Files
	AdaptAutoDiff.h
	Adaptor for Ceres style auto-differentiated functions.
	AntiFactor.h
	BatchFactor.h
	A batch of factors that linearizes to a single JacobianFactor.
	BatchFixedLagSmoother.cpp
	An LM-based fixed-lag smoother.
	BatchFixedLagSmoother.h
	An LM-based fixed-lag smoother.
	BayesTreeMarginalizationHelper.h
	Helper functions for marginalizing variables from a Bayes Tree.
	ConcentratedGaussian.h
	A nonlinear density, inherits from ExtendedPriorFactor.
	CustomFactor.cpp
	Class to enable arbitrary factors with runtime swappable error function.
	CustomFactor.h
	Class to enable arbitrary factors with runtime swappable error function.
	DoglegOptimizer.cpp
	DoglegOptimizer.h
	DoglegOptimizerImpl.h
	Nonlinear factor graph optimizer using Powell's Dogleg algorithm (detail implementation).
	Expression-inl.h
	Internals for Expression.h, not for general consumption.
	Expression.h
	Expressions for Block Automatic Differentiation.
	ExpressionFactor.h
	ExpressionFactorGraph.h
	Factor graph that supports adding ExpressionFactors directly.
	expressions.h
	Common expressions, both linear and non-linear.
	expressionTesting.h
	Test harness methods for expressions.
	ExtendedKalmanFilter-inl.h
	Class to perform generic Kalman Filtering using nonlinear factor graphs.
	ExtendedKalmanFilter.h
	Class to perform generic Kalman Filtering using nonlinear factor graphs.
	ExtendedPriorFactor.h
	factorTesting.h
	Evaluate derivatives of a nonlinear factor numerically.
	FixedLagSmoother.cpp
	The base class for different fixed-lag smoother implementations.
	FixedLagSmoother.h
	Base class for a fixed-lag smoother.
	FunctorizedFactor.h
	GaussNewtonOptimizer.cpp
	GaussNewtonOptimizer.h
	GncOptimizer.cpp
	Definitions of functions declared in header file.
	GncOptimizer.h
	The GncOptimizer class.
	GncParams.h
	GraphvizFormatting.cpp
	Graphviz formatter for NonlinearFactorGraph.
	GraphvizFormatting.h
	Graphviz formatter for NonlinearFactorGraph.
	IncrementalFixedLagSmoother.cpp
	An iSAM2-based fixed-lag smoother.
	IncrementalFixedLagSmoother.h
	An iSAM2-based fixed-lag smoother.
	ISAM2-impl.cpp
	Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
	ISAM2-impl.h
	Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
	ISAM2.cpp
	Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
	ISAM2.h
	Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
	ISAM2Clique.cpp
	Specialized iSAM2 Clique.
	ISAM2Clique.h
	Specialized iSAM2 Clique.
	ISAM2Params.cpp
	Parameters for iSAM 2.
	ISAM2Params.h
	Parameters for iSAM 2.
	ISAM2Result.h
	Class that stores detailed iSAM2 result.
	ISAM2UpdateParams.h
	Class that stores extra params for ISAM2::update().
	LevenbergMarquardtOptimizer.cpp
	A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
	LevenbergMarquardtOptimizer.h
	A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
	LevenbergMarquardtParams.cpp
	Parameters for Levenberg-Marquardt trust-region scheme.
	LevenbergMarquardtParams.h
	Parameters for Levenberg-Marquardt trust-region scheme.
	LinearContainerFactor.cpp
	LinearContainerFactor.h
	Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph.
	LMDampingParams.h
	Parameters controlling LM-style damping for NonlinearMultifrontalSolver.
	Marginals.cpp
	Marginals.h
	A class for computing marginals in a NonlinearFactorGraph.
	NoiseModelFactorN.h
	Base class for noise model factors with N variables.
	NonlinearConjugateGradientOptimizer.cpp
	Simple non-linear optimizer that solves using non-preconditioned CG.
	NonlinearConjugateGradientOptimizer.h
	Simple non-linear optimizer that solves using non-preconditioned CG.
	NonlinearEquality.h
	nonlinearExceptions.h
	Exceptions that may be thrown by nonlinear optimization components.
	NonlinearFactor.cpp
	Nonlinear Factor base classes.
	NonlinearFactor.h
	Non-linear factor base classes.
	NonlinearFactorGraph.cpp
	Factor Graph Consisting of non-linear factors.
	NonlinearFactorGraph.h
	Factor Graph consisting of non-linear factors.
	NonlinearISAM.cpp
	NonlinearISAM.h
	NonlinearMultifrontalSolver.cpp
	Implementation of nonlinear multifrontal solver.
	NonlinearMultifrontalSolver.h
	Multifrontal solver for nonlinear factor graphs.
	NonlinearOptimizer.cpp
	Convergence functions not dependent on graph types.
	NonlinearOptimizer.h
	Base class and parameters for nonlinear optimization algorithms.
	NonlinearOptimizerParams.cpp
	Parameters for nonlinear optimization.
	NonlinearOptimizerParams.h
	Parameters for nonlinear optimization.
	PriorFactor.h
	utilities.h
	Contains generic global functions designed particularly for the matlab interface.
	Values-inl.h
	Values.h
	A non-templated config holding any types of Manifold-group elements.
	VectorNormFactor.h
	Factor constraining the norm of a vector-space variable.
	WhiteNoiseFactor.h
	Binary white noise factor.
	WnoaFactor.h
	White-Noise-On-Acceleration (WNOA) motion prior factor between two states (pose and velocity at times t_k and t_{k+1}).
	WnoaFactorGraph.cpp
	Factor graph that handles computation of interpolated states for WNOA.
	WnoaFactorGraph.h
	Factor graph that handles computation of interpolated states for WNOA.
	WnoaInterpFactor.h
	White-Noise-On-Acceleration (WNOA) continuous time interpolation wrapper factor and functions to automatically update a given graph by interpolating some variables (removing them from the optimization).
	WnoaInterpolator.h
	Interpolator class implementation for interpolating poses and velocities between two bordering states, either during or after a factor graph solve.
	WnoaStateData.h
	Introduces a lightweight struct for identifying states in continuous-time estimation and interpolation.

Files