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Various fixes for Hybrid #1369

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merged 6 commits into from
Jan 4, 2023
Merged

Various fixes for Hybrid #1369

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bb31956
enable previously failing test, now works!!
varunagrawal Jan 4, 2023
ed16c33
add check in GaussianMixtureFactor::likelihood
varunagrawal Jan 4, 2023
34daecd
remove deferredFactors
varunagrawal Jan 4, 2023
7dd4bc9
implement dim() for MixtureFactor
varunagrawal Jan 4, 2023
b16480b
simplify code
varunagrawal Jan 4, 2023
25fd618
rename getAssignment to assignment, fix printing
varunagrawal Jan 4, 2023
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rename getAssignment to assignment, fix printing
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@varunagrawal
varunagrawal committed Jan 4, 2023
commit 25fd6181ac852db15abcaa610f9061ec6658856f
6 changes: 4 additions & 2 deletions gtsam/hybrid/HybridNonlinearISAM.cpp
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Expand Up @@ -99,9 +99,11 @@ void HybridNonlinearISAM::print(const string& s,
const KeyFormatter& keyFormatter) const {
cout << s << "ReorderInterval: " << reorderInterval_
<< " Current Count: " << reorderCounter_ << endl;
isam_.print("HybridGaussianISAM:\n", keyFormatter);
std::cout << "HybridGaussianISAM:" << std::endl;
isam_.print("", keyFormatter);
linPoint_.print("Linearization Point:\n", keyFormatter);
factors_.print("Nonlinear Graph:\n", keyFormatter);
std::cout << "Nonlinear Graph:" << std::endl;
factors_.print("", keyFormatter);
}

/* ************************************************************************* */
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2 changes: 1 addition & 1 deletion gtsam/hybrid/HybridNonlinearISAM.h
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Expand Up @@ -90,7 +90,7 @@ class GTSAM_EXPORT HybridNonlinearISAM {
const Values& getLinearizationPoint() const { return linPoint_; }

/** Return the current discrete assignment */
const DiscreteValues& getAssignment() const { return assignment_; }
const DiscreteValues& assignment() const { return assignment_; }

/** get underlying nonlinear graph */
const HybridNonlinearFactorGraph& getFactorsUnsafe() const {
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