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parametric with n-ary, ccw perf enh #1651

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Merged
merged 3 commits into from
Dec 26, 2022
+27 −19
Merged

parametric with n-ary, ccw perf enh #1651

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0a50afb
parametric supports nary factors
dehann Dec 26, 2022
7bd2bab
minor ccw type stab enh
dehann Dec 26, 2022
06e2e32
tuple types instead
dehann Dec 26, 2022
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44 changes: 26 additions & 18 deletions src/ParametricUtils.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -367,24 +367,32 @@ end
function cost_cfp(
@nospecialize(cfp::CalcFactorMahalanobis),
@nospecialize(p::AbstractArray),
vi::NTuple{1, Int},
)
return cfp(p[vi[1]])
end
function cost_cfp(
@nospecialize(cfp::CalcFactorMahalanobis),
@nospecialize(p::AbstractArray),
vi::NTuple{2, Int},
)
return cfp(p[vi[1]], p[vi[2]])
end
function cost_cfp(
@nospecialize(cfp::CalcFactorMahalanobis),
@nospecialize(p::AbstractArray),
vi::NTuple{3, Int},
)
return cfp(p[vi[1]], p[vi[2]], p[vi[3]])
end
vi::NTuple{N, Int},
) where N
cfp(map(v->p[v],vi)...)
end
# function cost_cfp(
# @nospecialize(cfp::CalcFactorMahalanobis),
# @nospecialize(p::AbstractArray),
# vi::NTuple{1, Int},
# )
# return cfp(p[vi[1]])
# end
# function cost_cfp(
# @nospecialize(cfp::CalcFactorMahalanobis),
# @nospecialize(p::AbstractArray),
# vi::NTuple{2, Int},
# )
# return cfp(p[vi[1]], p[vi[2]])
# end
# function cost_cfp(
# @nospecialize(cfp::CalcFactorMahalanobis),
# @nospecialize(p::AbstractArray),
# vi::NTuple{3, Int},
# )
# return cfp(p[vi[1]], p[vi[2]], p[vi[3]])
# end


# function (gsc::GraphSolveContainer)(f::Vector{T}, Xc::Vector{T}, ::Val{true}) where T <: Real
# #
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2 changes: 1 addition & 1 deletion src/entities/FactorOperationalMemory.jl
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Expand Up @@ -114,7 +114,7 @@ mutable struct CommonConvWrapper{T <: AbstractFactor, NTP <: Tuple, G, MT, CT} <
dummyCache::CT

#Consolidation from FMD
fullvariables::Vector{DFGVariable}
fullvariables::Vector{<:DFGVariable}

#Consolidation from CPT
# the actual particle being solved at this moment
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