RISAM.h File Reference

Robust Incremental Smoothing and Mapping (riSAM). More...

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Classes
struct	gtsam::RISAMParams
	Struct Containing all configuration parameters for riSAM. More...
struct	gtsam::RISAMUpdateResult
	Struct containing information about the riSAM update. More...
class	gtsam::RISAM
	Robust Incremental Smoothing and Mapping (riSAM) is a robust variant of iSAM2 for incremental factor-graph optimization. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Robust Incremental Smoothing and Mapping (riSAM).

Author

Dan McGann

Date

October 2025