp;</a></span>UnsafeKdTree()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
+<div class="memtemplate">
+template&lt;typename Builder  = KdTreeBuilder&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::<a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">UnsafeKdTree</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
+          <td class="paramname"><em>points</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Builder &amp;&#160;</td>
+          <td class="paramname"><em>builder</em> = <code><a class="el" href="structgtsam__points_1_1KdTreeBuilder.html">KdTreeBuilder</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">explicit</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
+    <tr><td class="paramname">builder</td><td>Kd-tree builder </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a43163acec939ae5ed9796da417657f8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43163acec939ae5ed9796da417657f8b">&#9670;&nbsp;</a></span>knn_search() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>query_</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>k</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
+          <td class="paramname"><em>setting</em> = <code><a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k-nearest neighbors. This method uses dynamic memory allocation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">query</td><td>Query point </td></tr>
+    <tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors </td></tr>
+    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>
+
+</div>
+</div>
+<a id="ac310044907f0b4127aff67f41888aad1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac310044907f0b4127aff67f41888aad1">&#9670;&nbsp;</a></span>knn_search() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
+<div class="memtemplate">
+template&lt;int N&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::knn_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>query_</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
+          <td class="paramname"><em>setting</em> = <code><a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find k-nearest neighbors. This method uses fixed and static memory allocation. Might be faster for small k. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">query</td><td>Query point </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors </td></tr>
+    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>
+
+</div>
+</div>
+<a id="a9f9d1f1c913205040e0a5c29f23c28e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f9d1f1c913205040e0a5c29f23c28e3">&#9670;&nbsp;</a></span>nearest_neighbor_search()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t <a class="el" href="structgtsam__points_1_1UnsafeKdTree.html">gtsam_points::UnsafeKdTree</a>&lt; <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::nearest_neighbor_search </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>query_</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t *&#160;</td>
+          <td class="paramname"><em>k_indices</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double *&#160;</td>
+          <td class="paramname"><em>k_sq_dists</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
+          <td class="paramname"><em>setting</em> = <code><a class="el" href="structgtsam__points_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Find the nearest neighbor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">query</td><td>Query point </td></tr>
+    <tr><td class="paramname">k_indices</td><td>Index of the nearest neighbor </td></tr>
+    <tr><td class="paramname">k_sq_dists</td><td>Squared distance to the nearest neighbor </td></tr>
+    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors (0 or 1) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following files:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a></li>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="small__kdtree_8hpp_source.html">small_kdtree.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+ </tr>
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::VoxelBucket Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>first</b> (defined in <a class="el" href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>second</b> (defined in <a class="el" href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelBucket.html">gtsam_points::VoxelBucket</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1VoxelBucket.html b/doc_cpp/structgtsam__points_1_1VoxelBucket.html
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+<title>gtsam_points: gtsam_points::VoxelBucket Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
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+ </tbody>
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+<!-- Generated by Doxygen 1.9.1 -->
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1VoxelBucket.html">VoxelBucket</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1VoxelBucket-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::VoxelBucket Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Voxel bucket (avoid using thrust::pair for CUDA compatibility)  
+ <a href="structgtsam__points_1_1VoxelBucket.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="gaussian__voxelmap__gpu_8hpp_source.html">gaussian_voxelmap_gpu.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a47ccc2eb61cc99aceb5b20b97afc3b45"><td class="memItemLeft" align="right" valign="top"><a id="a47ccc2eb61cc99aceb5b20b97afc3b45"></a>
+Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><b>first</b></td></tr>
+<tr class="separator:a47ccc2eb61cc99aceb5b20b97afc3b45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab54d0820ea5635ace88a5d13cf626ccb"><td class="memItemLeft" align="right" valign="top"><a id="ab54d0820ea5635ace88a5d13cf626ccb"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>second</b></td></tr>
+<tr class="separator:ab54d0820ea5635ace88a5d13cf626ccb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Voxel bucket (avoid using thrust::pair for CUDA compatibility) </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__gpu_8hpp_source.html">gaussian_voxelmap_gpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1VoxelInfo-members.html b/doc_cpp/structgtsam__points_1_1VoxelInfo-members.html
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+<title>gtsam_points: Member List</title>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::VoxelInfo Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a></td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">VoxelInfo</a>()</td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">VoxelInfo</a>(const Eigen::Vector3i &amp;coord, size_t lru)</td><td class="entry"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">gtsam_points::VoxelInfo</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1VoxelInfo.html b/doc_cpp/structgtsam__points_1_1VoxelInfo.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::VoxelInfo Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1VoxelInfo.html">VoxelInfo</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structgtsam__points_1_1VoxelInfo-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::VoxelInfo Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Voxel meta information.  
