:ref:`section_ref_algorithm_ExtendedKalmanFilter` or the
:ref:`section_ref_algorithm_UnscentedKalmanFilter`.
+.. ------------------------------------ ..
+.. include:: snippets/Header2Algo12.rst
+
+.. include:: snippets/FeaturePropNonLocalOptimization.rst
+
+.. include:: snippets/FeaturePropDerivativeNeeded.rst
+
+.. include:: snippets/FeaturePropParallelDerivativesOnly.rst
+
.. ------------------------------------ ..
.. include:: snippets/Header2Algo02.rst