template struct kfslam_traits<CRangeBearingKFSLAM2D>

template <>
struct kfslam_traits<CRangeBearingKFSLAM2D>
{
    // typedefs

    typedef CRangeBearingKFSLAM2D ekfslam_t;
    typedef CPosePDFGaussian posepdf_t;
    typedef CPose2D pose_t;
    typedef TPoint2D 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
        );
};