+ <a href="structgtsam__points_1_1VoxelInfo.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="incremental__voxelmap_8hpp_source.html">incremental_voxelmap.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3af5f13ab826b46bd5c8b52ef1567adf"><td class="memItemLeft" align="right" valign="top"><a id="a3af5f13ab826b46bd5c8b52ef1567adf"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3af5f13ab826b46bd5c8b52ef1567adf">VoxelInfo</a> ()</td></tr>
+<tr class="memdesc:a3af5f13ab826b46bd5c8b52ef1567adf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. <br /></td></tr>
+<tr class="separator:a3af5f13ab826b46bd5c8b52ef1567adf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab506627ea1655fd205154a7d5befac87"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">VoxelInfo</a> (const Eigen::Vector3i &amp;<a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a>, size_t <a class="el" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a>)</td></tr>
+<tr class="memdesc:ab506627ea1655fd205154a7d5befac87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structgtsam__points_1_1VoxelInfo.html#ab506627ea1655fd205154a7d5befac87">More...</a><br /></td></tr>
+<tr class="separator:ab506627ea1655fd205154a7d5befac87"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:adeb146d9e19b4b876a71fbb0013dcdf6"><td class="memItemLeft" align="right" valign="top"><a id="adeb146d9e19b4b876a71fbb0013dcdf6"></a>
+size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#adeb146d9e19b4b876a71fbb0013dcdf6">lru</a></td></tr>
+<tr class="memdesc:adeb146d9e19b4b876a71fbb0013dcdf6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last used time. <br /></td></tr>
+<tr class="separator:adeb146d9e19b4b876a71fbb0013dcdf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3bc4f78d461ba17ab4c80d947b2396d0"><td class="memItemLeft" align="right" valign="top"><a id="a3bc4f78d461ba17ab4c80d947b2396d0"></a>
+Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structgtsam__points_1_1VoxelInfo.html#a3bc4f78d461ba17ab4c80d947b2396d0">coord</a></td></tr>
+<tr class="memdesc:a3bc4f78d461ba17ab4c80d947b2396d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel coordinate. <br /></td></tr>
+<tr class="separator:a3bc4f78d461ba17ab4c80d947b2396d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Voxel meta information. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab506627ea1655fd205154a7d5befac87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab506627ea1655fd205154a7d5befac87">&#9670;&nbsp;</a></span>VoxelInfo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">gtsam_points::VoxelInfo::VoxelInfo </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
+          <td class="paramname"><em>coord</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>lru</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">coord</td><td>Integer voxel coordinates </td></tr>
+    <tr><td class="paramname">lru</td><td>LRU counter for caching </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__voxelmap_8hpp_source.html">incremental_voxelmap.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1VoxelMapInfo-members.html b/doc_cpp/structgtsam__points_1_1VoxelMapInfo-members.html
new file mode 100644
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+<div class="title">gtsam_points::frame::has_covs_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_covs), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</div>  </div>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.map
new file mode 100644
index 00000000..df8f94cc
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.map
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.md5
new file mode 100644
index 00000000..21bdf4ee
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__coll__graph.md5
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.map
new file mode 100644
index 00000000..df8f94cc
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.md5
new file mode 100644
index 00000000..21bdf4ee
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.png b/doc_cpp/structgtsam__points_1_1frame_1_1has__covs__defined__inherit__graph.png
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new file mode 100644
index 00000000..b02691ea
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+<div class="center"><img src="structgtsam__points_1_1frame_1_1has__intensities__defined_3_01T_00_01std_1_1enable__if__t_3_01bo94f922db710de584657f8633519302eb.png" border="0" usemap="#agtsam__points_1_1frame_1_1has__intensities__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1poly__collection_1_1detail_1_1is__invocable_3_01decltype_07_6traits_3_01T_01_4_1_1has__intensities_08_00_01const_01T_01_6_01_4_1_1value_01_4_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="frame__traits_8hpp_source.html">frame_traits.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__intensities__defined__coll__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__intensities__defined__coll__graph.map
new file mode 100644
index 00000000..84c2207d
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__intensities__defined__coll__graph.map
@@ -0,0 +1,4 @@
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index 00000000..c6a579df
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new file mode 100644
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new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7cb96ba2bbde0f197ab288486d409a95.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7cb96ba2bbde0f197ab288486d409a95.map
new file mode 100644
index 00000000..12d51b05
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7cb96ba2bbde0f197ab288486d409a95.map
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,253,195"/>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7cb96ba2bbde0f197ab288486d409a95.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_7cb96ba2bbde0f197ab288486d409a95.md5
new file mode 100644
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+<title>gtsam_points: gtsam_points::frame::has_normals_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_normals), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</title>
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+   <div id="projectname">gtsam_points
