IncrementalFixedLagSmoother

This API walkthrough introduces the wrapped classes IncrementalFixedLagSmoother declared by IncrementalFixedLagSmoother.h and demonstrates their principal Python operations.

Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

try:
    import google.colab
    %pip install --quiet gtsam-develop
except ImportError:
    pass

import gtsam
import numpy as np
from gtsam.symbol_shorthand import L, X

Overview¶

The IncrementalFixedLagSmoother is a FixedLagSmoother that uses iSAM2 for incremental inference.

Python wrapper walkthrough¶

The following cell exercises the wrapped API directly.

smoother = gtsam.IncrementalFixedLagSmoother(2.0)
print(type(smoother).__name__)
print([name for name in dir(smoother) if not name.startswith('_')])