InvariantEKF.h File Reference

Left-Invariant Extended Kalman Filter implementation. More...

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Classes
class	gtsam::InvariantEKF< G >
	Left-Invariant Extended Kalman Filter on a Lie group G. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Left-Invariant Extended Kalman Filter implementation.

This file defines the InvariantEKF class template, inheriting from LieGroupEKF, which specifically implements the Left-Invariant EKF formulation. It restricts prediction methods to only those based on group composition (state-independent motion models), hiding the state-dependent prediction variants from LieGroupEKF.

Date

April 24, 2025

Authors

Scott Baker, Matt Kielo, Frank Dellaert