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+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::has_normals_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_normals), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</div>  </div>
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+Collaboration diagram for gtsam_points::frame::has_normals_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_normals), const T &amp; &gt;::value &gt; &gt;:</div>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.map
new file mode 100644
index 00000000..0376170b
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.md5
new file mode 100644
index 00000000..86f3935b
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__normals__defined__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1bd7800729b92c416cb84bf56bce4e5f6.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1bd7800729b92c416cb84bf56bce4e5f6.map
new file mode 100644
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new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1c344d42a489a6524fbd6c6b136e186f2.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1c344d42a489a6524fbd6c6b136e186f2.map
new file mode 100644
index 00000000..72212e6f
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1c344d42a489a6524fbd6c6b136e186f2.map
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new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.map
new file mode 100644
index 00000000..7926b88b
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.md5
new file mode 100644
index 00000000..9787fe89
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__coll__graph.md5
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.map
new file mode 100644
index 00000000..7926b88b
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,163,136"/>
+<area shape="rect" id="node2" title=" " alt="" coords="25,5,143,32"/>
+</map>
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.md5
new file mode 100644
index 00000000..9787fe89
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.png b/doc_cpp/structgtsam__points_1_1frame_1_1has__points__defined__inherit__graph.png
new file mode 100644
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+<title>gtsam_points: gtsam_points::frame::has_times_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_times), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</title>
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+   <div id="projectname">gtsam_points
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1has__times__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_b26b7260df01990069d96feb710e4b3a.html">has_times_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_times), const T &amp; &gt;::value &gt; &gt;</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::has_times_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::has_times), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</div>  </div>
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HcmV?d00001

diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.map
new file mode 100644
index 00000000..437af650
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,163,136"/>
+<area shape="rect" id="node2" title=" " alt="" coords="25,5,143,32"/>
+</map>
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.md5
new file mode 100644
index 00000000..889ec6d8
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.png b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__coll__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..00a66be4a78903586031fb298249bc7e13658c94
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.map
new file mode 100644
index 00000000..437af650
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.md5
new file mode 100644
index 00000000..889ec6d8
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.png b/doc_cpp/structgtsam__points_1_1frame_1_1has__times__defined__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..00a66be4a78903586031fb298249bc7e13658c94
GIT binary patch
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+<title>gtsam_points: gtsam_points::frame::normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt; Struct Template Reference</title>
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+<div class="title">gtsam_points::frame::normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt; Struct Template Reference</div>  </div>
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+Inheritance diagram for gtsam_points::frame::normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt;:</div>
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+Collaboration diagram for gtsam_points::frame::normal_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::normal), const T &amp;, size_t &gt;::value &gt; &gt;:</div>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.map
new file mode 100644
index 00000000..295337f5
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" title=" " alt="" coords="25,5,144,32"/>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.md5
new file mode 100644
index 00000000..8a8f707e
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.png b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__coll__graph.png
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new file mode 100644
index 00000000..295337f5
--- /dev/null
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1normal__defined__inherit__graph.md5
new file mode 100644
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1size__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1poly_fdc465394090dea68d6f2a675406f8c5.map b/doc_cpp/structgtsam__points_1_1frame_1_1size__defined_3_01T_00_01std_1_1enable__if__t_3_01boost_1_1poly_fdc465394090dea68d6f2a675406f8c5.map
new file mode 100644
index 00000000..79d1bcda
--- /dev/null
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new file mode 100644
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+<div class="title">gtsam_points::frame::size_defined&lt; T, std::enable_if_t&lt; boost::poly_collection::detail::is_invocable&lt; decltype(&amp;traits&lt; T &gt;::size), const T &amp; &gt;::value &gt; &gt; Struct Template Reference</div>  </div>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1size__defined__inherit__graph.map b/doc_cpp/structgtsam__points_1_1frame_1_1size__defined__inherit__graph.map
