the topologic relations between entities, which are not been stored in explicit formulation in the model, can be achieved through collective operation of geometric object's hypergraph model.
the explicit formulation of the measuring errors can also be derived from its established model.
对机构测量误差进行建模,得出位姿测量误差显式表达式。
by using generalized function, an accurate integration method is developed to get the explicit formulation of the matrixes involved. this can improve the accuracy and efficiency of the method.