GTSAM 4.3 C++ API Reference

gtsam

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Browse GTSAM 4.3 by source module. The structure below matches the gtsam and gtsam_unstable directories used by the MyST documentation.

Stable library

GTSAM

Supported factor-graph, geometry, inference, optimization, navigation, SLAM, and SFM APIs.

baseCore types, traits, containers, numerical derivatives, matrices, and vectors.→ basisBasis functions, continuous-time trajectories, splines, kernels, and fitting.→ discreteDiscrete factors, distributions, decision trees, elimination, and inference.→ geometryLie groups, poses, rotations, points, cameras, and calibration models.→ hybridHybrid discrete-continuous factors, values, Bayes nets, and elimination.→ inferenceFactor graphs, elimination, orderings, Bayes nets, and Bayes trees.→ linearGaussian factors, linear factor graphs, noise models, and solvers.→ navigationIMU preintegration, navigation states, GPS/GNSS, and inertial factors.→ nonlinearNonlinear factors, optimizers, expressions, iSAM2, and smoothing.→ samSmoothing-and-mapping factors, range models, and robust incremental SAM.→ sfmStructure from motion, tracks, translation recovery, and SFM optimizers.→ slamSLAM measurement factors, smart factors, and geometric constraints.→ symbolicSymbolic factors and graph structures for reasoning about sparsity.→

Evolving library

GTSAM_UNSTABLE

Research and experimental APIs. These interfaces may change without the compatibility guarantees of the stable library.

baseExperimental containers and foundational utilities.→ discreteConstraint satisfaction, scheduling, domains, and discrete utilities.→ dynamicsDynamics models, constrained motion, and experimental IMU factors.→ geometryExperimental poses, cameras, bearings, and geometric models.→ linearConstrained, quadratic, and linear-programming solver components.→ nonlinearConcurrent filtering, fixed-lag smoothing, and experimental factors.→ partitionGraph partitioning, nested dissection, and separator algorithms.→ slamExperimental projection, inertial-navigation, and SLAM factors.→

Using unstable APIs?

Review the declarations and release notes before relying on them across versions.

Read the GTSAM_UNSTABLE overview →

Cross-module lookup

Reference indexes

ClassesBrowse documented types NamespacesFunctions and symbols by namespace FilesComplete generated file listing ExamplesDoxygen C++ examples

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