ManifoldEKF.h File Reference

Extended Kalman Filter base class on a generic manifold M. More...

#include <gtsam/base/Matrix.h>
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/Vector.h>
#include <gtsam/base/Manifold.h>
#include <Eigen/Dense>
#include <string>
#include <stdexcept>
#include <type_traits>

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Classes
class	gtsam::ManifoldEKF< M >
	Extended Kalman Filter on a generic manifold M. More...

Namespaces
	gtsam
	traits

Detailed Description

Extended Kalman Filter base class on a generic manifold M.

This file defines the ManifoldEKF class template for performing prediction and update steps of an Extended Kalman Filter on states residing in a differentiable manifold. It relies on the manifold's retract and localCoordinates operations.

Date

April 24, 2025

Authors

Scott Baker, Matt Kielo, Frank Dellaert

Definition in file ManifoldEKF.h.