Welcome to InEKF’s documentation!

InEKF is a C++ library with python bindings that implements the Invariant Extend Kalman Filter (InEKF) in a modular to enable easy application to any system.

Features

• Support for Right & Left filters.

• Base classes provide easy extension via inheritance.

• Coded using static Eigen types for efficient structure.

• Fully featured python interface for use in classroom, prototyping, etc.

• C++14 and above supported.

• Fullly templated Lie Groups SO2, SO3, SE2, SE3 to enable additional tracking of Euclidean states and multiple extra columns in SE2/SE3.

• Dynamic Lie Groups types to add columns to SE2/SE3 on the fly (for InEKF SLAM and others).

• Various examples to get started.

InEKF Documentation

• Installation
• Getting Started
  • Using Lie Groups
  • Making Models
  • Making & Using the InEKF
• Custom Models
  • MeasureModel
  • ProcessModel
• Changelog
  • InEKF 0.1.0

C++ API

• Core Classes
  • Error
  • Invariant Extended Kalman Filter
  • Measure Model
  • Process Model
• Lie Groups
  • SO(2)
  • SE(2)
  • SO(3)
  • SE(3)
  • Lie Group Base
  • Helpers
• Inertial Models
  • Inertial Process Model
  • Depth Sensor
  • Doppler Velocity Log
• SE2 Models
  • Odometry Process Model
  • Dynamic Odometry Process Model
  • GPS
  • Landmark Sensor

Python API

• Core Classes
  • Error
  • Invariant Extended Kalman Filter
  • Measure Model
  • Process Model
• Lie Groups
  • SO(2)
  • SE(2)
  • SO(3)
  • SE(3)
  • Lie Group Base
• Inertial Models
  • Inertial Process Model
  • Depth Sensor
  • Doppler Velocity Log
• SE2 Models
  • Odometry Process Model
  • Dynamic Odometry Process Model
  • GPS
  • Landmark Sensor

Indices and tables

• Index

• Module Index

• Search Page