Code

Nonlinear Hybrid#1263

Code

Merged

varunagrawal merged 42 commits intohybrid/pruningborglab/gtsam:hybrid/pruningfrom feature/nonlinear-hybridborglab/gtsam:feature/nonlinear-hybridCopy head branch name to clipboardAug 21, 2022

+2,268-212

Commits

Commits on May 28, 2022

• add HybridNonlinearFactor and nonlinear HybridFactorGraph

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  2927d92

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• Add MixtureFactor for nonlinear factor types

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Commits on May 29, 2022

• convert to cpp

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  e91a354

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• Base Hybrid Factor Graph

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  9cbd2ef

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• make GaussianMixtureFactor a subclass of HybridGaussianFactor

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  01b9a65

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• HybridFactorGraph fixes

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  fe0d666

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• Make MixtureFactor only work with NonlinearFactors and make some improvements

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• HybridNonlinearFactor linearize method

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• push_back for GaussianHybridFactor

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  9279bd6

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• clean up testHybridFactorGraph, need to add more tests

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• GaussianHybridFactorGraph inherits from HybridFactorGraph

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Commits on May 30, 2022

• Improvements to GaussianHybridFactorGraph, make MixtureFactor a subclass of HybridFactor

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  85f4b48

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• Add NonlinearHybridFactorGraph class

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  53e8c32

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• fix base class

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  7e18277

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• linearize returns object instead of pointer

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  119679a

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• remove unneeded method

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  3212dde

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• GaussianMixtureFactor inherits from HybridFactor

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  0c16799

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• More tests working

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Commits on Jul 26, 2022

• Merge branch 'develop' into feature/nonlinear-hybrid

  varunagrawal

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  3780b8c

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• rename to HybridNonlinearFactorGraph

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  8ddc2ea

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• add IsGaussian template check

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  7a55341

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• renaming fixes

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  43c28e7

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• remove derived push_back in HybridNonlinearFactorGraph and HybridFactorGraph

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Commits on Jul 30, 2022

• add nonlinear switching system tests

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  8471c97

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Commits on Aug 1, 2022

• get more nonlinear tests to work and make some updates

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Commits on Aug 2, 2022

• get all but 2 tests passing

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  16124f3

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• fix discrete only elimination (use EliminateForMPE)

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• all tests pass!!!

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Commits on Aug 3, 2022

• fix discrete conditional test

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• Wrap DiscreteLookupTable

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  6670779

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• Merge branch 'develop' into feature/nonlinear-hybrid

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  92a5868

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• Merge branch 'hybrid/pruning' into feature/nonlinear-hybrid

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Commits on Aug 8, 2022

• change discrete key variable from C to M

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• split HybridNonlinearFactorGraph to .h and .cpp

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  f5e046f

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• fix printing and key bug in MixtureFactor linearize

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  51d2f07

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• fix adding priors in Switching

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  a3eacaa

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• HybridGaussianISAM unit tests

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  588f56e

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Commits on Aug 10, 2022

• fix print tests

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  60c88e3

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• cleaner printing

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  4ea897c

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• got some more tests working

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  fbceda3

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• use templetized constructor for MixtureFactor

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Commits on Aug 15, 2022

• Address review comments

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