gtsam 4.1.1
gtsam

▼Solving of sparse linear systems with leastsquares  Densely partially eliminate with Cholesky factorization 
Solving by multifrontal variable elimination (QR and Cholesky)  An EliminatableClusterTree, i.e., a set of variable clusters with factors, arranged in a tree, with the additional property that it represents the clique tree associated with a Bayes net 
Solving by sequential variable elimination (QR and Cholesky)  
Base  FastMap is a thin wrapper around std::map that uses the boost fast_pool_allocator instead of the default STL allocator 
Geometry  Common base class for all calibration models 
Navigation  Base class for prior on attitude Example: 
SLAM  PreintegratedCombinedMeasurements integrates the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix 
Nonlinear  Custom factor that takes a std::function as the error 
ISAM2  Implementation of the full ISAM2 algorithm for incremental nonlinear optimization 
SAM  Binary factor for a bearing measurement Works for any two types A1,A2 for which the functor Bearing<A1,A2>() is defined 
SFM  The MFAS class to solve a Minimum feedback arc set (MFAS) problem 