| ▼Nov_msckf | Extended Kalman Filter estimator |
| CNoiseManager | Struct of our imu noise parameters |
| CPropagator | Performs the state covariance and mean propagation using imu measurements |
| CROS1Visualizer | Helper class that will publish results onto the ROS framework |
| CROS2Visualizer | Helper class that will publish results onto the ROS framework |
| CROSVisualizerHelper | Helper class that handles some common versions into and out of ROS formats |
| CSimulator | Master simulator class that generated visual-inertial measurements |
| CState | State of our filter |
| CStateHelper | Helper which manipulates the State and its covariance |
| CStateOptions | Struct which stores all our filter options |
| ▼CUpdaterHelper | Class that has helper functions for our updaters |
| CUpdaterHelperFeature | Feature object that our UpdaterHelper leverages, has all measurements and means |
| CUpdaterMSCKF | Will compute the system for our sparse features and update the filter |
| CUpdaterOptions | Struct which stores general updater options |
| CUpdaterSLAM | Will compute the system for our sparse SLAM features and update the filter |
| CUpdaterZeroVelocity | Will try to detect and then update using zero velocity assumption |
| CVioManager | Core class that manages the entire system |
| CVioManagerOptions | Struct which stores all options needed for state estimation |