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Big Re-"Factor" of Hybrid#1374

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dellaert merged 16 commits intodevelopborglab/gtsam:developfrom hybrid/refactorborglab/gtsam:hybrid/refactorCopy head branch name to clipboardJan 8, 2023

+380-1,076

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Commits on Jan 6, 2023

• Document methods, refactor pruning a tiny bit.

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  408c14b

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Commits on Jan 7, 2023

• Fix (very old) Factor documentation

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  ce27a8b

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• Make HybridFactorGraph just a FactorGraph<Factor> with extra methods

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• Remove HybridNonlinearFactor wrapper class as no longer needed

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• Moved key methods to cpp file

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• Removed HybridDiscreteFactor wrapper

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• Made tests compile after purging HybridDiscreteFactor

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• Use template specialization

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  876e2e8

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• Fixed tests

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  88f27a2

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• Added handling of naked Gaussian factors added in python

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  a46c53d

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• Fix python test to not use add

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  8d96b3e

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• Remove GaussianFactor wrapper (easy!)

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  4e8dc6e

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• Add all discrete keys

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• Removed emplace_hybrid, can be done with emplace_shared now...

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Commits on Jan 8, 2023

• Merge branch 'develop' into hybrid/refactor

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  2e23336

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• Fix issue with HybridOrdering

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