Bo Li

Hi, this PR added some new interface to get better control during sampling, e.g. to repeatedly generate on same latent code when training the model. Please check if it is...

Hi, I was trying to integrate your code in pytorch lightning framework and found that some scalar flag attributes caused exceptions when parallelizing the nn.Module. This PR removes it for...

Inquiry about state output as ros/tf

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Hi, about this line [L343](https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_core/include/msf_core/msf_sensormanagerROS.h#L343) ``` tf_broadcaster_.sendTransform( tf::StampedTransform( transform, ros::Time::now() /*ros::Time(latestState->time_)*/, "world", "state")); ``` I thought the stamp of the sent transform should be `state_const->time`. I would like to inquiry...

Hi! me again. I got this question: In pose_measurment.h, according to [L316](https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_updates/include/msf_updates/pose_sensor_handler/pose_measurement.h#L316) and [L93-110](https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_core/include/msf_core/eigen_utils.h#L93-110), I think msf is taking `d theta` as the rotation residual, where `d q = [1,...