search

locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
Other
729 stars 123 forks source link

Implement check for adding constraints to marginalized variables #291

Open jakemclaughlin6 opened 2 years ago

jakemclaughlin6 commented 2 years ago

This PR adds a check for constraints that are added to variables that are about to be marginalized. Addressing this issue: https://github.com/locusrobotics/fuse/issues/248

jakemclaughlin6 commented 2 years ago

@svwilliams Can you review this?

jakemclaughlin6 commented 1 year ago

@svwilliams I was curious if this has been investigated?