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Add diagonal & isotropic sqrt_infos in geo factors #294

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Add diagonal & isotropic sqrt_infos in geo factors #294

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Commits on Feb 1, 2023

  1. Add diagonal & isotropic sqrt_infos in geo factors 

    Often times the square root information matrix is a diagonal or
isotropic matrix. However, in our generated geo factors we always assume
they are full dense matrices leading to many more operations than
needed.

This commit modifies `geo_factors_codegen.py` to create 3 variants for
each geo factor, one which assumes `sqrt_info` is a square matrix (the
existing behavior), one which assumes it is a diagonal matrix, and one
which assumes it is an isotropic matrix.

These variants will have the same base name, with nothing appended to
the square variant, `Diagonal` appended to the diaognal variant, and
`Isotropic` appended to the isotropic covariant. They cannot have the
same name, as even though we only generate the factors in C++ which has
function overloading, disambiguating the overloads is a pain when
constructing `sym::Factor`s. The square version takes a square
eigen matrix, the diagonal version a eigen vector whose entries are
those of the diagonal of `sqrt_info`, and a single scalar for the
isotropic version.

The header that the user imports remains the same, except now rather
than containing the implementation directly, it re-imports the headers
for the 3 different versions (which are stored in sub-directories).

Topic: sqrt_info_variants
Relative: geo_factors_use_skip_directory_nesting
    @bradley-solliday-skydio
    bradley-solliday-skydio committed Feb 1, 2023
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  2. Regenerate geo factors with sqrt_info variants 

    Topic: sqrt_info_variants
    @bradley-solliday-skydio
    bradley-solliday-skydio committed Feb 1, 2023
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