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Hybrid Mixture Error #1318

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merged 20 commits into from
Dec 23, 2022
Merged

Hybrid Mixture Error #1318

merged 20 commits into from
Dec 23, 2022

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varunagrawal
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Add error() methods to both the MixtureFactor and the GaussianMixtureFactor.

This will be used when computing the error terms to create the discrete probability tree.

@varunagrawal varunagrawal self-assigned this Oct 31, 2022
@keevindoherty keevindoherty mentioned this pull request Nov 1, 2022
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@varunagrawal
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Also added computing error for the HybridBayesNet and the GaussianMixture (aka the Hybrid Conditional). Now we can get the error tree for the full hybrid bayes net.

@varunagrawal
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Can I please get some love on this PR? It's just adds to the API.

@dellaert
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I will take a look now

dellaert
dellaert requested changes Dec 21, 2022
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Some "tough love" :-) :-)

gtsam/hybrid/GaussianMixture.h Outdated Show resolved Hide resolved
gtsam/hybrid/GaussianMixture.h Outdated Show resolved Hide resolved
gtsam/hybrid/GaussianMixtureFactor.h Outdated Show resolved Hide resolved
gtsam/hybrid/GaussianMixtureFactor.h Outdated Show resolved Hide resolved
gtsam/hybrid/HybridBayesNet.h Outdated Show resolved Hide resolved
gtsam/hybrid/GaussianMixture.cpp Outdated Show resolved Hide resolved
gtsam/hybrid/GaussianMixtureFactor.cpp Show resolved Hide resolved
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gtsam/hybrid/HybridGaussianFactorGraph.cpp Show resolved Hide resolved
@dellaert
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PS also merge in master before pushing a new version? And ping me on email or I might forget to look at it.

dellaert
dellaert approved these changes Dec 22, 2022
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LGTM, thanks for addressing comments! Merge at will :-)

@varunagrawal varunagrawal merged commit 07d0a03 into develop Dec 23, 2022
@varunagrawal varunagrawal deleted the hybrid/error branch December 23, 2022 05:22
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@dellaert dellaert dellaert approved these changes

@ProfFan ProfFan Awaiting requested review from ProfFan

@keevindoherty keevindoherty Awaiting requested review from keevindoherty

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@varunagrawal @dellaert