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GTSAM is structured in a number of directories, which are on a need to know basis. In the tree below, modules are supposed to only know about ancestor modules. E.g., slam is a nonlinear optimization framework that of course uses inference, and everyone knows about base.
- base
- geometry
- inference/symbolic
- discrete
- linear
- nonlinear
- slam
- navigation
The modules inference and symbolic are co-dependent.
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