├── LICENSE ├── README.md ├── assets ├── desciption.png └── filter-structure.png └── matlab ├── +Config ├── configMatlabPriors.m ├── configMatlabSensorDev.m ├── configQEKFParams.m └── configSchmittParams.m ├── +Estimation ├── +AttitudeEstimator │ ├── MahonyFilter.m │ └── QEKF.m ├── +ContactHandler │ ├── ContactStateMachine.m │ ├── ContactTransition.m │ ├── SchmittParams.m │ └── SchmittTrigger.m ├── +DLGEKF │ ├── Filter.m │ ├── State.m │ └── UnitTestJacobians.m ├── +InvEKF │ ├── Filter.m │ └── State.m ├── +LeggedOdom │ └── Filter.m ├── +Proprioception │ ├── DebugOutputs.m │ ├── EstimatorOptions.m │ ├── PriorsStdDev.m │ └── SensorsStdDev.m ├── +RotellaEstimator │ ├── Filter.m │ └── State.m ├── +SimpleBipedEstimator │ └── LO_IMU.m └── +Utils │ ├── getLeftInvariantErrorMetrics.m │ └── getRightInvariantErrorMetrics.m ├── +LieGroups ├── SE3.m ├── SE3xSE3.m ├── SE_2_3.m ├── SE_Nplus2_3.m ├── SO3.m └── Tn.m ├── +Model └── ModelComputations.m ├── +Utils ├── UnitQuaternion.m ├── idynPose.m ├── 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