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Implement errorTree for HybridNonlinearFactorGraph #1859

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merged 3 commits into from
Oct 1, 2024
Merged

Implement errorTree for HybridNonlinearFactorGraph #1859

merged 3 commits into from
Oct 1, 2024

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varunagrawal
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Following the HybridGaussianFactorGraph::errorTree method, implement the same for HybridNonlinearFactorGraph.
Note that since the input is gtsam::Values, we only consider nonlinear and discrete factors, not Gaussian factors.

@varunagrawal varunagrawal self-assigned this Oct 1, 2024
dellaert
dellaert approved these changes Oct 1, 2024
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Nice. But, I am loathe to introduce more regression tests. In this case, the network is small enough that you could just create the correct result in the test?

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Okay I'll do that.

@varunagrawal varunagrawal merged commit 23f4282 into develop Oct 1, 2024
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@varunagrawal varunagrawal deleted the hybrid-nonlinear-error branch October 1, 2024 21:28
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@dellaert dellaert dellaert approved these changes

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