IncrementalFixedLagSmoother.cpp File Reference

An iSAM2-based fixed-lag smoother. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
void	gtsam::recursiveMarkAffectedKeys (const Key &key, const ISAM2Clique::shared_ptr &clique, std::set< Key > &additionalKeys)

Detailed Description

An iSAM2-based fixed-lag smoother.

To the extent possible, this class mimics the iSAM2 interface. However, additional parameters, such as the smoother lag and the timestamp associated with each variable are needed.

Author

Michael Kaess, Stephen Williams

Date

Oct 14, 2012