├── .clang-format ├── .github └── workflows │ ├── ubuntu_20_04.yaml │ └── ubuntu_latest.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── Dockerfile.cpp-env-ubuntu ├── README.md ├── cmake ├── FindCholmod.cmake ├── FindEigen3.cmake └── FindSPQR.cmake ├── design_decisions.md ├── examples ├── CMakeLists.txt ├── config.json ├── cora_vis_test.cpp ├── data │ ├── factor_graph_small.pyfg │ ├── mrclam │ │ └── range_and_rpm │ │ │ ├── mrclam2 │ │ │ └── mrclam2.pyfg │ │ │ ├── mrclam3a │ │ │ └── mrclam3a.pyfg │ │ │ ├── mrclam3b │ │ │ └── mrclam3b.pyfg │ │ │ ├── mrclam4 │ │ │ └── mrclam4.pyfg │ │ │ ├── mrclam5a │ │ │ └── mrclam5a.pyfg │ │ │ ├── mrclam5b │ │ │ └── mrclam5b.pyfg │ │ │ ├── mrclam5c │ │ │ └── mrclam5c.pyfg │ │ │ ├── mrclam6 │ │ │ └── mrclam6.pyfg │ │ │ └── mrclam7 │ │ │ └── mrclam7.pyfg │ ├── plaza1.pyfg │ ├── plaza2.pyfg │ ├── single_drone.pyfg │ └── tiers.pyfg ├── data_viz.py ├── json.hpp ├── main.cpp └── paper_experiments.cpp ├── include └── CORA │ ├── CORA.h │ ├── CORA_preconditioners.h │ ├── CORA_problem.h │ ├── CORA_types.h │ ├── CORA_utils.h │ ├── CORA_vis.h │ ├── MatrixManifold.h │ ├── Measurements.h │ ├── ObliqueManifold.h │ ├── StiefelProduct.h │ ├── Symbol.h │ └── pyfg_text_parser.h ├── media ├── plaza2.gif └── single_drone_animation.mp4 ├── run_utils ├── increment_init_rank.bash ├── parse_data.py ├── run_experiments.bash ├── toggle_formulation.bash └── toggle_init.bash ├── src ├── CORA.cpp ├── CORA_preconditioners.cpp ├── CORA_problem.cpp ├── CORA_utils.cpp ├── CORA_vis.cpp ├── ObliqueManifold.cpp ├── StiefelProduct.cpp ├── Symbol.cpp └── pyfg_text_parser.cpp └── tests ├── CMakeLists.txt ├── data ├── single_range │ ├── Apose.mm │ ├── Arange.mm │ ├── DataMatrix.mm │ ├── OmegaPose.mm │ ├── OmegaRange.mm │ ├── RangeDistances.mm │ ├── RotConLaplacian.mm │ ├── S_rand.mm │ ├── T.mm │ ├── X_gt.mm │ ├── X_odom.mm │ ├── X_rand_dim2.mm │ ├── expected_egrad.mm │ ├── expected_rgrad.mm │ ├── factor_graph.pyfg │ ├── hessProd.mm │ └── rand_dX.mm ├── single_rpm │ ├── Apose.mm │ ├── Arange.mm │ ├── DataMatrix.mm │ ├── OmegaPose.mm │ ├── OmegaRange.mm │ ├── RangeDistances.mm │ ├── RotConLaplacian.mm │ ├── S_rand.mm │ ├── T.mm │ ├── X_gt.mm │ ├── X_odom.mm │ ├── X_rand_dim2.mm │ ├── expected_egrad.mm │ ├── expected_rgrad.mm │ ├── factor_graph.pyfg │ ├── hessProd.mm │ └── rand_dX.mm └── small_ra_slam_problem │ ├── Apose.mm │ ├── Arange.mm │ ├── DataMatrix.mm │ ├── OmegaPose.mm │ ├── OmegaRange.mm │ ├── RangeDistances.mm │ ├── RotConLaplacian.mm │ ├── S_rand.mm │ ├── T.mm │ ├── X_gt.mm │ ├── X_odom.mm │ ├── X_rand_dim2.mm │ ├── expected_egrad.mm │ ├── expected_rgrad.mm │ ├── factor_graph.pyfg │ ├── hessProd.mm │ └── rand_dX.mm ├── test.cpp ├── test_certification.cpp ├── test_construct_problem.cpp ├── test_cora.cpp ├── test_geometry.cpp ├── test_optimizer_helpers.cpp ├── test_parse_pyfg.cpp ├── test_utils.cpp └── test_utils.h /.clang-format: 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