The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and hence estimation prototyping tools should allow state definitions that belong to manifolds. A new package, called navlie, provides a framework that allows a user to model a large class of problems by implementing a set of classes complying with a generic interface. Once accomplished, navlie provides a variety of on-manifold estimation algorithms that can run directly on these classes. The package also provides a built-in library of common models, as well as many useful utilities. The open-source project can be found at https://github.com/decargroup/navlie.

翻译：快速测试任意状态估计任务中多种算法的能力，在导航系统原型设计阶段具有重要意义。李群理论如今在机器人学领域已属主流，因此估计原型设计工具应支持定义属于流形的状态量。新开发的Python库navlie提供了一套框架，允许用户通过实现符合通用接口的类集合来建模各类问题。完成建模后，navlie可直接在这些类上运行多种流形估计算法。该库还内置了常用模型库及众多实用工具。开源项目地址：https://github.com/decargroup/navlie。