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Better `HybridSmoother` #1996

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varunagrawal wants to merge 3 commits into develop from hybrid-smoother

+60 −39

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varunagrawal commented Jan 24, 2025

Updated the HybridSmoother to

Only use conditionals connected to the variables which are connected to the new factors being added.
Improve the getOrdering method to give orderings that don't include all the variables.
Removed extra loops and made the whole things a bit more efficient.

varunagrawal added 3 commits

January 23, 2025 20:32


          update addConditionals to only use factor graph keys and remove an ex…

2d7690d

…tra loop


          fix up getOrdering and update to be more efficient

b4020ed


          update HybridSmoother tests

8ad3cb6

varunagrawal requested a review from dellaert

January 24, 2025 02:15

varunagrawal self-assigned this

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