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State Estimation Base Library

This library defines the abstract base class StateEstimationBase for the tam_state_estimation library:

  • pure-virtual interface (step, set_initial_state, set_input_*, output getters) that every state estimation implementation has to provide
  • shared types for the interface (types.hpp)
  • allows the tam_state_estimation_node to interact with any filter implementation through a common, ROS-free interface