One recorded prediction and its smoothed Gaussian. More...

#include <EmrysFilter/Smoothers/GaussianHistory.h>

Public Attributes
JointType	joint
	the prediction as predictJoint() returned it
GaussianType	smoothed
	\( p(x_k \mid z_{1:N}) \) for the step's \( x_k \) (joint.filtered), as of the last smooth(); a copy of joint.filtered until then
GaussianType::MatrixType	gain
	The step's Rauch-Tung-Striebel gain (internal::rtsGain()), made once at push().

Detailed Description

template<Space Space_, RealScalar Scalar_ = double, typename Allocator_ = DefaultAllocator>
struct Emrys::GaussianHistory< Space_, Scalar_, Allocator_ >::Step

One recorded prediction and its smoothed Gaussian.

The documentation for this struct was generated from the following file:

EmrysFilter/Smoothers/GaussianHistory.h

Public Attributes

Detailed Description