gtsam
4.0.0
gtsam

▼ gtsam  
► base  
chartTesting.h  
cholesky.cpp  Efficient incomplete Cholesky on rankdeficient matrices, todo: constrained Cholesky 
cholesky.h  Efficient incomplete Cholesky on rankdeficient matrices, todo: constrained Cholesky 
concepts.h  
ConcurrentMap.h  
debug.cpp  Global debugging flags 
debug.h  Global debugging flags 
DSFMap.h  Allow for arbitrary type in DSF 
DSFVector.cpp  Faster implementation for DSF, which uses vector rather than btree 
DSFVector.h  A faster implementation for DSF, which uses vector rather than btree 
FastDefaultAllocator.h  An easy way to control which allocator is used for Fast* collections 
FastList.h  A thin wrapper around std::list that uses boost's fast_pool_allocator 
FastMap.h  A thin wrapper around std::map that uses boost's fast_pool_allocator 
FastSet.h  A thin wrapper around std::set that uses boost's fast_pool_allocator 
FastVector.h  A thin wrapper around std::vector that uses a custom allocator 
GenericValue.h  
Group.h  Concept check class for variable types with Group properties 
Lie.h  Base class and basic functions for Lie types 
LieMatrix.h  External deprecation warning, see deprecated/LieMatrix.h for details 
lieProxies.h  Provides convenient mappings of common member functions for testing 
LieScalar.h  External deprecation warning, see deprecated/LieScalar.h for details 
LieVector.h  Deprecation warning for LieVector, see deprecated/LieVector.h for details 
Manifold.h  Base class and basic functions for Manifold types 
Matrix.cpp  Matrix class 
Matrix.h  Typedef and functions to augment Eigen's MatrixXd 
numericalDerivative.h  Some functions to compute numerical derivatives 
OptionalJacobian.h  Special class for optional Jacobian arguments 
ProductLieGroup.h  Group product of two Lie Groups 
serialization.h  
serializationTestHelpers.h  
SymmetricBlockMatrix.cpp  Access to matrices via blocks of predefined sizes 
SymmetricBlockMatrix.h  Access to matrices via blocks of predefined sizes 
Testable.h  Concept check for values that can be used in unit tests 
TestableAssertions.h  Provides additional testing facilities for common data structures 
testLie.h  
ThreadsafeException.h  Base exception type that uses tbb_exception if GTSAM is compiled with TBB 
timing.cpp  Timing utilities 
timing.h  Timing utilities 
treeTraversalinst.h  
types.h  Typedefs for easier changing of types 
Value.h  The base class for any variable that can be optimized or used in a factor 
Vector.cpp  Typedef and functions to augment Eigen's Vectors 
Vector.h  Typedef and functions to augment Eigen's VectorXd 
VectorSpace.h  
VerticalBlockMatrix.cpp  A matrix with column blocks of predefined sizes 
VerticalBlockMatrix.h  A matrix with column blocks of predefined sizes 
► discrete  
AlgebraicDecisionTree.h  Algebraic Decision Trees 
Assignment.h  An assignment from labels to a discrete value index (size_t) 
DecisionTreeinl.h  
DecisionTree.h  Decision Tree for use in DiscreteFactors 
DecisionTreeFactor.cpp  Discrete factor 
DecisionTreeFactor.h  
DiscreteBayesNet.cpp  
DiscreteBayesNet.h  
DiscreteBayesTree.cpp  Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree 
DiscreteBayesTree.h  Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree 
DiscreteConditional.cpp  
DiscreteConditional.h  
DiscreteEliminationTree.cpp  
DiscreteEliminationTree.h  
DiscreteFactor.cpp  Discrete factor 
DiscreteFactor.h  
DiscreteFactorGraph.cpp  
DiscreteFactorGraph.h  
DiscreteJunctionTree.cpp  
DiscreteJunctionTree.h  
DiscreteKey.h  Specialized key for discrete variables 
