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• feat(holistic_fusion): initialize heading or yaw and position from measurements with frames

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• refactor(holistic_fusion): remove the holistic yaw factor (#56)

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• feat(holistic_fusion): add a heading factor that is defined for every attitude

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• refactor: rename graph_msf to holistic_fusion (#54)

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• feat(graph_msf): fuse absolute yaw through the fixed-frame alignment

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• fix(graph_msf): start a displacement keyframe from the old keyframe (…

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