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Some Hybrid iSAM cleanup #1883

Merged
merged 3 commits into from
Oct 23, 2024
Merged

Some Hybrid iSAM cleanup #1883

merged 3 commits into from
Oct 23, 2024

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dellaert
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@dellaert dellaert commented Oct 23, 2024 •
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  • some naming conventions and spelling
  • Made a more robust interface to Switching
  • changed HybridGaussianISAM tests to reuse update graphs
  • kept HybridNonlinearISAM tests the same but modernized them a bit
  • in both cases, kept some regression but made tests have real teeth
  • Added chain factors in testHybridEstimation

PS, ISAM test in latter produces BayesTrees like this, which seems right:

image

@dellaert dellaert changed the title Some iSAM cleanup Some Hybrid iSAM cleanup Oct 23, 2024
varunagrawal
varunagrawal approved these changes Oct 23, 2024
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2 comments but LGTM

gtsam/hybrid/tests/Switching.h Show resolved Hide resolved
gtsam/hybrid/tests/testHybridGaussianISAM.cpp Show resolved Hide resolved
Base automatically changed from feature/no_conditionals to develop October 23, 2024 17:36
@dellaert dellaert merged commit 0ffe6c9 into develop Oct 23, 2024
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@dellaert dellaert deleted the feature/hybridISAM branch October 23, 2024 17:36
varunagrawal
varunagrawal reviewed Oct 29, 2024
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gtsam/hybrid/HybridNonlinearISAM.cpp
// TODO(Varun) Relinearization doesn't take into account pruning
reorder_relinearize();
// TODO(Varun) Re-linearization doesn't take into account pruning
reorderRelinearize();
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PS this name came from NonlinearISAM (the continuous only version).

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It's NonlinearISAM::reorder_relinearize there which is why we kept the same name.

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@varunagrawal varunagrawal varunagrawal approved these changes

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@dellaert @varunagrawal