new file mode 100644
index 00000000..5936913a
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1size__defined__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1size__defined__inherit__graph.md5 b/doc_cpp/structgtsam__points_1_1frame_1_1size__defined__inherit__graph.md5
new file mode 100644
index 00000000..5cc5ce68
--- /dev/null
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new file mode 100644
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+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; T &gt; Struct Template Reference</div>  </div>
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+<div class="contents">
+<hr/>The documentation for this struct was generated from the following file:<ul>
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+   <div id="projectname">gtsam_points
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">traits&lt; DummyFrame &gt;</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; DummyFrame &gt; Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>, including all inherited members.</p>
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_times</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity</b>(const DummyFrame &amp;frame, int i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>normal</b>(const DummyFrame &amp;frame, int i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>point</b>(const DummyFrame &amp;frame, int i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points_ptr</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b>(const DummyFrame &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>time</b>(const DummyFrame &amp;frame, int i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">gtsam_points::frame::traits&lt; DummyFrame &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html
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+<title>gtsam_points: gtsam_points::frame::traits&lt; DummyFrame &gt; Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4.html">traits&lt; DummyFrame &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01DummyFrame_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; DummyFrame &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ac29f55a9792dfeff90063ad70282d106"><td class="memItemLeft" align="right" valign="top"><a id="ac29f55a9792dfeff90063ad70282d106"></a>
+static int&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_times</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>time</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame, int i)</td></tr>
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+static const Eigen::Vector4d&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame, int i)</td></tr>
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+static const Eigen::Vector4d&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame, int i)</td></tr>
+<tr class="separator:a74507a86da9acd755f1920f5533b512a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const Eigen::Matrix4d&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame, int i)</td></tr>
+<tr class="separator:ade28ab7af3c7bf2de46b4a04983cdee1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame, int i)</td></tr>
+<tr class="separator:aeb5af95be70a3ee2625d74684ec26489"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const Eigen::Vector4d *&#160;</td><td class="memItemRight" valign="bottom"><b>points_ptr</b> (const <a class="el" href="structgtsam__points_1_1DummyFrame.html">DummyFrame</a> &amp;frame)</td></tr>
+<tr class="separator:a4ceba7186255a1b7cae6ee68754e3023"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="dummy__frame_8hpp_source.html">dummy_frame.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4-members.html
new file mode 100644
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--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
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+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">traits&lt; FlatContainer &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; FlatContainer &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const FlatContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const FlatContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const FlatContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const FlatContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const FlatContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const FlatContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const FlatContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const FlatContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b>(const FlatContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">gtsam_points::frame::traits&lt; FlatContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html
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+<title>gtsam_points: gtsam_points::frame::traits&lt; FlatContainer &gt; Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">gtsam_points
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4.html">traits&lt; FlatContainer &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01FlatContainer_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; FlatContainer &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a90f6d366803e59e1394b754b374ce56d"><td class="memItemLeft" align="right" valign="top"><a id="a90f6d366803e59e1394b754b374ce56d"></a>
+static int&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:a7e6c5d206e9a7451bc4a3763ff2146b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aabd2af16b4953137d2099ee1db195bdf"><td class="memItemLeft" align="right" valign="top"><a id="aabd2af16b4953137d2099ee1db195bdf"></a>
+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:aabd2af16b4953137d2099ee1db195bdf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4e33af0d68a2f1e66294be8ab79abee"><td class="memItemLeft" align="right" valign="top"><a id="ac4e33af0d68a2f1e66294be8ab79abee"></a>
