gtsam-develop 4.3a0.dev202508252029__cp313-cp313-macosx_11_0_arm64.whl → 4.3a0.dev202509090331__cp313-cp313-macosx_11_0_arm64.whl

gtsam/gtsam/__init__.pyi

@@ -11,7 +11,7 @@ from . import noiseModel
 from . import so3
 from . import symbol_shorthand
 from . import utilities
-__all__: list[str] = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSL4', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteScenario', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSL4', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorGal3', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusBetweenFactorSimilarity2', 'FrobeniusBetweenFactorSimilarity3', 'FrobeniusFactorGal3', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusFactorSimilarity2', 'FrobeniusFactorSimilarity3', 'FrobeniusPriorGal3', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FrobeniusPriorSimilarity2', 'FrobeniusPriorSimilarity3', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'Gal3', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SL4', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySL4', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSL4', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SL4', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
+__all__: list[str] = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSL4', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteScenario', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterGal3', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSL4', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorGal3', 'FrobeniusBetweenFactorNLGal3', 'FrobeniusBetweenFactorNLPose2', 'FrobeniusBetweenFactorNLPose3', 'FrobeniusBetweenFactorNLRot2', 'FrobeniusBetweenFactorNLRot3', 'FrobeniusBetweenFactorNLSL4', 'FrobeniusBetweenFactorNLSO3', 'FrobeniusBetweenFactorNLSO4', 'FrobeniusBetweenFactorNLSimilarity2', 'FrobeniusBetweenFactorNLSimilarity3', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorGal3', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSL4', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusFactorSimilarity2', 'FrobeniusFactorSimilarity3', 'FrobeniusPriorGal3', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSL4', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FrobeniusPriorSimilarity2', 'FrobeniusPriorSimilarity3', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'Gal3', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'InvariantEKFGal3', 'InvariantEKFNavState', 'InvariantEKFPose2', 'InvariantEKFPose3', 'InvariantEKFRot3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorGal3', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSL4', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KarcherMeanFactorSimilarity2', 'KarcherMeanFactorSimilarity3', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LeftLinearEKFGal3', 'LeftLinearEKFNavState', 'LeftLinearEKFPose2', 'LeftLinearEKFPose3', 'LeftLinearEKFRot3', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LieGroupEKFGal3', 'LieGroupEKFNavState', 'LieGroupEKFPose2', 'LieGroupEKFPose3', 'LieGroupEKFRot3', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEKFGal3', 'ManifoldEKFNavState', 'ManifoldEKFPose2', 'ManifoldEKFPose3', 'ManifoldEKFRot3', 'ManifoldEKFUnit3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NavStateImuEKF', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2Gal3', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SL4', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityGal3', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySL4', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorGal3', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSL4', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SL4', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
 class AHRSFactor(NonlinearFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -3453,6 +3453,15 @@ class ExtendedKalmanFilterConstantBias:
         ...
     def update(self, measurementFactor: NoiseModelFactor) -> ...:
         ...
+class ExtendedKalmanFilterGal3:
+    def Density(self) -> JacobianFactor:
+        ...
+    def __init__(self, key_initial: int, x_initial: Gal3, P_initial: noiseModel.Gaussian) -> None:
+        ...
+    def predict(self, motionFactor: NoiseModelFactor) -> Gal3:
+        ...
+    def update(self, measurementFactor: NoiseModelFactor) -> Gal3:
+        ...
 class ExtendedKalmanFilterNavState:
     def Density(self) -> JacobianFactor:
         ...
@@ -3694,7 +3703,16 @@ class FrobeniusBetweenFactorGal3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorPose2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLGal3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Gal3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Gal3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorNLPose2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Pose2) -> None:
         ...
@@ -3703,7 +3721,7 @@ class FrobeniusBetweenFactorPose2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Pose2, T2: Pose2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorPose3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLPose3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Pose3) -> None:
         ...
