Class GainMatrixSmoother

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

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