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Hybrid Pruning #1215

Merged
merged 127 commits into from
Aug 23, 2022
Merged

Hybrid Pruning #1215

merged 127 commits into from
Aug 23, 2022

Commits on Sep 16, 2021

  1. minor improvements to CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 16, 2021
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  2. account for bias on position in jacobians of CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 16, 2021
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Commits on Sep 17, 2021

  1. Add unit test for checking covariance of CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  2. additional comments to make understanding the code easier

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  3. no need to assign negative to jacobians as they cancel out later

    @varunagrawal
    varunagrawal committed Sep 17, 2021
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  4. add details about noise propagation for CombinedImuFactor in ImuFacto… 

    …r.pdf
    @varunagrawal
    varunagrawal committed Sep 17, 2021
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Commits on Sep 18, 2021

  1. Add the Preintegrated IMU jacobians tech report and mention it in the… 

    … docs
    @varunagrawal
    varunagrawal committed Sep 18, 2021
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Commits on Sep 20, 2021

  1. update ImuFactor reference

    @varunagrawal
    varunagrawal committed Sep 20, 2021
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  2. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed Sep 20, 2021
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Commits on Sep 21, 2021

  1. add test for checking covariances between ImuFactor and CombinedImuFa… 

    …ctor
    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  2. print statements in ImuFactor

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  3. typedef for Vector15

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  4. updated CombinedImuFactor covariance with additional off-diagonal ele… 

    …ments
    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  5. CombinedScenarioRunner

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  6. actually test the covariances and fix bug

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  7. update test with comments

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  8. update ImuFactor doc

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  9. remove print statements

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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  10. minor refactoring

    @varunagrawal
    varunagrawal committed Sep 21, 2021
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Commits on Sep 28, 2021

  1. updated ImuFactor doc with details about CombinedImuFactor

    @varunagrawal
    varunagrawal committed Sep 28, 2021
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  2. added details about covariance discretization with references

    @varunagrawal
    varunagrawal committed Sep 28, 2021
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Commits on Sep 30, 2021

  1. add test for MC based covariance estimation

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  2. undo name change from 984a90

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  3. detailed implementation of CombinedImuFactor noise propagation

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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  4. test passes

    @varunagrawal
    varunagrawal committed Sep 30, 2021
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Commits on Oct 10, 2021

  1. lyx update

    @varunagrawal
    varunagrawal committed Oct 10, 2021
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Commits on May 5, 2022

  1. formatting

    @varunagrawal
    varunagrawal committed May 5, 2022
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  2. update PDF doc

    @varunagrawal
    varunagrawal committed May 5, 2022
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  3. Merge branch 'develop' into fix/combined-imu

    @varunagrawal
    varunagrawal committed May 5, 2022
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  4. Merge branch 'develop' into fix/combined-imu-cov

    @varunagrawal
    varunagrawal committed May 5, 2022
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  5. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed May 5, 2022
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  6. Merge branch 'fix/368' into fix/combined-imu-cov

    @varunagrawal
    varunagrawal committed May 5, 2022
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  7. Merge branch 'fix/combined-imu-cov' into fix/combined-imu

    @varunagrawal
    varunagrawal committed May 5, 2022
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Commits on May 6, 2022

  1. fix test

    @varunagrawal
    varunagrawal committed May 6, 2022
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Commits on May 8, 2022

  1. fix test

    @varunagrawal
    varunagrawal committed May 8, 2022
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  2. minor refactor to follow the math better

    @varunagrawal
    varunagrawal committed May 8, 2022
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Commits on May 22, 2022

  1. use prior naming scheme for bias jacobians

    @varunagrawal
    varunagrawal committed May 22, 2022
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Commits on May 28, 2022

  1. add HybridNonlinearFactor and nonlinear HybridFactorGraph

    @varunagrawal
    varunagrawal committed May 28, 2022
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  2. Add MixtureFactor for nonlinear factor types

