R. @bullet-the, Tung-Striebel (RTS) algorithm performs fixed-interval offline smoothing, i.e. computes P(x t | y 1

@. Then, standard errors qAse, qBse, qCse, qQse and qRse of vectors qA, qB, qC, qQ and qR are deduced from vPse with the function vptossf

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