DiscreteMarginals.h  A class for computing marginals in a DiscreteFactorGraph 
Potentials.cpp  
Potentials.h  
Signature.cpp  Signatures for conditional densities 
Signature.h  Signatures for conditional densities 
► geometry  
BearingRange.h  BearingRange product 
Cal3_S2.cpp  The most common 5DOF 3D>2D calibration 
Cal3_S2.h  The most common 5DOF 3D>2D calibration 
Cal3_S2Stereo.cpp  The most common 5DOF 3D>2D calibration + Stereo baseline 
Cal3_S2Stereo.h  The most common 5DOF 3D>2D calibration + Stereo baseline 
Cal3Bundler.cpp  
Cal3Bundler.h  Calibration used by Bundler 
Cal3DS2.cpp  
Cal3DS2.h  Calibration of a camera with radial distortion, calculations in base class Cal3DS2_Base 
Cal3DS2_Base.cpp  
Cal3DS2_Base.h  
Cal3Unified.cpp  
Cal3Unified.h  Unified Calibration Model, see Mei07icra for details 
CalibratedCamera.cpp  Calibrated camera for which only pose is unknown 
CalibratedCamera.h  Calibrated camera for which only pose is unknown 
CameraSet.h  Base class to create smart factors on poses or cameras 
concepts.h  
Cyclic.cpp  Cyclic group implementation 
Cyclic.h  Cyclic group, i.e., the integers modulo N 
EssentialMatrix.h  
OrientedPlane3.h  
PinholeCamera.h  Base class for all pinhole cameras 
PinholePose.h  Pinhole camera with known calibration 
PinholeSet.h  A CameraSet of either CalibratedCamera, PinholePose, or PinholeCamera 
Point2.cpp  2D Point 
Point2.h  2D Point 
Point3.cpp  3D Point 
Point3.h  3D Point 
Pose2.cpp  2D Pose 
Pose2.h  2D Pose 
Pose3.cpp  3D Pose 
Pose3.h  3D Pose 
Quaternion.h  Lie Group wrapper for Eigen Quaternions 
Rot2.cpp  2D Rotations 
Rot2.h  2D rotation 
Rot3.cpp  Rotation, common code between Rotation matrix and Quaternion 
Rot3.h  3D rotation represented as a rotation matrix or quaternion 
Rot3M.cpp  Rotation (internal: 3*3 matrix representation*) 
Rot3Q.cpp  Rotation (internal: quaternion representation*) 
SimpleCamera.cpp  A simple camera class with a Cal3_S2 calibration 
SimpleCamera.h  A simple camera class with a Cal3_S2 calibration 
SO3.cpp  3*3 matrix representation of SO(3) 
SO3.h  3*3 matrix representation of SO(3) 
StereoCamera.h  A Stereo Camera based on two Simple Cameras 
StereoPoint2.cpp  
StereoPoint2.h  A 2D stereo point (uL,uR,v) 
triangulation.h  Functions for triangulation 
Unit3.h  
► inference  
BayesNetinst.h  
BayesNet.h  Bayes network 
BayesTreeinst.h  
BayesTree.cpp  Bayes Tree is a tree of cliques of a Bayes Chain 
BayesTree.h  Bayes Tree is a tree of cliques of a Bayes Chain 
BayesTreeCliqueBaseinst.h  Base class for cliques of a BayesTree 
BayesTreeCliqueBase.h  Base class for cliques of a BayesTree 
ClusterTreeinst.h  
ClusterTree.h  
Conditionalinst.h  
Conditional.h  Base class for conditional densities 
EliminateableFactorGraphinst.h  
EliminateableFactorGraph.h  Variable elimination algorithms for factor graphs 
EliminationTreeinst.h  
EliminationTree.h  
Factor.cpp  The base class for all factors 
Factor.h  The base class for all factors 
FactorGraphinst.h  
FactorGraph.h  Factor Graph Base Class 
graphinl.h  
graph.h  Graph algorithm using boost library 
inferenceinst.h  Contains generic inference algorithms that convert between templated graphical models, i.e., factor graphs, Bayes nets, and Bayes trees 
inferenceExceptions.h  Exceptions that may be thrown by inference algorithms 
ISAMinst.h  
ISAM.h  Incremental update functionality (iSAM) for BayesTree 
JunctionTreeinst.h  The junction tree, template bodies 
JunctionTree.h  The junction tree 
Key.h  
LabeledSymbol.h  
MetisIndexinl.h  
MetisIndex.h  
Ordering.cpp  
