Module iterated_ekf 

Iterated Extended Kalman Filter (IEKF) localization

Improves on the standard EKF by iterating the linearization point during the update step, which gives better accuracy for highly nonlinear models.

Structs

IEKFConfig

Configuration for IEKF

IEKFLocalizer

Iterated Extended Kalman Filter for robot localization

Type Aliases

IEKFControl

Control input (velocity, yaw rate)

IEKFMeasurement

Measurement representation (x, y position)

IEKFState

State representation for IEKF (x, y, yaw, velocity)