Crate: uify-core. I/O-free. Safe on any thread including the audio thread.

Top-level

• Sample<G, C> — time-indexed tracker output (value, covariance, confidence, timestamp).
• Timestamp — host-monotonic nanoseconds.
• Confidence — [0, 1] clamped.
• Tracker — trait with Geometry, Covariance, Measurement<'a>, step, reset.
• TrackerError — Lost / Numerical / Backend.

manifolds::

• LieGroup trait — identity, compose, inverse, exp, log, plus, minus.
• so2, so3, se2, se3, sl3 — concrete groups.

See architecture-manifolds for conventions and property-test requirements.

filters::

• kalman — classical linear KF, generic over state and measurement dim.
• ekf_manifold — EKF on a Lie group, right-trivialized, left-Jacobian reset.
• rts_smoother — offline backward pass.

pipeline::

• Stage trait — generic stage in a tracker pipeline.