Before revision:  Furthermore, the manifold-embedding Kalman filter is implemented as a toolkit in C++ , with which an user needs only to define the system, and call the respective filter steps (e.g., propagation , update) according to the events (e. g., reception of input, reception of measurement).
After revision:  Furthermore, the manifold-embedding Kalman filter is implemented as a toolkit in C++ , with which an user needs only to define the system, and call the respective filter steps (e.g., propagation , update) without dealing with any of the manifold constraints.