Acts::MbfSmoother Class Reference

Kalman trajectory smoother based on the Modified Bryson–Frazier (mBF) smoother. More...

#include <Acts/TrackFitting/MbfSmoother.hpp>

Public Member Functions
template<typename traj_t>
Result< void >	operator() (const GeometryContext &gctx, traj_t &trajectory, std::size_t entryIndex, const Logger &logger=getDummyLogger()) const
	Run the Kalman smoothing for one trajectory.

Detailed Description

Kalman trajectory smoother based on the Modified Bryson–Frazier (mBF) smoother.

The benefit of the mBF smoother is that it does not require the inverse of the full covariance matrix, but only the inverse of the residual covariance matrix which can be cached by the filter step. The same holds for the Kalman gain matrix.

This implements not a single smoothing step, but the full backwards smoothing procedure for a filtered, forward trajectory using the stored linearization.

See Wikipedia for more information.

Member Function Documentation

operator()()

template<typename traj_t>

Result< void > Acts::MbfSmoother::operator()	(	const GeometryContext &	gctx,
		traj_t &	trajectory,
		std::size_t	entryIndex,
		const Logger &	logger = getDummyLogger() ) const

Run the Kalman smoothing for one trajectory.

Parameters

[in]	gctx	The geometry context to be used
[in,out]	trajectory	The trajectory to be smoothed
[in]	entryIndex	The index of state to start the smoothing
[in]	logger	Where to write logging information to

Returns

Success or failure of the MBF smoothing procedure