@@ -3712,7 +3730,7 @@ class FrobeniusBetweenFactorPose3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Pose3, T2: Pose3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorRot2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLRot2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Rot2) -> None:
         ...
@@ -3721,7 +3739,7 @@ class FrobeniusBetweenFactorRot2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot2, T2: Rot2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorRot3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLRot3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Rot3) -> None:
         ...
@@ -3730,7 +3748,16 @@ class FrobeniusBetweenFactorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSO3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSL4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SL4) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SL4, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SL4, T2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorNLSO3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: SO3) -> None:
         ...
@@ -3739,7 +3766,7 @@ class FrobeniusBetweenFactorSO3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO3, T2: SO3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSO4(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSO4(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: SO4) -> None:
         ...
@@ -3748,7 +3775,7 @@ class FrobeniusBetweenFactorSO4(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSimilarity2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSimilarity2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Similarity2) -> None:
         ...
@@ -3757,7 +3784,7 @@ class FrobeniusBetweenFactorSimilarity2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Similarity2, T2: Similarity2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSimilarity3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSimilarity3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Similarity3) -> None:
         ...
@@ -3766,6 +3793,60 @@ class FrobeniusBetweenFactorSimilarity3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Similarity3, T2: Similarity3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusBetweenFactorPose2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Pose2) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Pose2, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Pose2, T2: Pose2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorPose3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Pose3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Pose3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Pose3, T2: Pose3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorRot2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Rot2) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Rot2, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Rot2, T2: Rot2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorRot3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Rot3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Rot3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorSO3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SO3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SO3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SO3, T2: SO3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorSO4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SO4) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SO4, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusFactorGal3(NoiseModelFactor):
     @typing.overload
     def __init__(self, key1: int, key2: int) -> None:
@@ -3811,6 +3892,15 @@ class FrobeniusFactorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusFactorSL4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, key1: int, key2: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j1: int, j2: int, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SL4, T2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusFactorSO3(NoiseModelFactor):
     @typing.overload
     def __init__(self, key1: int, key2: int) -> None:
@@ -3872,6 +3962,11 @@ class FrobeniusPriorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, g: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusPriorSL4(NoiseModelFactor):
+    def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, g: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusPriorSO3(NoiseModelFactor):
     def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
         ...
@@ -7018,6 +7113,8 @@ class ISAM2:
         ...
     def calculateEstimateFundamentalMatrix(self, key: int) -> FundamentalMatrix:
         ...
+    def calculateEstimateGal3(self, key: int) -> Gal3:
+        ...
     def calculateEstimateMatrix(self, key: int) -> numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]:
         ...
     def calculateEstimatePinholeCameraCal3Bundler(self, key: int) -> PinholeCameraCal3Bundler:
@@ -7449,6 +7546,51 @@ class InitializePose3:
         """
         "extract" thePose3subgraph of the original graph, get orientations from relative orientation measurements using chordal method.
         """
+class InvariantEKFGal3(LeftLinearEKFGal3):
+    def __init__(self, X0: Gal3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, U: Gal3, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, u: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class InvariantEKFNavState(LeftLinearEKFNavState):
+    def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, U: NavState, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, u: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class InvariantEKFPose2(LeftLinearEKFPose2):
+    def __init__(self, X0: Pose2, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, U: Pose2, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, u: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class InvariantEKFPose3(LeftLinearEKFPose3):
+    def __init__(self, X0: Pose3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, U: Pose3, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, u: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class InvariantEKFRot3(LeftLinearEKFRot3):
+    def __init__(self, X0: Rot3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, U: Rot3, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def predict(self, u: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float, Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
 class IterativeOptimizationParameters:
     def getVerbosity(self) -> str:
         ...
@@ -7770,6 +7912,13 @@ class KalmanFilter:
         """
     def updateQ(self, p: GaussianDensity, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> GaussianDensity:
         ...
+class KarcherMeanFactorGal3(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KarcherMeanFactorPoint2(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int]) -> None:
@@ -7812,6 +7961,13 @@ class KarcherMeanFactorRot3(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int], d: int, beta: float) -> None:
         ...
