Smoothers
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Smoothing is the problem of state estimation, where not only previous measurements but also future observations are part of a single estimate.
A popular example for smoothing is the so called Rauch-Tung-Striebel (RTS) smoother, which is based on the Kalman filter and its derivatives for nonlinear estimation.

.. toctree::
   :maxdepth: 2
   :caption: Modules:

   rts
   extended
   unscented