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Published 20 hours ago • verified publisher icon JuliaRobotics

TreeMsgLikelihoods should swap NamedTuple for Tuple

Open dehann opened this issue 1 year ago • 2 comments

Could have a similar compile time implication as was found in:

  • #1565
  • #1513
  • JuliaRobotics/Caesar.jl#835

dehann avatar Jul 26 '22 00:07 dehann

Are you referring to sender in this? https://github.com/JuliaRobotics/IncrementalInference.jl/blob/60134f968860d5b3a0de6eb429adbb08ef54f24d/src/entities/CliqueTypes.jl#L43-L56

It is good as a NamedTuple.

Affie avatar Jul 26 '22 11:07 Affie

Looking at .sender I think that should be okay, since the type is hard coded.

Not recalling exactly, but upon looking through this again I think it was actually the NamedTuple in the MsgRelativeType const that might be causing the Bayes tree compile time delays.

Just quickly, I made a very small runtime improvement:

  • #1579

But does notyet get rid of the potential NamedTuple compile time issue on tree message passing.

I'm also worried about the non-concrete union type on .cliqueLikelihood

dehann avatar Jul 29 '22 01:07 dehann