Ordering.h  Variable ordering for the elimination algorithm 
Symbol.cpp  
Symbol.h  
VariableIndexinl.h  
VariableIndex.cpp  
VariableIndex.h  
VariableSlots.cpp  
VariableSlots.h  VariableSlots describes the structure of a combined factor in terms of where each block comes from in the source factors 
► linear  
BinaryJacobianFactor.h  A binary JacobianFactor specialization that uses fixed matrix math for speed 
ConjugateGradientSolver.h  Implementation of Conjugate Gradient solver for a linear system 
Errors.cpp  Factor Graph Values 
Errors.h  Vector of errors 
GaussianBayesNet.cpp  Chordal Bayes Net, the result of eliminating a factor graph 
GaussianBayesNet.h  Chordal Bayes Net, the result of eliminating a factor graph 
GaussianBayesTreeinl.h  Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree 
GaussianBayesTree.cpp  Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree 
GaussianBayesTree.h  Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree 
GaussianConditionalinl.h  Conditional Gaussian Base class 
GaussianConditional.cpp  Conditional Gaussian Base class 
GaussianConditional.h  Conditional Gaussian Base class 
GaussianDensity.cpp  A Gaussian Density 
GaussianDensity.h  A Gaussian Density 
GaussianEliminationTree.cpp  
GaussianEliminationTree.h  
GaussianFactor.h  A factor with a quadratic error function  a Gaussian 
GaussianFactorGraph.cpp  Linear Factor Graph where all factors are Gaussians 
GaussianFactorGraph.h  Linear Factor Graph where all factors are Gaussians 
GaussianISAM.h  
GaussianJunctionTree.cpp  
GaussianJunctionTree.h  
HessianFactorinl.h  Contains the HessianFactor class, a general quadratic factor 
HessianFactor.cpp  
HessianFactor.h  Contains the HessianFactor class, a general quadratic factor 
iterativeinl.h  Iterative methods, template implementation 
iterative.cpp  Iterative methods, implementation 
iterative.h  Iterative methods, implementation 
IterativeSolver.cpp  Some support classes for iterative solvers 
IterativeSolver.h  Some support classes for iterative solvers 
JacobianFactorinl.h  
JacobianFactor.cpp  
JacobianFactor.h  
KalmanFilter.cpp  Simple linear Kalman filter 
KalmanFilter.h  Simple linear Kalman filter 
linearAlgorithmsinst.h  Templated algorithms that are used in multiple places in linear 
linearExceptions.cpp  Exceptions that may be thrown by linear solver components 
linearExceptions.h  Exceptions that may be thrown by linear solver components 
NoiseModel.cpp  
NoiseModel.h  
PCGSolver.h  
Preconditioner.h  
RegularHessianFactor.h  HessianFactor class with constant sized blocks 
RegularJacobianFactor.h  JacobianFactor class with fixed sized blcoks 
Sampler.cpp  
Sampler.h  Sampling that can be parameterized using a NoiseModel to generate samples fromthe given distribution 
Scatter.cpp  
Scatter.h  Maps global variable indices to slot indices 
SubgraphBuilder.cpp  
SubgraphBuilder.h  
SubgraphPreconditioner.cpp  
SubgraphPreconditioner.h  
SubgraphSolver.cpp  Subgraph Solver from IROS 2010 
SubgraphSolver.h  Subgraph Solver from IROS 2010 
VectorValues.cpp  Implementations for VectorValues 
VectorValues.h  Factor Graph Values 
► navigation  
AHRSFactor.cpp  
AHRSFactor.h  
AttitudeFactor.cpp  Implementation file for Attitude factor 
AttitudeFactor.h  
CombinedImuFactor.cpp  
CombinedImuFactor.h  
GPSFactor.cpp  Implementation file for GPS factor 
GPSFactor.h  Header file for GPS factor 
ImuBias.cpp  
ImuBias.h  
ImuFactor.cpp  
ImuFactor.h  
MagFactor.h  Factors involving magnetometers 
ManifoldPreintegration.cpp  
ManifoldPreintegration.h  