+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:ac4e33af0d68a2f1e66294be8ab79abee"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1FlatContainer.html">FlatContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:a9beeef7f6efaeb7cb92de63ab4a71fb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="flat__container_8hpp_source.html">flat_container.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4-members.html
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+<title>gtsam_points: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">traits&lt; GaussianVoxelMapCPU &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const GaussianVoxelMapCPU &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const GaussianVoxelMapCPU &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const GaussianVoxelMapCPU &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const GaussianVoxelMapCPU &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const GaussianVoxelMapCPU &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const GaussianVoxelMapCPU &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const GaussianVoxelMapCPU &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const GaussianVoxelMapCPU &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html
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+<title>gtsam_points: gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt; Struct Reference</title>
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+   <div id="projectname">gtsam_points
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+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4.html">traits&lt; GaussianVoxelMapCPU &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxelMapCPU_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; GaussianVoxelMapCPU &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox)</td></tr>
+<tr class="separator:a6d62234bb9b741fbc44b569f817c1038"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:acb5a1acb1fd48f09a4f5b0c586cfb819"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed4fdc0df404a189f78c1e5daa23df1d"><td class="memItemLeft" align="right" valign="top"><a id="aed4fdc0df404a189f78c1e5daa23df1d"></a>
+static decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:aed4fdc0df404a189f78c1e5daa23df1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a84d8fdc75010fe3aaecec5b569692d90"><td class="memItemLeft" align="right" valign="top"><a id="a84d8fdc75010fe3aaecec5b569692d90"></a>
+static decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a84d8fdc75010fe3aaecec5b569692d90"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4da33864c4dadb42669708bd1e71d942"><td class="memItemLeft" align="right" valign="top"><a id="a4da33864c4dadb42669708bd1e71d942"></a>
+static decltype(auto)&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="classgtsam__points_1_1GaussianVoxelMapCPU.html">GaussianVoxelMapCPU</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a4da33864c4dadb42669708bd1e71d942"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4-members.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">traits&lt; GaussianVoxel &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; GaussianVoxel &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const GaussianVoxel &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const GaussianVoxel &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const GaussianVoxel &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const GaussianVoxel &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const GaussianVoxel &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const GaussianVoxel &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const GaussianVoxel &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const GaussianVoxel &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b>(const GaussianVoxel &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">gtsam_points::frame::traits&lt; GaussianVoxel &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html
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+<title>gtsam_points: gtsam_points::frame::traits&lt; GaussianVoxel &gt; Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
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+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4.html">traits&lt; GaussianVoxel &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01GaussianVoxel_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; GaussianVoxel &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
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+static int&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Vector4d&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame, size_t i)</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1GaussianVoxel.html">GaussianVoxel</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:ab4058b377f3edbbc9244dc352bfa01cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="gaussian__voxelmap__cpu_8hpp_source.html">gaussian_voxelmap_cpu.hpp</a></li>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4-members.html
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">traits&lt; IncrementalCovarianceContainer &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const IncrementalCovarianceContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const IncrementalCovarianceContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const IncrementalCovarianceContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const IncrementalCovarianceContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const IncrementalCovarianceContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const IncrementalCovarianceContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const IncrementalCovarianceContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const IncrementalCovarianceContainer &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b>(const IncrementalCovarianceContainer &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceContainer_01_4.html
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+</div><!-- top -->
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+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalCovarianceContainer &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:a42cfa727a1b1db1a2ba84bf9b03f71e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae89cd42fabfc7f5d443acf0eed2c3cf1"><td class="memItemLeft" align="right" valign="top"><a id="ae89cd42fabfc7f5d443acf0eed2c3cf1"></a>
