Dehann Fourie
Dehann Fourie
also recording another case, `X -- Y -- Z`, two options in frontal `Y` (A || B) might result in `dz/dx|yA = +c` and `dz/dx|yB = -c` for similar `x`...
Just keeping record on tracking of label selections through clique product cycles -- this graph loosely shows the clique joint probability inter-dependencies calculated during upward inference on tree (for an...
I think it would be good to drop `csmc.tree` if able, as long as we keep the ability to do #742
One reason for keeping `csmc.tree` is for debugging, to draw the entire tree state at each step in multithreaded system. So let's keep tree for now, but what we can...
[From Kaess et al., "The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping", 2010](https://www.researchgate.net/profile/Viorela-Ila/publication/220946728_The_Bayes_Tree_An_Algorithmic_Foundation_for_Probabilistic_Robot_Mapping/links/02e7e5239c0505f313000000/The-Bayes-Tree-An-Algorithmic-Foundation-for-Probabilistic-Robot-Mapping.pdf)    
Would be great to leverage ChainRules.jl for this.