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Hybrid ISAM #1273

Merged
merged 6 commits into from
Aug 22, 2022
Merged

Hybrid ISAM #1273

merged 6 commits into from
Aug 22, 2022

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varunagrawal
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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!

@@ -77,6 +77,19 @@ static GaussianMixtureFactor::Sum &addGaussian(
}

/* ************************************************************************ */
/* 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.

@varunagrawal
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Looks like we have to upgrade to Ubuntu 20.04.

actions/runner-images#6002

Base automatically changed from feature/nonlinear-incremental to feature/nonlinear-hybrid August 22, 2022 18:13
@varunagrawal varunagrawal merged commit 84456f4 into feature/nonlinear-hybrid Aug 22, 2022
@varunagrawal varunagrawal deleted the hybrid-incremental branch August 22, 2022 18:20
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2 participants