Each pose (at time step i) is represented as:\[ \mathbf{X}_i = [x, y, z, r, p, h]^\top \]This is the 6-DoF (degrees of freedom) pose of the robot at one point in time.If the robot moves through multiple time steps: \[ X = \begin{bmatrix} X_1 \\ X_2 \\ \vdots \\ X_n \end{bmatrix} \]This concatenates all poses into one large state vector over a trajectory or sequence of observations.- Since full s..
