Dehann Fourie

thanks, also linking some documentation on this that example for reference: https://juliarobotics.org/Caesar.jl/latest/examples/basic_slamedonut/

have not forgotten, just been a bit busy sorry. Will get to this soon!

Hi @Affie, unfortunately I'm not exctly sure how to precisely reconstruct the factor graphs for either of the two examples that you mentioned above. Could you perhaps update the guess...

please modify the comments above and or update a FileDFG of the factor graphs which makes it a bit easier to compare etc.

Great thanks, apologies for the detour. Working with this now!

Update on the plan here is to do a major upgrade in one go. There will be less waste overall by first doing JuliaRobotics/ApproxManifoldProducts.jl#41 first and then filling in the...

Just an update, I'm clearing the way for fixes required here. IIF v0.19 resolves a series of issues with CCW and FMD, while simultaneously preparing to solve - JuliaRobotics/RoME.jl#244 -...

Also note a partial fix for easy relative likelihoods that follow default factors, which will be part of IIF v0.19 too (precursor to TAF).

All fixes related to #467 are precursors for a general code refactor of internal numerical operations, which will ultimately lead to the required fix on this issue. Work towards closing...

Just recording a possible test case that might be useful later: subfg in cilque, with frontal `:x1` ```julia fg = initfg() addVariable!(fg, :x0, Point2) addVariable!(fg, :x1, Point2) addVariable!(fg, :x2, Point2)...