Const function to calculate numPosesDim, which is numPoses * dim_. This quantity is often used as a matrix size or offset so avoiding scattered recalculation is probably a good idea.
Same with rotAndRangeMatrixSize()
Consolidate use of n * d, assign to rot_mat_sz when appropriate, although sometimes it is used for a numPosesDim x 1 vector for translation
numPosesDim
, which isnumPoses * dim_
. This quantity is often used as a matrix size or offset so avoiding scattered recalculation is probably a good idea.rot_mat_sz
when appropriate, although sometimes it is used for anumPosesDim x 1
vector for translation