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