+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:ae89cd42fabfc7f5d443acf0eed2c3cf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0f42c55537fd7e530c72175f61c545d8"><td class="memItemLeft" align="right" valign="top"><a id="a0f42c55537fd7e530c72175f61c545d8"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceContainer.html">IncrementalCovarianceContainer</a> &amp;frame, size_t i)</td></tr>
+<tr class="separator:a0f42c55537fd7e530c72175f61c545d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__covariance__container_8hpp_source.html">incremental_covariance_container.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4-members.html
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+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">traits&lt; IncrementalCovarianceVoxelMap &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const IncrementalCovarianceVoxelMap &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const IncrementalCovarianceVoxelMap &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const IncrementalCovarianceVoxelMap &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const IncrementalCovarianceVoxelMap &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const IncrementalCovarianceVoxelMap &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const IncrementalCovarianceVoxelMap &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const IncrementalCovarianceVoxelMap &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const IncrementalCovarianceVoxelMap &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html
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+<title>gtsam_points: gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt; Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4.html">traits&lt; IncrementalCovarianceVoxelMap &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalCovarianceVoxelMap_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalCovarianceVoxelMap &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2185d7b3ea3dbee37d28946b3cdb3ef1"><td class="memItemLeft" align="right" valign="top"><a id="a2185d7b3ea3dbee37d28946b3cdb3ef1"></a>
+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox)</td></tr>
+<tr class="separator:a2185d7b3ea3dbee37d28946b3cdb3ef1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox)</td></tr>
+<tr class="separator:a0cb5f1697bde3c86d9526dd16b029ae4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox)</td></tr>
+<tr class="separator:a2cd66c93c7f2e41f3aa5f9339ae968df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox, size_t i)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a6e28f2bfe65a7813c45cef3fe1a6305f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox, size_t i)</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1IncrementalCovarianceVoxelMap.html">IncrementalCovarianceVoxelMap</a> &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a61be8456ff312dc2a15a851359f90d1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__covariance__voxelmap_8hpp_source.html">incremental_covariance_voxelmap.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4-members.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>intensity</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>normal</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b>(const IncrementalVoxelMap&lt; VoxelContents &gt; &amp;ivox, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+<title>gtsam_points: gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt; Struct Template Reference</title>
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+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html">traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IncrementalVoxelMap&lt; VoxelContents &gt; &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox)</td></tr>
+<tr class="separator:a22caa52dc95c406a799318e01d0f00dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_normals</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox, size_t i)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox, size_t i)</td></tr>
+<tr class="separator:ad3953637a04022ca7609f931895d7167"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a82f1c4c62e7078559578173220712475"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a>&lt; VoxelContents &gt; &amp;ivox, size_t i)</td></tr>
+<tr class="separator:a7bc4ba2ae7d9874f873d8f19319a2ae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="incremental__voxelmap_8hpp_source.html">incremental_voxelmap.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4-members.html
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+   <div id="projectname">gtsam_points
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IntensityGradients &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">gtsam_points::frame::traits&lt; IntensityGradients &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity_gradient</b>(const IntensityGradients &amp;grads, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">gtsam_points::frame::traits&lt; IntensityGradients &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">gtsam_points::frame::traits&lt; IntensityGradients &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html
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+++ b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::frame::traits&lt; IntensityGradients &gt; Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4.html">traits&lt; IntensityGradients &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01IntensityGradients_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; IntensityGradients &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad54c93d472a71af5617e1b9fd1ff33ff"><td class="memItemLeft" align="right" valign="top"><a id="ad54c93d472a71af5617e1b9fd1ff33ff"></a>
+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>intensity_gradient</b> (const <a class="el" href="classgtsam__points_1_1IntensityGradients.html">IntensityGradients</a> &amp;grads, size_t i)</td></tr>
