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 withGeometry,Covariance,Measurement<'a>,step,reset.TrackerError—Lost/Numerical/Backend.
manifolds::
LieGrouptrait —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::
Stagetrait — generic stage in a tracker pipeline.