Class GainMatrixSmoother¶
Defined in File GainMatrixSmoother.hpp
Class Documentation¶
-
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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template<typename
source_link_t
>
Result<void>operator()
(const GeometryContext&, MultiTrajectory<source_link_t> &trajectory, size_t entryIndex, LoggerWrapper logger = getDummyLogger()) const¶ Run the Kalman smoothing for one trajectory.
- Template Parameters
source_link_t
: The type of source link
- Parameters
[in] gctx
: The geometry context for the smoothing[inout] trajectory
: The trajectory to be smoothed[in] entryIndex
: The index of state to start the smoothing[in] logger
: Where to write logging information to
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template<typename