Lots of Hybrid Improvements #1894
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dellaert
reviewed
Nov 4, 2024
| DiscreteFactorGraph dfg; | ||
| for (auto &&f : factors_) { | ||
| auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f); | ||
| assert(discreteFactor); |
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I don’t understand how this can work. Not all factors are discrete, right?
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Yup, which is why we have the assert, but I guess the if(auto discreteFactor = ...) check is better.
dellaert
approved these changes
Nov 5, 2024
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HybridGaussianFactorGraph::discreteFactors()to retrieve all the discrete factors. More of a convenience method.prunemethod forHybridNonlinearFactor.reorderRelinearizeto improve nonlinear efficiency.