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findUnusedFactorSlots should be true #150

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dellaert opened this issue Oct 17, 2019 · 1 comment
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findUnusedFactorSlots should be true #150

dellaert opened this issue Oct 17, 2019 · 1 comment
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@dellaert

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Description

The incremental fixed lag smoother creates an iSAM instance, but does not set the findUnusedFactorSlots flag to true, even though the docs in iSAM2Params.h say: "When you will be removing many factors, e.g. when using ISAM2 as a fixed-lag smoother, enable this option to add factors in the first available factor slots, to avoid accumulating NULL factor slots, at the cost of having to search for slots every time a factor is added."

Steps to reproduce

just run incremental fixed lag smoother and you will see number of factors grow...

Expected behavior

Should be approx constant.

Proposed fix

Change construction of iSAM2 instance in incremental fixed lag smoother...
@dellaert dellaert self-assigned this Oct 17, 2019
This was referenced Oct 17, 2019
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Fixed in PR #152

@senselessDev senselessDev mentioned this issue Jan 22, 2022
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varunagrawal added a commit that referenced this issue Oct 28, 2022
@varunagrawal
Squashed 'wrap/' changes from ca357ccdd..b37a1fec6
41d0de3 
b37a1fec6 Merge pull request #154 from borglab/matlab/properties
93dec957a convert class properties to type parser.Variable so that the property collector functions are written correctly
d84e07f56 fix bug with proper closing of global functions
5a8505235 define setter and getter collector functions for cpp file
5067655e2 abstract out unwrap_argument and collector_return to their own functions
1ce29d71d add properties to properties block of .m file and add setters and getters
0c3e5573d write properties in class comment
9d85f7b6a disable superfluous pylint warnings
b45994d34 Merge pull request #152 from borglab/pybind-2.10
76ba199a2 upgrade pybind to 2.10
16e4e674b Merge pull request #150 from borglab/feature/parent_class_template
c7d1a466f Merge pull request #151 from borglab/fix/function_template_parameter_namespace
7278a309d retain namespace for template arguments
18ae5fb04 implement parent class allowed to have template parameters
fd4437899 unit tests for parent classes allowed to have template parameters

git-subtree-dir: wrap
git-subtree-split: b37a1fec689d6a42837a3bfb4dc947674e72be54
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fix default parameters in constructor of IncrementalFixedLagSmoother.h
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@dellaert