+<tr class="separator:ad54c93d472a71af5617e1b9fd1ff33ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/<a class="el" href="intensity__gradients_8hpp_source.html">intensity_gradients.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4-members.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4-members.html
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">traits&lt; PointCloud &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; PointCloud &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cov</b>(const PointCloud &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_covs</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_intensities</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_normals</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>has_points</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>has_times</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intensity</b>(const PointCloud &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>normal</b>(const PointCloud &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>point</b>(const PointCloud &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>points_ptr</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>size</b>(const PointCloud &amp;frame) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>time</b>(const PointCloud &amp;frame, size_t i) (defined in <a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">gtsam_points::frame::traits&lt; PointCloud &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html b/doc_cpp/structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::frame::traits&lt; PointCloud &gt; Struct Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">gtsam_points
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>frame</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4.html">traits&lt; PointCloud &gt;</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1frame_1_1traits_3_01PointCloud_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::frame::traits&lt; PointCloud &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:aff4735bcf71e2ca403241107bfcb9a3d"><td class="memItemLeft" align="right" valign="top"><a id="aff4735bcf71e2ca403241107bfcb9a3d"></a>
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+<tr class="separator:aff4735bcf71e2ca403241107bfcb9a3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_times</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_points</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_covs</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)</td></tr>
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+static bool&#160;</td><td class="memItemRight" valign="bottom"><b>has_intensities</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>time</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>point</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Vector4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>normal</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Matrix4d &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>cov</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame, size_t i)</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>intensity</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame, size_t i)</td></tr>
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+static const Eigen::Vector4d *&#160;</td><td class="memItemRight" valign="bottom"><b>points_ptr</b> (const <a class="el" href="structgtsam__points_1_1PointCloud.html">PointCloud</a> &amp;frame)</td></tr>
+<tr class="separator:ad14a45bd7acfb08736bc46e5e4b10a23"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/<a class="el" href="point__cloud_8hpp_source.html">point_cloud.hpp</a></li>
+</ul>
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+</div>
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+<div class="title">gtsam_points::identity_transform Member List</div>  </div>
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+
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+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator()</b>(const T &amp;x) const (defined in <a class="el" href="structgtsam__points_1_1identity__transform.html">gtsam_points::identity_transform</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1identity__transform.html">gtsam_points::identity_transform</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1identity__transform-members.html">List of all members</a>  </div>
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+<div class="title">gtsam_points::identity_transform Struct Reference</div>  </div>
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+<p>Identity transformation function. (use std::identity instead in C++20)  
+ <a href="structgtsam__points_1_1identity__transform.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="knn__result_8hpp_source.html">knn_result.hpp</a>&gt;</code></p>
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+template&lt;typename T &gt; </td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Identity transformation function. (use std::identity instead in C++20) </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/<a class="el" href="knn__result_8hpp_source.html">knn_result.hpp</a></li>
+</ul>
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+</div><!-- top -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>internal</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1internal_1_1vector2__traits.html">vector2_traits</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1internal_1_1vector2__traits-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::internal::vector2_traits&lt; N, M &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4694dfbd2ec4172a1ee446a5900180bb"><td class="memItemLeft" align="right" valign="top"><a id="a4694dfbd2ec4172a1ee446a5900180bb"></a>
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+<tr class="separator:a4694dfbd2ec4172a1ee446a5900180bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="expressions_8hpp_source.html">expressions.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/doc_cpp/structgtsam__points_1_1internal_1_1vector__traits-members.html b/doc_cpp/structgtsam__points_1_1internal_1_1vector__traits-members.html
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">gtsam_points
