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Additional Nonlinear Hybrid #1277

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merged 11 commits into from
Aug 22, 2022
Merged

Additional Nonlinear Hybrid #1277

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aa48658
more tests running
varunagrawal Aug 12, 2022
77bea31
one more test passing
varunagrawal Aug 13, 2022
ac20cff
add incremental pruning to HybridGaussianISAM
varunagrawal Aug 16, 2022
83b8103
last test to get running
varunagrawal Aug 17, 2022
07f0101
check subset rather than equality for GaussianISAM pruning
varunagrawal Aug 21, 2022
29c19ee
handle HybridConditional and explicitly set Gaussian Factor Graphs to…
varunagrawal Aug 21, 2022
f6df641
remove custom orderings, let it happen automatically
varunagrawal Aug 21, 2022
6b792c0
add note about sumFrontals
varunagrawal Aug 21, 2022
893c5f7
cast to only HybridGaussianFactor
varunagrawal Aug 22, 2022
4c9c106
Merge pull request #1271 from borglab/feature/nonlinear-incremental
varunagrawal Aug 22, 2022
84456f4
Merge pull request #1273 from borglab/hybrid-incremental
varunagrawal Aug 22, 2022
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add note about sumFrontals
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@varunagrawal
varunagrawal committed Aug 21, 2022
commit 6b792c0a4ca19b750a9c259c1dd84468786884ff
13 changes: 13 additions & 0 deletions gtsam/hybrid/HybridGaussianFactorGraph.cpp
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Expand Up @@ -77,6 +77,19 @@ static GaussianMixtureFactor::Sum &addGaussian(
}

/* ************************************************************************ */
/* Function to eliminate variables **under the following assumptions**:
* 1. When the ordering is fully continuous, and the graph only contains
* continuous and hybrid factors
* 2. When the ordering is fully discrete, and the graph only contains discrete
* factors
*
* Any usage outside of this is considered incorrect.
*
* \warning This function is not meant to be used with arbitrary hybrid factor
* graphs. For example, if there exists continuous parents, and one tries to
* eliminate a discrete variable (as specified in the ordering), the result will
* be INCORRECT and there will be NO error raised.
*/
GaussianMixtureFactor::Sum sumFrontals(
const HybridGaussianFactorGraph &factors) {
// sum out frontals, this is the factor on the separator
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