    @varunagrawal
    varunagrawal committed May 28, 2022
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Commits on May 29, 2022

  1. convert to cpp

    @varunagrawal
    varunagrawal committed May 29, 2022
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  2. Base Hybrid Factor Graph

    @varunagrawal
    varunagrawal committed May 29, 2022
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  3. make GaussianMixtureFactor a subclass of HybridGaussianFactor

    @varunagrawal
    varunagrawal committed May 29, 2022
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  4. HybridFactorGraph fixes

    @varunagrawal
    varunagrawal committed May 29, 2022
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  5. Make MixtureFactor only work with NonlinearFactors and make some impr… 

    …ovements
    @varunagrawal
    varunagrawal committed May 29, 2022
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  6. HybridNonlinearFactor linearize method

    @varunagrawal
    varunagrawal committed May 29, 2022
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  7. push_back for GaussianHybridFactor

    @varunagrawal
    varunagrawal committed May 29, 2022
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  8. clean up testHybridFactorGraph, need to add more tests

    @varunagrawal
    varunagrawal committed May 29, 2022
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  9. GaussianHybridFactorGraph inherits from HybridFactorGraph

    @varunagrawal
    varunagrawal committed May 29, 2022
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Commits on May 30, 2022

  1. Improvements to GaussianHybridFactorGraph, make MixtureFactor a subcl… 

    …ass of HybridFactor
    @varunagrawal
    varunagrawal committed May 30, 2022
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  2. Add NonlinearHybridFactorGraph class

    @varunagrawal
    varunagrawal committed May 30, 2022
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  3. fix base class

    @varunagrawal
    varunagrawal committed May 30, 2022
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  4. linearize returns object instead of pointer

    @varunagrawal
    varunagrawal committed May 30, 2022
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  5. remove unneeded method

    @varunagrawal
    varunagrawal committed May 30, 2022
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  6. GaussianMixtureFactor inherits from HybridFactor

    @varunagrawal
    varunagrawal committed May 30, 2022
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  7. More tests working

    @varunagrawal
    varunagrawal committed May 30, 2022
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Commits on Jun 3, 2022

  1. initial pruning method

    @varunagrawal
    varunagrawal committed Jun 3, 2022
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  2. record continuous keys separately

    @varunagrawal
    varunagrawal committed Jun 3, 2022
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  3. formatting and docs update

    @varunagrawal
    varunagrawal committed Jun 3, 2022
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  4. add pruning to HybridBayesNet

    @varunagrawal
    varunagrawal committed Jun 3, 2022
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  5. Merge branch 'develop' into hybrid/pruning

    @varunagrawal
    varunagrawal committed Jun 3, 2022
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Commits on Jun 4, 2022

  1. use KeyVector and iterator constructor

    @varunagrawal
    varunagrawal committed Jun 4, 2022
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Commits on Jun 10, 2022

  1. Merge branch 'develop' into hybrid/pruning

    @varunagrawal
    varunagrawal committed Jun 10, 2022
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Commits on Jul 3, 2022

  1. update Lyx document based on Luca's review

    @varunagrawal
    varunagrawal committed Jul 3, 2022
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Commits on Jul 5, 2022

  1. Merge pull request #882 from borglab/fix/combined-imu

    @varunagrawal
    varunagrawal authored Jul 5, 2022
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Commits on Jul 7, 2022

  1. Do not optimize native by default

    @jlblancoc @varunagrawal
    jlblancoc authored and varunagrawal committed Jul 7, 2022
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  2. Use system Eigen by default only if found

    @varunagrawal
    varunagrawal committed Jul 7, 2022
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  3. fix small issue

    @varunagrawal
    varunagrawal committed Jul 7, 2022
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  4. Capitalize Identity trait since it is static

    @varunagrawal
    varunagrawal committed Jul 7, 2022
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Commits on Jul 10, 2022

