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symforce-org / symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics
https://symforce.org
Apache License 2.0
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Fix factor cache #227

Closed aaron-skydio closed 2 years ago

aaron-skydio commented 2 years ago

The optimized keys here need to be the keys to the factor inputs Values, not to the problem. At some point we refactored around this and broke it.

Also add a unit test that goes fail->pass with this change

Reviewers: hayk,bradley,nathan Topic: sym-grc-fix

aaron-skydio commented 2 years ago

Reviews in this chain: └https://github.com/symforce-org/symforce/pull/227 Fix factor cache

aaron-skydio commented 2 years ago
# head base diff date summary
0 e9a0f3be f17d8b20 diff Sep 20 10:03 AM 3 files changed, 13 insertions(+), 2 deletions(-)
aaron-skydio commented 2 years ago

Closed by 9a20a812d2e715a42dd066f0f84f786646a3eb84