Class Acts::GainMatrixSmoother

class 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

Result<void> operator()(const GeometryContext &gctx, MultiTrajectory &trajectory, size_t entryIndex, LoggerWrapper logger = getDummyLogger()) const

Run the Kalman smoothing for one trajectory.

  • 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