Class Acts::GainMatrixSmoother¶
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class Acts::GainMatrixSmoother¶
Kalman trajectory smoother based on gain matrix formalism.
This implements not a single smoothing step, but the full backwards smoothing procedure for a filtered, forward trajectory using the stored linearization.
Public Functions
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Result<void> operator()(const GeometryContext &gctx, MultiTrajectory &trajectory, size_t entryIndex, LoggerWrapper logger = getDummyLogger()) const¶
Run the Kalman smoothing for one trajectory.
- Parameters
gctx – [in] The geometry context for the smoothing
trajectory – [inout] The trajectory to be smoothed
entryIndex – [in] The index of state to start the smoothing
logger – [in] Where to write logging information to
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Result<void> operator()(const GeometryContext &gctx, MultiTrajectory &trajectory, size_t entryIndex, LoggerWrapper logger = getDummyLogger()) const¶