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>internal</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">vector_traits</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">gtsam_points::internal::vector_traits&lt; N &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Add</b>(const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v1, const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v2, gtsam::OptionalJacobian&lt; N, N &gt; H1, gtsam::OptionalJacobian&lt; N, N &gt; H2) (defined in <a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Product</b>(const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v1, const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v2, gtsam::OptionalJacobian&lt; N, N &gt; H1, gtsam::OptionalJacobian&lt; N, N &gt; H2) (defined in <a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Scale</b>(const double s, const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v, gtsam::OptionalJacobian&lt; N, 1 &gt; H1, gtsam::OptionalJacobian&lt; N, N &gt; H2) (defined in <a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a>)</td><td class="entry"><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">gtsam_points::internal::vector_traits&lt; N &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/doc_cpp/structgtsam__points_1_1internal_1_1vector__traits.html b/doc_cpp/structgtsam__points_1_1internal_1_1vector__traits.html
new file mode 100644
index 00000000..050e60da
--- /dev/null
+++ b/doc_cpp/structgtsam__points_1_1internal_1_1vector__traits.html
@@ -0,0 +1,97 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>gtsam_points: gtsam_points::internal::vector_traits&lt; N &gt; Struct Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+   <div id="projectname">gtsam_points
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+<!-- Generated by Doxygen 1.9.1 -->
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+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */</script>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>gtsam_points</b></li><li class="navelem"><b>internal</b></li><li class="navelem"><a class="el" href="structgtsam__points_1_1internal_1_1vector__traits.html">vector_traits</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="structgtsam__points_1_1internal_1_1vector__traits-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">gtsam_points::internal::vector_traits&lt; N &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ac8d647a584c096a739fda6b3bb0d36a8"><td class="memItemLeft" align="right" valign="top"><a id="ac8d647a584c096a739fda6b3bb0d36a8"></a>
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+<tr class="separator:ac8d647a584c096a739fda6b3bb0d36a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static Eigen::Matrix&lt; double, N, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Scale</b> (const double s, const Eigen::Matrix&lt; double, N, 1 &gt; &amp;v, gtsam::OptionalJacobian&lt; N, 1 &gt; H1, gtsam::OptionalJacobian&lt; N, N &gt; H2)</td></tr>
+<tr class="separator:a5c447915eeaf766f835891800e9f125c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af377a584c929594896a51a3867e5820e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/<a class="el" href="expressions_8hpp_source.html">expressions.hpp</a></li>
+</ul>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_e197146b7bbb70f60042e02ff5b8048f.html">gtsam_points</a></li><li class="navelem"><a class="el" href="dir_a75f21017b5eeff123da4092c5e48acf.html">util</a></li>  </ul>
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+<div class="title">vector3i_hash.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// SPDX-License-Identifier: MIT</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#pragma once</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;boost/functional/hash/hash.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>gtsam_points {</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1Vector3iHash.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1Vector3iHash.html">Vector3iHash</a> {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keywordtype">size_t</span> operator()(<span class="keyword">const</span> Eigen::Vector3i&amp; x)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordtype">size_t</span> seed = 0;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    boost::hash_combine(seed, x[0]);</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    boost::hash_combine(seed, x[1]);</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    boost::hash_combine(seed, x[2]);</div>
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+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;};</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classgtsam__points_1_1XORVector3iHash.html">   29</a></span>&#160;<span class="keyword">class </span><a class="code" href="classgtsam__points_1_1XORVector3iHash.html">XORVector3iHash</a> {</div>
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+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> p1 = 9132043225175502913;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> p2 = 7277549399757405689;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> p3 = 6673468629021231217;</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span>((x[0] * p1) ^ (x[1] * p2) ^ (x[2] * p3));</div>
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+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}  <span class="comment">// namespace gtsam_points</span></div>
+<div class="ttc" id="aclassgtsam__points_1_1Vector3iHash_html"><div class="ttname"><a href="classgtsam__points_1_1Vector3iHash.html">gtsam_points::Vector3iHash</a></div><div class="ttdoc">Spatial hashing function using boost::hash_combine.</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:14</div></div>
+<div class="ttc" id="aclassgtsam__points_1_1XORVector3iHash_html"><div class="ttname"><a href="classgtsam__points_1_1XORVector3iHash.html">gtsam_points::XORVector3iHash</a></div><div class="ttdoc">Spatial hashing function Teschner et al., &quot;Optimized Spatial Hashing for Collision Detection of Defor...</div><div class="ttdef"><b>Definition:</b> vector3i_hash.hpp:29</div></div>
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