address the issue of duplicating discrete factors

[jungseokhong]

Updated the code to prevent adding discrete factors twice.

[keevindoherty]

Would you mind adding a test check in testDCSAM that looks for the factor duplication bug?

something like:

EXPECT_EQ(dcsam.getDiscreteFactorGraph().size(), 1);
EXPECT_EQ(dcsam.getNonlinearFactorGraph().size(), 2);

could be in any of the tests where we call dcsam.update(…) (ideally whichever is simplest)

[jungseokhong]

Would you mind adding a test check in testDCSAM that looks for the factor duplication bug?

something like:

EXPECT_EQ(dcsam.getDiscreteFactorGraph().size(), 1);
EXPECT_EQ(dcsam.getNonlinearFactorGraph().size(), 2);

could be in any of the tests where we call dcsam.update(…) (ideally whichever is simplest)

I've added a test case and made a commit