NavState.h  Navigation state composing of attitude, position, and velocity 
PreintegratedRotation.cpp  
PreintegratedRotation.h  
PreintegrationBase.h  
PreintegrationParams.h  
Scenario.h  Simple class to test navigation scenarios 
ScenarioRunner.h  Simple class to test navigation scenarios 
TangentPreintegration.cpp  
TangentPreintegration.h  
► nonlinear  
AdaptAutoDiff.h  Adaptor for Ceres style autodifferentiated functions 
DoglegOptimizer.cpp  
DoglegOptimizer.h  
DoglegOptimizerImpl.h  Nonlinear factor graph optimizer using Powell's Dogleg algorithm (detail implementation) 
Expressioninl.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  
expressionTesting.h  Test harness methods for expressions 
ExtendedKalmanFilterinl.h  Class to perform generic Kalman Filtering using nonlinear factor graphs 
ExtendedKalmanFilter.h  Class to perform generic Kalman Filtering using nonlinear factor graphs 
factorTesting.h  Evaluate derivatives of a nonlinear factor numerically 
GaussNewtonOptimizer.cpp  
GaussNewtonOptimizer.h  
ISAM2impl.cpp  Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization 
ISAM2impl.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 
LevenbergMarquardtOptimizer.cpp  A nonlinear optimizer that uses the LevenbergMarquardt trustregion scheme 
LevenbergMarquardtOptimizer.h  A nonlinear optimizer that uses the LevenbergMarquardt trustregion scheme 
LevenbergMarquardtParams.cpp  Parameters for LevenbergMarquardt trustregion scheme 
LevenbergMarquardtParams.h  Parameters for LevenbergMarquardt trustregion scheme 
LinearContainerFactor.cpp  
LinearContainerFactor.h  Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph 
Marginals.cpp  
Marginals.h  A class for computing marginals in a NonlinearFactorGraph 
NonlinearConjugateGradientOptimizer.cpp  Simple nonlinear optimizer that solves using nonpreconditioned CG 
NonlinearConjugateGradientOptimizer.h  Simple nonlinear optimizer that solves using nonpreconditioned CG 
NonlinearEquality.h  
nonlinearExceptions.h  Exceptions that may be thrown by nonlinear optimization components 
NonlinearFactor.cpp  Nonlinear Factor base classes 
NonlinearFactor.h  Nonlinear factor base classes 
NonlinearFactorGraph.cpp  Factor Graph Consisting of nonlinear factors 
NonlinearFactorGraph.h  Factor Graph Constsiting of nonlinear factors 
NonlinearISAM.h  
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 
Symbol.h  
utilities.h  
Valuesinl.h  
Values.h  A nontemplated config holding any types of Manifoldgroup elements 
WhiteNoiseFactor.h  Binary white noise factor 
► sam  
BearingFactor.h  
BearingRangeFactor.h  
RangeFactor.h  
► slam  
AntiFactor.h  
BearingFactor.h  
BearingRangeFactor.h  
BetweenFactor.h  
BoundingConstraint.h  Provides partially implemented constraints to implement bounds 
dataset.cpp  Utility functions for loading datasets 
dataset.h  Utility functions for loading datasets 
EssentialMatrixConstraint.cpp  
EssentialMatrixConstraint.h  
EssentialMatrixFactor.h  
expressions.h  
GeneralSFMFactor.h  General SFM factor with an unknown calibration 
InitializePose3.h  Initialize Pose3 in a factor graph 
JacobianFactorQ.h  
JacobianFactorQR.h  
JacobianFactorSVD.h  
lago.h  Initialize Pose2 in a factor graph using LAGO (Linear Approximation for Graph Optimization) 
OrientedPlane3Factor.h  
PoseRotationPrior.h  Implements a prior on the rotation component of a pose 
PoseTranslationPrior.h  Implements a prior on the translation component of a pose 
PriorFactor.h  
ProjectionFactor.h  Basic bearing factor from 2D measurement 
RangeFactor.h  
ReferenceFrameFactor.h  
