Central Difference Kalman Filter which can work with states on a manifold. The manifold operations follow the approach in [1]. The implementation is heavily inspired by the lightweight_filtering library.
Note: Requires C++14 support in the compiler, which is present in GCC versions >= 5 and Clang versions >= 3.4
[1] C. Hertzberg et al., "Integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"