$$% From /root/project/resources/common/common.symbols.tex \newcommand{\aset}[1]{\mathcal{#1}} % Set \newcommand{\amat}[1]{\mathbf{#1}} % Matrix \newcommand{\avec}[1]{\mathbf{#1}} % Vector \newcommand{\rv}[1]{\boldsymbol{#1}} % Random variable \newcommand{\definedas}{\triangleq} % Defined as \newcommand{\nats}{\mathbb{N}} % Natural numbers \newcommand{\ints}{\mathbb{Z}} % Integers \newcommand{\rats}{\mathbb{Q}} % Rationals \newcommand{\reals}{\mathbb{R}} % Real numbers \newcommand{\comp}{\mathbb{C}} % Complex numbers \newcommand{\Time}{\mathbb{T}} % Time axis \newcommand{\SEthree}{\text{SE}(3)} \newcommand{\SEtwo}{\text{SE}(2)} \newcommand{\sethree}{\text{se}(3)} \newcommand{\setwo}{\text{se}(2)} \newcommand{\SOthree}{\text{SO}(3)} \newcommand{\pose}{\boldsymbol{q}} % Pose \newcommand{\state}{\boldsymbol{x}} % State \newcommand{\statesp}{\mathcal{X}} % State space \newcommand{\bmu}{\boldsymbol{\mu}} % mean \newcommand{\bSigma}{\boldsymbol{\Sigma}} % covariance matrix \newcommand{\tup}[1]{\langle#1\rangle} % Tuple$$