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findUnusedFactorSlots should be true #150
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This was referenced Oct 17, 2019
Fixed in PR #152 |
varunagrawal
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Oct 28, 2022
b37a1fec6 Merge pull request #154 from borglab/matlab/properties 93dec957a convert class properties to type parser.Variable so that the property collector functions are written correctly d84e07f56 fix bug with proper closing of global functions 5a8505235 define setter and getter collector functions for cpp file 5067655e2 abstract out unwrap_argument and collector_return to their own functions 1ce29d71d add properties to properties block of .m file and add setters and getters 0c3e5573d write properties in class comment 9d85f7b6a disable superfluous pylint warnings b45994d34 Merge pull request #152 from borglab/pybind-2.10 76ba199a2 upgrade pybind to 2.10 16e4e674b Merge pull request #150 from borglab/feature/parent_class_template c7d1a466f Merge pull request #151 from borglab/fix/function_template_parameter_namespace 7278a309d retain namespace for template arguments 18ae5fb04 implement parent class allowed to have template parameters fd4437899 unit tests for parent classes allowed to have template parameters git-subtree-dir: wrap git-subtree-split: b37a1fec689d6a42837a3bfb4dc947674e72be54
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Description
The incremental fixed lag smoother creates an iSAM instance, but does not set the
findUnusedFactorSlots
flag to true, even though the docs in iSAM2Params.h say: "When you will be removing many factors, e.g. when using ISAM2 as a fixed-lag smoother, enable this option to add factors in the first available factor slots, to avoid accumulating NULL factor slots, at the cost of having to search for slots every time a factor is added."Steps to reproduce
just run incremental fixed lag smoother and you will see number of factors grow...
Expected behavior
Should be approx constant.
Proposed fix
Change construction of iSAM2 instance in incremental fixed lag smoother...
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