+class KarcherMeanFactorSL4(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KarcherMeanFactorSO3(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int]) -> None:
@@ -7826,6 +7982,20 @@ class KarcherMeanFactorSO4(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int], d: int, beta: float) -> None:
         ...
+class KarcherMeanFactorSimilarity2(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
+class KarcherMeanFactorSimilarity3(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KernelFunctionType:
     """
     Members:
@@ -8039,6 +8209,21 @@ class LabeledSymbol:
         """
         Converts to upper/lower versions of labels.
         """
+class LeftLinearEKFGal3(LieGroupEKFGal3):
+    def __init__(self, X0: Gal3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LeftLinearEKFNavState(LieGroupEKFNavState):
+    def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LeftLinearEKFPose2(LieGroupEKFPose2):
+    def __init__(self, X0: Pose2, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LeftLinearEKFPose3(LieGroupEKFPose3):
+    def __init__(self, X0: Pose3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LeftLinearEKFRot3(LieGroupEKFRot3):
+    def __init__(self, X0: Rot3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
 class LevenbergMarquardtOptimizer(NonlinearOptimizer):
     @typing.overload
     def __init__(self, graph: NonlinearFactorGraph, initialValues: ..., params: LevenbergMarquardtParams = ...) -> None:
@@ -8103,6 +8288,31 @@ class LevenbergMarquardtParams(NonlinearOptimizerParams):
         ...
     def setlambdaUpperBound(self, value: float) -> None:
         ...
+class LieGroupEKFGal3(ManifoldEKFGal3):
+    def __init__(self, X0: Gal3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def predictWithCompose(self, U: Gal3, J_UX: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LieGroupEKFNavState(ManifoldEKFNavState):
+    def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def predictWithCompose(self, U: NavState, J_UX: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LieGroupEKFPose2(ManifoldEKFPose2):
+    def __init__(self, X0: Pose2, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def predictWithCompose(self, U: Pose2, J_UX: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LieGroupEKFPose3(ManifoldEKFPose3):
+    def __init__(self, X0: Pose3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def predictWithCompose(self, U: Pose3, J_UX: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class LieGroupEKFRot3(ManifoldEKFRot3):
+    def __init__(self, X0: Rot3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def predictWithCompose(self, U: Rot3, J_UX: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
 class LinearContainerFactor(NonlinearFactor):
     @staticmethod
     @typing.overload
@@ -8261,6 +8471,84 @@ class MagPoseFactorPose3(NoiseModelFactor):
         ...
     def evaluateError(self, nRb: Pose3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class ManifoldEKFGal3:
+    def __init__(self, X0: Gal3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[10], typing.Literal[10]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: Gal3, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> Gal3:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class ManifoldEKFNavState:
+    def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[9]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: NavState, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> NavState:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class ManifoldEKFPose2:
+    def __init__(self, X0: Pose2, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: Pose2, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> Pose2:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class ManifoldEKFPose3:
+    def __init__(self, X0: Pose3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[6]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: Pose3, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> Pose3:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class ManifoldEKFRot3:
+    def __init__(self, X0: Rot3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: Rot3, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> Rot3:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+class ManifoldEKFUnit3:
+    def __init__(self, X0: Unit3, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def covariance(self) -> numpy.ndarray[tuple[typing.Literal[2], typing.Literal[2]], numpy.dtype[numpy.float64]]:
+        ...
+    def dimension(self) -> int:
+        ...
+    def predict(self, X_next: Unit3, F: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def state(self) -> Unit3:
+        ...
+    def updateWithVector(self, prediction: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
 class ManifoldEvaluationFactorChebyshev1BasisPose2(NoiseModelFactor):
     @typing.overload
     def __init__(self) -> None:
@@ -8553,6 +8841,51 @@ class NavState:
         ...
     def velocity(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class NavStateImuEKF(LeftLinearEKFNavState):
+    def Dynamics(self, n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], X: NavState, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+        """
+        Compute the dynamics of the system.