  1. Merge branch 'hybrid/hybrid-factor-graph' into hybrid/pruning

    @varunagrawal
    varunagrawal committed Jul 10, 2022
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Commits on Jul 20, 2022

  1. Merge pull request #879 from borglab/fix/combined-imu-cov 

    Fix Preintegration Covariance of CombinedImuFactor
    @varunagrawal
    varunagrawal authored Jul 20, 2022
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  2. change python CI cores to 1

    @varunagrawal
    varunagrawal committed Jul 20, 2022
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Commits on Jul 22, 2022

  1. Revert "change python CI cores to 1" 

    This reverts commit 2d41b01.
    @varunagrawal
    varunagrawal committed Jul 22, 2022
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  2. Merge branch 'develop' into fix/368

    @varunagrawal
    varunagrawal committed Jul 22, 2022
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Commits on Jul 26, 2022

  1. Merge branch 'develop' into feature/nonlinear-hybrid

    @varunagrawal
    varunagrawal committed Jul 26, 2022
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  2. rename to HybridNonlinearFactorGraph

    @varunagrawal
    varunagrawal committed Jul 26, 2022
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  3. add IsGaussian template check

    @varunagrawal
    varunagrawal committed Jul 26, 2022
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  4. renaming fixes

    @varunagrawal
    varunagrawal committed Jul 26, 2022
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  5. remove derived push_back in HybridNonlinearFactorGraph and HybridFact… 

    …orGraph
    @varunagrawal
    varunagrawal committed Jul 26, 2022
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Commits on Jul 30, 2022

  1. add nonlinear switching system tests

    @varunagrawal
    varunagrawal committed Jul 30, 2022
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Commits on Aug 1, 2022

  1. get more nonlinear tests to work and make some updates

    @varunagrawal
    varunagrawal committed Aug 1, 2022
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Commits on Aug 2, 2022

  1. fix setter and getter for biasAccOmegaInit

    @varunagrawal
    varunagrawal committed Aug 2, 2022
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  2. get all but 2 tests passing

    @varunagrawal
    varunagrawal committed Aug 2, 2022
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  3. fix discrete only elimination (use EliminateForMPE)

    @varunagrawal
    varunagrawal committed Aug 2, 2022
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  4. all tests pass!!!

    @varunagrawal
    varunagrawal committed Aug 2, 2022
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Commits on Aug 3, 2022

  1. fix discrete conditional test

    @varunagrawal
    varunagrawal committed Aug 3, 2022
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  2. Wrap DiscreteLookupTable

    @varunagrawal
    varunagrawal committed Aug 3, 2022
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  3. Merge branch 'develop' into hybrid/pruning

    @varunagrawal
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  4. Merge branch 'develop' into feature/nonlinear-hybrid

    @varunagrawal
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  5. Merge branch 'hybrid/pruning' into feature/nonlinear-hybrid

    @varunagrawal
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Commits on Aug 4, 2022

  1. Add Zenodo for generating citations

    @varunagrawal
    varunagrawal committed Aug 4, 2022
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Commits on Aug 5, 2022

  1. point Zenodo badge to Concept (aka aggregate) version

    @varunagrawal
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Commits on Aug 8, 2022

  1. change discrete key variable from C to M

    @varunagrawal
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  2. split HybridNonlinearFactorGraph to .h and .cpp

    @varunagrawal
    varunagrawal committed Aug 8, 2022
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  3. fix printing and key bug in MixtureFactor linearize

    @varunagrawal
    varunagrawal committed Aug 8, 2022
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  4. fix adding priors in Switching

    @varunagrawal
    varunagrawal committed Aug 8, 2022
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  5. HybridGaussianISAM unit tests

    @varunagrawal
    varunagrawal committed Aug 8, 2022
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  6. Merge branch 'hybrid/hybrid-factor-graph' into hybrid/pruning

    @varunagrawal
    varunagrawal committed Aug 8, 2022
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Commits on Aug 9, 2022

