template struct kfslam_traits<CRangeBearingKFSLAM>

template <>
struct kfslam_traits<CRangeBearingKFSLAM>
{
    // typedefs

    typedef CRangeBearingKFSLAM ekfslam_t;
    typedef CPose3DQuatPDFGaussian posepdf_t;
    typedef CPose3D pose_t;
    typedef CPoint3D lm_t;

    //
methods

    template <class ARR>
    static void landmark_to_3d(
        const ARR& lm,
        TPoint3D& p
        );

    static void doPartitioningExperiment(
        ekfslam_t& mapping,
        CMatrixDouble& fullCov,
        const string& OUT_DIR
        );
};