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        "depth": 1,
        "facts": {
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              "",
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              "theta.cos"
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              "",
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              "",
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            "hat_theta.y_axis",
            "hat_theta.y_axis.x",
            "hat_theta.y_axis.y",
            "inv.inverse",
            "mat.x_axis",
            "mat.x_axis.x",
            "mat.x_axis.y",
            "mat.y_axis",
            "mat.y_axis.x",
            "mat.y_axis.y",
            "mat.z_axis",
            "mat.z_axis.x",
            "mat.z_axis.y",
            "omega.x_axis",
            "omega.x_axis.x",
            "omega.x_axis.y",
            "omega.y_axis",
            "omega.y_axis.x",
            "omega.y_axis.y",
            "omega.z_axis",
            "omega.z_axis.x",
            "omega.z_axis.y",
            "other.r",
            "other.t",
            "out.len",
            "r.x_axis",
            "r.x_axis.x",
            "r.x_axis.y",
            "r.y_axis",
            "r.y_axis.x",
            "r.y_axis.y",
            "rand_upsilon.x",
            "rand_upsilon.y",
            "result2_homogeneous.x",
            "result2_homogeneous.y",
            "rng.random",
            "s2.inverse",
            "s2.r",
            "s2.t",
            "s3.r",
            "s3.t",
            "s4.r",
            "s4.t",
            "se2.inverse",
            "se2.log",
            "se2.matrix",
            "se2.r",
            "se2.r.inverse",
            "se2.r.matrix",
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            "se2.r.z.length",
            "se2.r.z.normalize",
            "se2.rplus",
            "se2.t",
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            "se2_exp.log",
            "se2_original.matrix",
            "se2_plus.to_array",
            "so2.z",
            "so2.z.x",
            "so2.z.y",
            "theta.abs",
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            "upsilon.x",
            "upsilon.y",
            "upsilon2.x",
            "upsilon2.y",
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            "upsilon_zero.y",
            "v.x",
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            "x.adjoint",
            "x.inverse",
            "x.len",
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            "x.rminus",
            "x.rplus"
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          "tgt": [
            "\u003cSO2F32 as approx::AbsDiffEq\u003e::default_epsilon",
            "\u003cSO2F32 as approx::RelativeEq\u003e::default_max_relative",
            "Err",
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            "SE2F32::from_matrix",
            "SE2F32::from_random",
            "SE2F32::hat",
            "SE2F32::left_jacobian",
            "SE2F32::lminus",
            "SE2F32::lplus",
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            "SE2F32::right_jacobian",
            "SE2F32::vee",
            "Self::sc",
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            "crate::Mat3AF32::from_cols",
            "crate::Mat3AF32::from_cols_array",
            "crate::Vec2F32::from_array",
            "crate::Vec2F32::new",
            "crate::Vec3AF32::new",
            "delta.len",
            "inv.inverse",
            "make_random_se2",
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            "out.len",
            "rand::rng",
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            "se2.inverse",
            "se2.log",
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            "se2.r.matrix",
            "se2.r.z.length",
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            "se2.rplus",
            "se2_2.log",
            "se2_exp.log",
            "se2_original.matrix",
            "se2_plus.to_array",
            "super::so2::SO2F32::exp",
            "super::so2::SO2F32::from_array",
            "super::so2::SO2F32::from_matrix3a",
            "super::so2::SO2F32::from_random",
            "super::so2::SO2F32::hat",
            "super::so2::SO2F32::new",
            "super::so2::SO2F32::vee",
            "theta.abs",
            "theta.cos",
            "theta.sin",
            "x.adjoint",
            "x.inverse",
            "x.len",
            "x.matrix",
            "x.rminus",
            "x.rplus"
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            "col": 3,
            "line": 865
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            "b": "aAz4mB.(dxjS[PIBt^GyB.\u003eAdwN^RDctEuFasqhsBTYxVarR^HarR^HarR^Hw]zYjyANteattA2hxWtNarR^HarR^HarR^HarR^HvrlH3A=+VewO+^%x)a5{wPn\u003ewA+frmy\u0026\u0026(%t}vauvrC^\u0026t}vafAc2-fz/cWXatEBVg:$G[arR^HarR^HarR^HEf}8tarR^Hao",
            "ln": 33747,
            "col": 16,
            "line": 970
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        ],
        "depth": 1,
        "facts": {
          "imp": [
            [
              "",
              "super::so3::SO3F32::from_array"
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            [
              "",
              "crate::Vec3AF32::from_array"
            ],
            [
              "",
              "super::so3::SO3F32::from_matrix4"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "rand::rng"
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            [
              "",
              "rng.random"
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            [
              "",
              "rng.random"
            ],
            [
              "",
              "rng.random"
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            [
              "",
              "super::so3::SO3F32::from_random"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "super::so3::SO3F32::from_quaternion"
            ],
            [
              "",
              "super::so3::SO3F32::from_array"
            ],
            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "crate::Vec3AF32::new"
            ],
            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "SE3F32::exp"
            ],
            [
              "",
              "SE3F32::exp"
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            [
              "",
              "x.inverse"
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            [
              "",
              "crate::Mat4F32::from_cols_array"
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            [
              "",
              "super::so3::SO3F32::hat"
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            [
              "",
              "omega.dot"
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            [
              "",
              "theta2.sqrt"
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            [
              "",
              "super::so3::SO3F32::exp"
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            [
              "",
              "super::so3::SO3F32::hat"
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            [
              "",
              "theta.cos"
            ],
            [
              "",
              "theta.sin"
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            [
              "",
              "omega.dot"
            ],
            [
              "",
              "theta2.sqrt"
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            [
              "",
              "super::so3::SO3F32::hat"
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            [
              "",
              "super::so3::SO3F32::hat"
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            [
              "",
