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Commit b7740bb6 authored by andersct's avatar andersct
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Add ukf-manifold estimator for constant curvature

- add operations for so2
- add operations for se3 and follow numpy sinc implementation for
calculating 1-cos x / x since top converges to zero faster
- add ukf-manifold algorithm
- add drawing for variance error ellipses
- add ukf-manifold estimator to constant curvature example
parent 073d9cd9
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