RegularImplicitSchurFactor.h  A new type of linear factor (GaussianFactor), which is subclass of GaussianFactor 
RotateFactor.h  
SmartFactorBase.h  Base class to create smart factors on poses or cameras 
SmartFactorParams.h  
SmartProjectionFactor.h  Smart factor on cameras (pose + calibration) 
SmartProjectionPoseFactor.h  Smart factor on poses, assuming camera calibration is fixed 
StereoFactor.h  
TriangulationFactor.h  
► symbolic  
SymbolicBayesNet.cpp  
SymbolicBayesNet.h  
SymbolicBayesTree.h  
SymbolicConditional.cpp  
SymbolicConditional.h  
SymbolicEliminationTree.cpp  
SymbolicEliminationTree.h  
SymbolicFactorinst.h  
SymbolicFactor.cpp  
SymbolicFactor.h  
SymbolicFactorGraph.cpp  
SymbolicFactorGraph.h  
SymbolicISAM.cpp  
SymbolicISAM.h  
SymbolicJunctionTree.cpp  
SymbolicJunctionTree.h  
global_includes.h  Included from all GTSAM files 
precompiled_header.cpp  We need exactly one compilation unit that includes the precompiled headers 
precompiled_header.h  > 
▼ gtsam_unstable  
► base  
BTree.h  Purely functional binary tree 
dllexport.h  Symbols for exporting classes and methods from DLLs 
DSF.h  An implementation of Disjoint set forests (see CLR page 446 and up) 
Dummy.h  Dummy class for testing MATLAB memory allocation 
FixedVector.h  Extension of boost's bounded_vector to allow for fixed size operation 
► discrete  
AllDiff.h  
BinaryAllDiff.h  
Constraint.h  
CSP.h  
Domain.h  
Scheduler.h  
SingleValue.h  
► dynamics  
DynamicsPriors.h  Priors to be used with dynamic systems (Specifically PoseRTV) 
FullIMUFactor.h  Factor to express an IMU measurement between dynamic poses 
IMUFactor.h  
Pendulum.h  Threeway factors for the pendulum dynamics as in [Stern06siggraph] for (1) explicit Euler method, (2) implicit Euler method, and (3) sympletic Euler method 
PoseRTV.cpp  
PoseRTV.h  Pose3 with translational velocity 
SimpleHelicopter.h  
VelocityConstraint.h  Constraint enforcing the relationship between pose and velocity 
VelocityConstraint3.h  A simple 3way factor constraining double poses and velocity 
► linear  
ActiveSetSolverinl.h  Implmentation of ActiveSetSolver 
ActiveSetSolver.h  Active set method for solving LP, QP problems 
EqualityFactorGraph.h  Factor graph of all LinearEquality factors 
InequalityFactorGraph.h  Factor graph of all LinearInequality factors 
InfeasibleInitialValues.h  Exception thrown when given Infeasible Initial Values 
InfeasibleOrUnboundedProblem.h  Throw when the problem is either infeasible or unbounded 
LinearCost.h  LinearCost derived from JacobianFactor to support linear cost functions c'x 
LinearEquality.h  LinearEquality derived from Base with constrained noise model 
LinearInequality.h  LinearInequality derived from Base with constrained noise model 
LP.h  Struct used to hold a Linear Programming Problem 
LPInitSolver.h  This finds a feasible solution for an LP problem 
LPSolver.cpp  
LPSolver.h  Policy of ActiveSetSolver to solve Linear Programming Problems 
QP.h  Factor graphs of a Quadratic Programming problem 
QPInitSolver.h  This finds a feasible solution for a QP problem 
QPSolver.cpp  
QPSolver.h  Policy of ActiveSetSolver to solve Quadratic Programming Problems 
QPSParser.h  
QPSParserException.h  Exception thrown if there is an error parsing a QPS file 
► nonlinear  
BatchFixedLagSmoother.cpp  An LMbased fixedlag smoother 
BatchFixedLagSmoother.h  An LMbased fixedlag smoother 
ConcurrentBatchFilter.cpp  A LevenbergMarquardt Batch Filter that implements the Concurrent Filtering and Smoothing interface 