  1. Merge pull request #1265 from borglab/zenodo

    @varunagrawal
    varunagrawal authored Aug 9, 2022
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Commits on Aug 10, 2022

  1. fix print tests

    @varunagrawal
    varunagrawal committed Aug 10, 2022
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  2. cleaner printing

    @varunagrawal
    varunagrawal committed Aug 10, 2022
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  3. got some more tests working

    @varunagrawal
    varunagrawal committed Aug 10, 2022
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  4. revert name change, save for another PR

    @varunagrawal
    varunagrawal committed Aug 10, 2022
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  5. use templetized constructor for MixtureFactor

    @varunagrawal
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Commits on Aug 12, 2022

  1. Update README.md 

    Removed unavailable file
    @pglira
    pglira authored Aug 12, 2022
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  2. more tests running

    @varunagrawal
    varunagrawal committed Aug 12, 2022
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Commits on Aug 13, 2022

  1. Merge pull request #1268 from pglira/patch-1 

    Update README.md
    @varunagrawal
    varunagrawal authored Aug 13, 2022
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  2. one more test passing

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    varunagrawal committed Aug 13, 2022
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Commits on Aug 15, 2022

  1. Address review comments

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    varunagrawal committed Aug 15, 2022
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Commits on Aug 16, 2022

  1. add incremental pruning to HybridGaussianISAM

    @varunagrawal
    varunagrawal committed Aug 16, 2022
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Commits on Aug 17, 2022

  1. last test to get running

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    varunagrawal committed Aug 17, 2022
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Commits on Aug 21, 2022

  1. Merge pull request #1238 from borglab/fix/1182 

    Capitalize Identity trait
    @varunagrawal
    varunagrawal authored Aug 21, 2022
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  2. Merge pull request #1263 from borglab/feature/nonlinear-hybrid 

    Nonlinear Hybrid
    @varunagrawal
    varunagrawal authored Aug 21, 2022
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  3. check subset rather than equality for GaussianISAM pruning

    @varunagrawal
    varunagrawal committed Aug 21, 2022
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  4. handle HybridConditional and explicitly set Gaussian Factor Graphs to… 

    … empty
    @varunagrawal
    varunagrawal committed Aug 21, 2022
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  5. remove custom orderings, let it happen automatically

    @varunagrawal
    varunagrawal committed Aug 21, 2022
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  6. add note about sumFrontals

    @varunagrawal
    varunagrawal committed Aug 21, 2022
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  7. Merge pull request #1237 from borglab/jose-fixes

    @varunagrawal
    varunagrawal authored Aug 21, 2022
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  8. Merge pull request #874 from borglab/fix/368 

    CombinedImuFactor: Add bias effect on position jacobian
    @varunagrawal
    varunagrawal authored Aug 21, 2022
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Commits on Aug 22, 2022

  1. cast to only HybridGaussianFactor

    @varunagrawal
    varunagrawal committed Aug 22, 2022
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  2. upgrade from ubuntu 18.04 to 20.04

    @varunagrawal
    varunagrawal committed Aug 22, 2022
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  3. Merge pull request #1271 from borglab/feature/nonlinear-incremental

    @varunagrawal
    varunagrawal authored Aug 22, 2022
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  4. Merge pull request #1273 from borglab/hybrid-incremental

    @varunagrawal
    varunagrawal authored Aug 22, 2022
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  5. Merge pull request #1276 from borglab/ci/20.04

    @varunagrawal
    varunagrawal authored Aug 22, 2022
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  6. Merge pull request #1277 from borglab/feature/nonlinear-hybrid

    @varunagrawal
    varunagrawal authored Aug 22, 2022
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  7. add new line

    @varunagrawal
    varunagrawal committed Aug 22, 2022
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  8. name file correctly in doc string

    @varunagrawal
    varunagrawal committed Aug 22, 2022
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  9. Merge branch 'develop' into hybrid/pruning

    @varunagrawal
    varunagrawal committed Aug 22, 2022
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