LieGroupEKF.h File Reference

Extended Kalman Filter derived class for Lie groups G. More...

#include <gtsam/navigation/ManifoldEKF.h>
#include <gtsam/base/Lie.h>
#include <Eigen/Dense>
#include <type_traits>
#include <functional>

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Classes
class	gtsam::LieGroupEKF< G >
	Extended Kalman Filter on a Lie group G, derived from ManifoldEKF. More...

Namespaces
	gtsam
	traits

Detailed Description

Extended Kalman Filter derived class for Lie groups G.

This file defines the LieGroupEKF class template, inheriting from ManifoldEKF, for performing EKF steps specifically on states residing in a Lie group. It provides predict methods with state-dependent dynamics functions. Please use the InvariantEKF class for prediction via group composition.

Date

April 24, 2025

Authors

Scott Baker, Matt Kielo, Frank Dellaert

Definition in file LieGroupEKF.h.