ConcurrentBatchFilter.h  A LevenbergMarquardt Batch Filter that implements the Concurrent Filtering and Smoothing interface 
ConcurrentBatchSmoother.cpp  A LevenbergMarquardt Batch Smoother that implements the Concurrent Filtering and Smoothing interface 
ConcurrentBatchSmoother.h  A LevenbergMarquardt Batch Smoother that implements the Concurrent Filtering and Smoothing interface 
ConcurrentFilteringAndSmoothing.cpp  Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function 
ConcurrentFilteringAndSmoothing.h  Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function 
ConcurrentIncrementalFilter.cpp  An iSAM2based Filter that implements the Concurrent Filtering and Smoothing interface 
ConcurrentIncrementalFilter.h  
ConcurrentIncrementalSmoother.cpp  An iSAM2based Smoother that implements the Concurrent Filtering and Smoothing interface 
ConcurrentIncrementalSmoother.h  An iSAM2based Smoother that implements the Concurrent Filtering and Smoothing interface 
FixedLagSmoother.cpp  The base class for different fixedlag smoother implementations 
FixedLagSmoother.h  Base class for a fixedlag smoother 
IncrementalFixedLagSmoother.cpp  An iSAM2based fixedlag smoother 
IncrementalFixedLagSmoother.h  An iSAM2based fixedlag smoother 
LinearizedFactor.cpp  A dummy factor that allows a linear factor to act as a nonlinear factor 
LinearizedFactor.h  A dummy factor that allows a linear factor to act as a nonlinear factor 
NonlinearClusterTree.h  
► slam  
AHRS.h  
BetweenFactorEM.h  
BiasedGPSFactor.h  
DummyFactor.cpp  
DummyFactor.h  A simple factor that can be used to trick gtsam solvers into believing a graph is connected 
EquivInertialNavFactor_GlobalVel.h  Equivalent inertial navigation factor (velocity in the global frame) 
EquivInertialNavFactor_GlobalVel_NoBias.h  Equivalent inertial navigation factor (velocity in the global frame), without bias state 
GaussMarkov1stOrderFactor.h  
InertialNavFactor_GlobalVelocity.h  Inertial navigation factor (velocity in the global frame) 
InvDepthFactor3.h  Inverse Depth Factor based on Civera09tro, Montiel06rss 
InvDepthFactorVariant1.h  Inverse Depth Factor based on Civera09tro, Montiel06rss 
InvDepthFactorVariant2.h  Inverse Depth Factor based on Civera09tro, Montiel06rss 
InvDepthFactorVariant3.h  Inverse Depth Factor based on Civera09tro, Montiel06rss 
Mechanization_bRn2.h  
MultiProjectionFactor.h  
PartialPriorFactor.h  A simple prior factor that allows for setting a prior only on a part of linear parameters 
PoseBetweenFactor.h  
PosePriorFactor.h  
ProjectionFactorPPP.h  Derived from ProjectionFactor, but estimates bodycamera transform in addition to body pose and 3D landmark 
ProjectionFactorPPPC.h  Derived from ProjectionFactor, but estimates bodycamera transform and calibration in addition to body pose and 3D landmark 
RelativeElevationFactor.cpp  
RelativeElevationFactor.h  Factor representing a known relative altitude in global frame 
serialization.cpp  
serialization.h  
SmartRangeFactor.h  A smart factor for rangeonly SLAM that does initialization and marginalization 
SmartStereoProjectionFactor.h  Smart stereo factor on StereoCameras (pose + calibration) 
SmartStereoProjectionPoseFactor.h  Smart stereo factor on poses, assuming camera calibration is fixed 
TOAFactor.h  "Time of Arrival" factor 
TransformBtwRobotsUnaryFactor.h  Unary factor for determining transformation between given trajectories of two robots 
TransformBtwRobotsUnaryFactorEM.h  Unary factor for determining transformation between given trajectories of two robots 
TSAMFactors.h  TSAM 1 Factors, simpler than the hierarchical TSAM 2 
gtsam_unstable.h 