Before revision:  The existing implementation supports full iterated Kalman filtering for systems on manifold \mathcal{S = \mathbb{R}^m \times }  SO(3) \times \cdots \times SO(3) \times \mathbb{S^2\times \cdots \times \mathbb{S}^2 or any of its sub-manifolds}  , and is extendable to other types of manifold when necessary.
After revision:  The existing implementation supports full iterated Kalman filtering for systems on = \mathbb{R}^m \times } SO(3) \times \cdots \times SO(3) \times \mathbb{S^2\times \cdots \times \mathbb{S}^2 or any of its sub-manifolds} , and is extendable to other types of manifold when necessary.