navigation Directory Reference

Files
	AHRSFactor.cpp
	AHRSFactor.h
	AttitudeFactor.cpp
	Implementation file for Attitude factor.
	AttitudeFactor.h
	Header file for Attitude factor.
	BarometricFactor.cpp
	Implementation file for Barometric factor.
	BarometricFactor.h
	Header file for Barometric factor.
	CarrierPhaseFactor.cpp
	Implementation file for GNSS Carrier Phase factors.
	CarrierPhaseFactor.h
	Header file for GNSS Carrier Phase factors.
	CombinedImuFactor.cpp
	CombinedImuFactor.h
	CombinedImuFactorWithGravity.cpp
	CombinedImuFactorWithGravity.h
	ConstantVelocityFactor.h
	Maintain a constant velocity motion model between two NavStates.
	DopplerFactor.cpp
	Implementation of the GNSS Doppler (range-rate) factor.
	DopplerFactor.h
	Header file for the GNSS Doppler (range-rate) factor.
	EquivariantFilter.h
	Equivariant Filter (EqF) implementation.
	expressions.h
	Common expressions for solving navigation problems.
	Gal3ImuEKF.cpp
	Extended Kalman Filter derived class for IMU-driven Gal3.
	Gal3ImuEKF.h
	(Invariant) Extended Kalman Filter for IMU-driven Gal3 We use an invariant Kalman Filter on the Gal3 Lie group to propagate from one state to another.
	GalileanImuFactor.h
	Left-invariant Galilean IMU preintegration factor aliases.
	GalileanPreintegration.cpp
	Left-invariant Galilean IMU preintegration.
	GalileanPreintegration.h
	Left-invariant Galilean IMU preintegration with bias correction.
	GnssCommon.cpp
	Implementation of shared GNSS utilities.
	GnssCommon.h
	Shared constants and utilities for GNSS factors.
	GPSFactor.cpp
	Implementation file for GPS factor.
	GPSFactor.h
	Header file for GPS factor.
	ImuBias.cpp
	ImuBias.h
	ImuFactor.cpp
	ImuFactor.h
	ImuFactorWithGravity.cpp
	ImuFactorWithGravity.h
	InvariantEKF.h
	Left-Invariant Extended Kalman Filter implementation.
	LeftLinearEKF.h
	EKF on a Lie group with a general left–linear prediction model.
	LeggedEstimator.cpp
	LeggedEstimator.h
	LeggedEstimatorFactors.h
	LieGroupEKF.h
	Extended Kalman Filter derived class for Lie groups G.
	LieGroupPreintegration.cpp
	IMU preintegration using the SE_2(3) group structure of NavState.
	LieGroupPreintegration.h
	IMU preintegration using the SE_2(3) group structure of NavState.
	MagFactor.h
	Factors involving magnetometers.
	MagPoseFactor.h
	ManifoldEKF.h
	Extended Kalman Filter base class on a generic manifold M.
	ManifoldPreintegration.cpp
	ManifoldPreintegration.h
	NavState.cpp
	Navigation state composing of attitude, position, and velocity.
	NavState.h
	Navigation state composing of attitude, position, and velocity.
	NavStateImuEKF.cpp
	Extended Kalman Filter derived class for IMU-driven NavState.
	NavStateImuEKF.h
	Extended Kalman Filter for IMU-driven NavState on SE(3).
	PlanarGyroFactor.cpp
	PlanarGyroFactor.h
	One-dimensional ("planar") gyro factors.
	PreintegratedRotation.cpp
	PreintegratedRotation.h
	PreintegrationBase.h
	PreintegrationCombinedParams.h
	PreintegrationParams.h
	PseudorangeFactor.cpp
	Implementation file for GNSS Pseudorange factor.
	PseudorangeFactor.h
	Header file for GNSS Pseudorange factor.
	Scenario.cpp
	Classes for testing navigation scenarios.
	Scenario.h
	Simple class to test navigation scenarios.
	ScenarioRunner.h
	Simple class to test navigation scenarios.
	TangentPreintegration.cpp
	TangentPreintegration.h