              "crate::Mat4F32::from_cols_array"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "super::so3::SO3F32::vee4"
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            [
              "",
              "omega.dot"
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            [
              "",
              "theta2.sqrt"
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            [
              "",
              "super::so3::SO3F32::left_jacobian"
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            [
              "",
              "super::so3::SO3F32::hat"
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              "",
              "super::so3::SO3F32::hat"
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            [
              "",
              "theta.sin"
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              "",
              "theta.cos"
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            [
              "",
              "Self::left_jacobian"
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              "",
              "x.len"
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              "",
              "delta.len"
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              "",
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              "",
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              "",
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              "",
              "se3_plus.to_params"
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            [
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              "Ok"
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            [
              "",
              "\u003cSO3F32 as approx::AbsDiffEq\u003e::default_epsilon"
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              "",
              "\u003cSO3F32 as approx::RelativeEq\u003e::default_max_relative"
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              "",
              "SE3F32::from_random"
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              "",
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              "",
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              "",
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              "",
              "SE3F32::from_matrix"
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            [
              "",
              "super::so3::SO3F32::IDENTITY.matrix"
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            [
              "",
              "se3.r.matrix"
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            [
              "",
              "crate::Mat4F32::from_cols_array"
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            [
              "",
              "SE3F32::from_matrix"
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            [
              "",
              "crate::QuatF32::from_xyzw.normalize"
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            [
              "",
              "crate::QuatF32::from_xyzw"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "SE3F32::from_qxyz"
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            [
              "",
              "make_random_se3"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "x.rplus"
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            [
              "",
              "x.rminus"
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            [
              "",
              "make_random_se3"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "SE3F32::lplus"
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            [
              "",
              "SE3F32::lminus"
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            [
              "",
              "se3.inverse"
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            [
              "",
              "SE3F32::new"
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            [
              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "se3.inverse"
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            [
              "",
              "make_random_se3"
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            [
              "",
              "se3.inverse"
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            [
              "",
              "se3.matrix"
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            [
              "",
              "SE3F32::new"
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            [
              "",
              "crate::Vec3AF32::new"
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              "",
              "se3.matrix"
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              "",
              "make_random_se3"
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              "",
              "make_random_se3"
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              "",
              "make_random_se3"
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              "",
              "make_random_se3"
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            [
              "",
              "make_random_se3"
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            [
              "",
              "relative_transform.inverse"
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              "",
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              "",
              "crate::Vec3AF32::new"
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              "",
              "SE3F32::exp"
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              "",
              "se3.log"
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              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "SE3F32::new"
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            [
              "",
              "se3.log"
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              "",
              "crate::Vec3AF32::new"
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              "",
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              "",
              "SE3F32::exp"
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              "",
              "crate::Vec3AF32::new"
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              "",
              "crate::Vec3AF32::new"
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              "",
              "SE3F32::hat"
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            [
              "",
              "SE3F32::vee"
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              "",
              "crate::Vec3AF32::new"
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            [
              "",
              "crate::Vec3AF32::new"
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              "",
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              "",
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              "",
              "composed.adjoint"
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              "",
              "se3_1.adjoint"
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            [
              "",
              "se3_2.adjoint"
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              "",
              "adj_2.iter.enumerate"
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            [
              "",
              "adj_2.iter"
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            [
              "",
              "SE3F32::from_random"
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              "",
              "se3.inverse"
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              "",
