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Fix Dead Mode Removal#1999

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varunagrawal merged 10 commits intohybrid-smootherborglab/gtsam:hybrid-smootherfrom fix-deadmoderemovalborglab/gtsam:fix-deadmoderemovalCopy head branch name to clipboardJan 25, 2025

+102-30

Commits

Commits on Jan 25, 2025

• improve dead mode removal by checking for empty discrete joints and adding the marginals for future factors

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  7ca7e45

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• new test for dead mode removal in smoother

  varunagrawal

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  8725361

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• add deadModeThreshold argument to HybridBayesNet::prune

  varunagrawal

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  1b79e88

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• use deadModeThreshold

  varunagrawal

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  ddb430c

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• remove surplus prints

  varunagrawal

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  1d807db

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• fix which conditional is getting pruned

  varunagrawal

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  d2b9eb5

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• use std::optional for specifying dead mode threshold

  varunagrawal

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  1764b58

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• update HybridSmoother to use std::optional deadModeThreshold

  varunagrawal

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  4fcfe64

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• default arg for HybridSmoother constructor and clean up tests

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• default argument and update tests

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