 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).
<meaning-changed>  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).
 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., predict , update) according to the events (e. g., reception of input, reception of measurement).