Here is a list of all documented files with brief descriptions:

include
msceqf
filter
checker
checker.hpp
initializer
static_initializer.hpp
propagator
propagator.hpp
updater
updater.hpp
updater_helper.hpp
zero_velocity_updater.hpp
options
msceqf_option_parser.hpp
msceqf_options.hpp
state
state.hpp
state_elements.hpp
symmetry
symmetry.hpp
system
system.hpp
system_elements.hpp
msceqf.hpp
sensors
sensor_data.hpp
types
fptypes.hpp
utils
logger.hpp
tools.hpp
visualizer.hpp
vision
camera.hpp
features.hpp
track.hpp
track_manager.hpp
tracker.hpp
wrappers
ros
ros1
include
msceqf_ros.hpp