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MarineRoboticsGroup / dcsam

Factored inference for discrete-continuous smoothing and mapping.
https://arxiv.org/abs/2204.11936
MIT License
144 stars 18 forks source link

Feature/factor removal #2

Open kurransingh opened 3 years ago

kurransingh commented 3 years ago

Augmented "update" method to pass through to the isam and DiscreteFactorGraph removal methods. We leave it up to the user to keep track of factor indices.

keevindoherty commented 2 years ago

Just checking in on this - is there anything outstanding on this PR preventing it from being merged?

keevindoherty commented 1 year ago

@kurransingh Do you remember where we left this off? The main branch is now synced to GTSAM 4.2a8, so if we wanted to push further on this, just need to make sure we pull in those changes first.

This seems like a useful feature, but want to make sure everything is working correctly.

kurransingh commented 1 year ago

Hey sorry for the extremely late response on this @keevindoherty. I've pulled in all of the latest changes etc. and everything seems to be working. Good to merge from my perspective.