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Hybrid ISAM #1273
Hybrid ISAM #1273
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@@ -77,6 +77,19 @@ static GaussianMixtureFactor::Sum &addGaussian( | |||
} | |||
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/* ************************************************************************ */ | |||
/* Function to eliminate variables **under the following assumptions**: |
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I think this comment should be adapted here (it's good for the EliminateHybrid
function)
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Oh okay. This was the function where we had the long discussion on the other PR so I figured this is where you wanted it.
Should we add another comment for sumFrontals
?
deferredFactors.push_back( | ||
boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner()); | ||
// Check if f is HybridConditional or HybridGaussianFactor. | ||
if (auto hc = boost::dynamic_pointer_cast<HybridConditional>(f)) { |
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This should just work without explicit casting as HybridConditional
is a subclass of HybridGaussianConditional
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Yeah I don't remember why I did this. Guess I was debugging something.
Looks like we have to upgrade to Ubuntu 20.04. |
This PR gets the last non-trivial test for Hybrid GaussianISAM to pass, and adds necessary updates to avoid crashes and incorrect results.
After this, hybrid elimination should be good to go!