Hybrid ISAM #1273
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Hybrid ISAM #1273
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ProfFan
reviewed
Aug 22, 2022
| @@ -77,6 +77,19 @@ static GaussianMixtureFactor::Sum &addGaussian( | |||
| } | |||
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| /* ************************************************************************ */ | |||
| /* Function to eliminate variables **under the following assumptions**: | |||
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I think this comment should be adapted here (it's good for the EliminateHybrid function)
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Oh okay. This was the function where we had the long discussion on the other PR so I figured this is where you wanted it.
Should we add another comment for sumFrontals?
| deferredFactors.push_back( | ||
| boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner()); | ||
| // Check if f is HybridConditional or HybridGaussianFactor. | ||
| if (auto hc = boost::dynamic_pointer_cast<HybridConditional>(f)) { |
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This should just work without explicit casting as HybridConditional is a subclass of HybridGaussianConditional
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Yeah I don't remember why I did this. Guess I was debugging something.
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Looks like we have to upgrade to Ubuntu 20.04. |
Base automatically changed from
feature/nonlinear-incremental
to
feature/nonlinear-hybrid
August 22, 2022 18:13
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This PR gets the last non-trivial test for Hybrid GaussianISAM to pass, and adds necessary updates to avoid crashes and incorrect results.
After this, hybrid elimination should be good to go!