/cpp_filter

Kalman filter using C++ and Manif

Primary LanguageC++MIT LicenseMIT

License: MIT

Dependencies

  • Eigen3.
  • Manif (required for the filters operating on Lie groups).
  • Custom RandomVariable header-only library (this is included in the extern directory).

In this repo

  • Implementation of a standard Kalman filter.
  • Implementation of a left-invariant extended Kalman filter (L-InEKF) on SE(2).