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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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Pass sink parameters by value and move #284

Closed chao-qu-skydio closed 1 year ago

chao-qu-skydio commented 1 year ago

Optimizer has 2 sink parameters (factors and keys) but only provides 2 overloads. This is sub-optimal as we really need 4 overloads to cover all cases (LL, LR, RL, RR). It is just much easier and cleaner to pass by value and move.