+        
+        This function computes the next state of the system based on the current state, gravity, body angular velocity, body specific force, and time step. The dynamics are defined as: X_{k+1} = f(X_k; g, omega_b, f_b, dt) = W(g, dt) \\phi_dt(X_k) U(omega_b, f_b, dt) where W, \\phi, and U are the gravity, (autonomous) position update, and IMU increment functions, respectively.
+        
+        Args:
+        n_gravity: Gravity vector in the navigation frame.
+        X: Current NavState.
+        omega_b: Body angular velocity measurement (rad/s).
+        f_b: Body specific force measurement (m/s^2).
+        dt: Time step in seconds.
+        
+        Returns: The next NavState after applying the dynamics.
+        """
+    def Gravity(self, n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+        """
+        Calculate W (gravity-only left composition, world-frame increments)
+        """
+    def IMU(self, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+        """
+        Calculate U from raw IMU (no gravity): body-frame increments.
+        """
+    def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], params: PreintegrationParams) -> None:
+        ...
+    def gravity(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def params(self) -> PreintegrationParams:
+        """
+        Accessors.
+        """
+    def predict(self, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> None:
+        """
+        Predict the next state using gyro and accelerometer measurements.
+        
+        This method updates the state of the system based on the provided body angular velocity (omega_b) and body specific force (f_b) measurements over a given time step.
+        
+        Args:
+        omega_b: Body angular velocity measurement (rad/s).
+        f_b: Body specific force measurement (m/s^2).
+        dt: Time step in seconds.
+        """
+    def processNoise(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[9]], numpy.dtype[numpy.float64]]:
+        ...
 class NoiseFormat:
     """
     Members:
@@ -8661,6 +8994,11 @@ class NonlinearEquality2ConstantBias(NoiseModelFactor):
         ...
     def evaluateError(self, x1: ..., x2: ...) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class NonlinearEquality2Gal3(NoiseModelFactor):
+    def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
+        ...
+    def evaluateError(self, x1: Gal3, x2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class NonlinearEquality2PinholeCameraCal3Bundler(NoiseModelFactor):
     def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
         ...
@@ -8791,6 +9129,21 @@ class NonlinearEqualityConstantBias(NoiseModelFactor):
         ...
     def serialize(self) -> str:
         ...
+class NonlinearEqualityGal3(NoiseModelFactor):
+    def __getstate__(self) -> tuple:
+        ...
+    @typing.overload
+    def __init__(self, j: int, feasible: Gal3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j: int, feasible: Gal3, error_gain: float) -> None:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def serialize(self) -> str:
+        ...
 class NonlinearEqualityPinholeCameraCal3Bundler(NoiseModelFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -9128,6 +9481,8 @@ class NonlinearFactorGraph:
         ...
     def addPriorFundamentalMatrix(self, key: int, prior: FundamentalMatrix, noiseModel: noiseModel.Base) -> None:
         ...
+    def addPriorGal3(self, key: int, prior: Gal3, noiseModel: noiseModel.Base) -> None:
+        ...
     def addPriorPinholeCameraCal3Bundler(self, key: int, prior: PinholeCameraCal3Bundler, noiseModel: noiseModel.Base) -> None:
         ...
     def addPriorPinholeCameraCal3Fisheye(self, key: int, prior: PinholeCameraCal3Fisheye, noiseModel: noiseModel.Base) -> None:
@@ -11826,6 +12181,19 @@ class PriorFactorDouble(NoiseModelFactor):
         ...
     def serialize(self) -> str:
         ...
+class PriorFactorGal3(NoiseModelFactor):
+    def __getstate__(self) -> tuple:
+        ...
+    def __init__(self, key: int, prior: Gal3, noiseModel: noiseModel.Base) -> None:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def prior(self) -> Gal3:
+        ...
+    def serialize(self) -> str:
+        ...
 class PriorFactorNavState(NoiseModelFactor):
     def __getstate__(self) -> tuple:
         ...