Help for implementing fixed-lag smoothing

[Former user]

Hi, I'm trying to perform fixed-lag smoothing using GTSAM. As the handbook says, GTSAM can perform recursive estimation, where only a subset of the poses are kept in the factor graph, while the remaining poses are marginalized out. The problem is that I have no idea to implement the step of marginalization. Hopefully, I wish to get some instructions or some examples of implementing fixed-lag smoothing.

Any help would be appreciated. Thanks

[Sasha Lambert]

There is an example of fixed-lag smoothing in under "gtsam_unstable/examples/FixedLagSmootherExample.cpp"

[Frank Dellaert]

If you need help beyond this please join https://groups.google.com/forum/#!forum/gtsam-users

[Frank Dellaert]

not a bug/issue