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              "",
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              "",
              "SE3F32::from_matrix"
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              "",
              "make_random_se3"
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              "",
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              "",
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              "",
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              "",
              "mat6_mul_vec6"
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              "",
              "test_pairs"
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              "",
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              "",
              "mat6_mul_vec6"
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              "",
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              "",
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              "",
              "SE3F32::right_jacobian"
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              "",
              "test_pairs"
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              "",
              "SE3F32::left_jacobian"
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              "",
              "mat6_transpose"
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              "",
              "SE3F32::right_jacobian"
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            [
              "",
              "super::so3::SO3F32"
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              "",
              "crate::param::Param"
            ],
            [
              "",
              "crate::param::ParamError"
            ],
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              "",
              "crate::Mat3AF32"
            ],
            [
              "",
              "crate::Mat4F32"
            ],
            [
              "",
              "crate::QuatF32"
            ],
            [
              "",
              "crate::Vec3AF32"
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              "",
              "rand::RngExt"
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              "",
              "super::*"
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            [
              "",
              "approx::assert_relative_eq"
            ]
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          "mbr": [
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            "SE3F32::plus.unwrap",
            "SO3F32::IDENTITY.matrix",
            "adj_2.iter",
            "adj_2.iter.enumerate",
            "col.x",
            "col.y",
            "col.z",
            "composed.adjoint",
            "delta.len",
            "delta.x",
            "delta.y",
            "delta.z",
            "h.x_axis",
            "h.x_axis.x",
            "h.x_axis.y",
            "h.x_axis.z",
            "h.y_axis",
            "h.y_axis.x",
            "h.y_axis.y",
            "h.y_axis.z",
            "h.z_axis",
            "h.z_axis.x",
            "h.z_axis.y",
            "h.z_axis.z",
            "jl_so3.x_axis",
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            "mat.w_axis",
            "mat.w_axis.x",
            "mat.w_axis.y",
            "mat.w_axis.z",
            "omega.dot",
            "omega.w_axis",
            "omega.w_axis.x",
            "omega.w_axis.y",
            "omega.w_axis.z",
            "omega.x",
            "omega.y",
            "omega.z",
            "other.r",
            "other.t",
            "out.len",
            "q1.w",
            "q1.x",
            "q1.y",
            "q1.z",
            "q2.w",
            "q2.x",
            "q2.y",
            "q2.z",
            "q_mat.x_axis",
            "q_mat.y_axis",
            "q_mat.z_axis",
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            "r.x_axis.x",
            "r.x_axis.y",
            "r.x_axis.z",
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            "r.y_axis.y",
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            "relative_transform.inverse",
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            "se3.adjoint",
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            "se3.log",
            "se3.matrix",
            "se3.r",
            "se3.r.matrix",
            "se3.r.q",
            "se3.r.q.w",
            "se3.r.q.x",
            "se3.r.q.y",
            "se3.r.q.z",
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            "t.x_axis.z",
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            "t.y_axis.y",
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            "se3_1.adjoint",
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            "se3_2.adjoint",
            "se3_2.inverse",
            "se3_plus.to_params",
            "se3_retract.to_params",
            "super::so3::SO3F32::IDENTITY.matrix",
            "super::so3::SO3F32::exp",
            "super::so3::SO3F32::from_array",
            "super::so3::SO3F32::from_matrix4",
            "super::so3::SO3F32::from_quaternion",
            "super::so3::SO3F32::from_random",
            "super::so3::SO3F32::hat",
            "super::so3::SO3F32::left_jacobian",
            "super::so3::SO3F32::vee4",
            "test_pairs",
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            "x.rplus"
          ],
          "funcs": [
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              719
            ],
            [
              "from_array",
              870
            ],
            [
              "to_array",
              1081
            ],
            [
              "from_matrix",
              1250
            ],
            [
              "from_random",
              1444
            ],
            [
              "from_qxyz",
              1736
            ],
            [
              "from_params",
              1895
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            [
              "to_params",
              2297
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            [
              "retract",
              2542
            ],
            [
              "rplus",
              2904
            ],
            [
              "rminus",
              3039
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            [
              "lplus",
              3165
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            [
              "lminus",
              3300
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            [
              "inverse",
              3404
            ],
            [
              "matrix",
              3566
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            [
              "adjoint",
              3929
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            [
              "exp",
              4622
            ],
            [
              "log",
              5381
            ],
            [
              "hat",
              6041
            ],
            [
              "vee",
              6381
            ],
            [
              "left_jacobian",
              7686
            ],
            [
              "right_jacobian",
              10319
            ],
            [
              "plus",
              10553
            ],
            [
              "mul",
              11477
            ],
            [
              "mul_assign",
              11689
            ],
            [
              "mul",
              11842
            ],
            [
              "default_epsilon",
              12068
            ],
            [
              "abs_diff_eq",
              12190
            ],
            [
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