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Hybrid Updates #1306

Merged
merged 28 commits into from
Oct 14, 2022
Merged

Hybrid Updates #1306

merged 28 commits into from
Oct 14, 2022

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varunagrawal
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  1. Move pruner functor to GaussianMixture so we remove duplication and use the same API for both the HybridBayesTree and the HybridBayesNet.
  2. Fix issue where pruning doesn't happen for subset of discrete keys (based on @ProfFan's idea).
  3. Various formatting and niggles (GaussianMixtureFactor.cpp, HybridFactor.cpp, HybridGaussianFactorGraph.cpp, HybridGaussianISAM.cpp).
  4. Add key formatter to HybridNonlinearISAM::print.
  5. Fix compile time warnings from testDiscreteBayesTree.cpp.

@varunagrawal
add code for simplified hybrid estimation
b4c70f2
@varunagrawal
almost done with single legged robot
b2ca747
@varunagrawal
single leg robot test
8f94f72
@varunagrawal
add more tests to show scheme doesn't work
b5eaaab
@varunagrawal
remove print statements
858193d
@varunagrawal
Merge branch 'develop' into varun/test-hybrid-estimation
269d60e
@varunagrawal
Merge branch 'hybrid/check-elimination' into varun/test-hybrid-estima…
bf2015d 
…tion
@varunagrawal
remove unnecessary comments
75b2599
@varunagrawal
Merge branch 'hybrid/improved-prune-2' into varun/test-hybrid-estimation
42e915f
@varunagrawal
Merge branch 'hybrid/gaussian-conditional' into varun/test-hybrid-est…
812ae30 
…imation
@varunagrawal
move GTDKeyFormatter to types.h
6bd16d9
@varunagrawal
Merge branch 'develop' into varun/test-hybrid-estimation
acdc1af
@varunagrawal
fix tests
9c77c66
@varunagrawal
formatting
1a17a81
@varunagrawal
apply keyformatter to Gaussian iSAM in HybridNonlinearISAM
055df81
@varunagrawal
slight improvement to GaussianMixtureFactor print
3e15184
@varunagrawal
PrunerFunc helper function
a00bcbc
@varunagrawal
enumerate missing discrete keys so we can prune all gaussian mixtures
2c8fe25
@varunagrawal
add PrunerFunc to GaussianMixture
c15cfb6
@varunagrawal
clean up the prunerFunc
2225ecf
@varunagrawal
HybridBayesNet and HybridBayesTree both use similar pruning functions
5e99cd7
@varunagrawal
minor fixes to unit test
c2377f3
@varunagrawal
add assertions to remove warning
8090812
@varunagrawal
remove print function
eacc888
@varunagrawal
add curlyy brackets to for loop
8c19f49
@varunagrawal
remove custom keyformatter
1d70d14
@varunagrawal
remove added test file
8f7473d
@varunagrawal varunagrawal self-assigned this Oct 13, 2022
ProfFan
ProfFan approved these changes Oct 13, 2022
View reviewed changes
gtsam/hybrid/GaussianMixture.cpp Show resolved Hide resolved
@varunagrawal varunagrawal merged commit cd69c51 into develop Oct 14, 2022
@varunagrawal varunagrawal deleted the varun/test-hybrid-estimation branch October 14, 2022 13:02
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Reviewers

@ProfFan ProfFan ProfFan approved these changes

@dellaert dellaert Awaiting requested review from dellaert

@xsj01 xsj01 Awaiting requested review from xsj01

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@varunagrawal varunagrawal

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2 participants
@varunagrawal @ProfFan