Classes
struct	gtsam::ContactMeasurement
	Body-frame contact measurement for one foot. More...
struct	gtsam::LeggedEstimatorParams
	Common estimator parameters shared by all four variants. More...
class	gtsam::LeggedEstimator
	Common runtime interface shared by all four legged estimator variants. More...
class	gtsam::LeggedInvariantEKF
	Invariant filter: LeftLinearEKF on ExtendedPose3(2+k). More...
struct	gtsam::LeggedInvariantEKF::AutonomousFlow
	Autonomous flow used by the left-linear prediction step. More...
class	gtsam::LeggedInvariantIEKF
	Invariant filter with local graph fragment. More...
class	gtsam::LeggedFixedLagSmoother
	Fixed-lag smoother over NavState and contact-episode footholds. More...
class	gtsam::LeggedCombinedFixedLagSmoother
	Fixed-lag smoother with CombinedImuFactor bias evolution. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Classes