EKF on a Lie group with a general left–linear prediction model. More...

Classes
class	gtsam::LeftLinearEKF< G >
	EKF on a Lie group with a general left–linear prediction model. More...
struct	gtsam::LeftLinearEKF< G >::is_automorphism< Phi >
	SFINAE template to check if a type satisfies the automorphism concept. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

EKF on a Lie group with a general left–linear prediction model.

See Barrau, Axel, and Silvere Bonnabel. "Linear observed systems on groups." Systems & Control Letters 129 (2019): 36-42. Link: https://www.sciencedirect.com/science/article/pii/S0167691119300805

Classes