struct mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl

Overview

struct GtsamImpl
{
    // fields

    std::optional<gtsam::IncrementalFixedLagSmoother> smoother;
    gtsam::NonlinearFactorGraph newFactors;
    gtsam::Values newValues;
    gtsam::FixedLagSmoother::KeyTimestampMap newKeyStamps;
};