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
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- estimation/constant_curvature.py 119 additions, 0 deletionsestimation/constant_curvature.py
- estimation/manifold_kalman.py 140 additions, 0 deletionsestimation/manifold_kalman.py
- examples/compare_curvature_estimators.py 34 additions, 16 deletionsexamples/compare_curvature_estimators.py
- misc/se2.py 113 additions, 0 deletionsmisc/se2.py
- misc/so2.py 81 additions, 0 deletionsmisc/so2.py
- vis/distributions.py 19 additions, 0 deletionsvis/distributions.py
- vis/xy_utils.py 17 additions, 0 deletionsvis/xy_utils.py
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