Modules

module.System	The base class for a system dynamics model.
module.LTI	Discrete-time Linear Time-Invariant (LTI) system.
module.LTV	Discrete-time Linear Time-Variant (LTV) system.
module.NLS	Dynamics model for discrete-time non-linear system (NLS).
module.EKF	Performs Batched Extended Kalman Filter (EKF).
module.UKF	Performs Batched Unscented Kalman Filter (UKF).
module.PF	Performs Batched Particle Filter (PF).
module.LQR	Linear Quadratic Regulator (LQR) with Dynamic Programming.
module.IMUPreintegrator	Applies preintegration over IMU input signals.
module.EPnP	Batched EPnP Solver - a non-iterative \(\mathcal{O}(n)\) solution to the Perspective-\(n\)-Point (PnP) problem for \(n \geq 4\).
module.MPC	Model Predictive Control (MPC) based on iterative LQR.
module.ICP	Batched Iterative Closest Point (ICP) algorithm to find a rigid transformation between two sets of points using Singular Value Decomposition (SVD).
module.GeodesicLoss	Creates a criterion that measures the Geodesic Error between the rotation part of the input LieTensor \(x\) and target LieTensor \(y\).