Dehann Fourie

TreeMsgLikelihoods should swap NamedTuple for Tuple

2

Could have a similar compile time implication as was found in: - #1565 - #1513 - JuliaRobotics/Caesar.jl#835

Does multihypo NamedTuple recipe dynamic dispatch?

10

Oh, btw, think the same thing might be happening with multihypo recipes: https://github.com/JuliaRobotics/IncrementalInference.jl/blob/40962b76cc03c55b49bfded871a7db60f0a0fd22/src/ExplicitDiscreteMarginalizations.jl#L227 _Originally posted by @dehann in https://github.com/JuliaRobotics/IncrementalInference.jl/issues/1564#issuecomment-1185633151_

Refactor `IIF.Mixture` as direct Density

1

Another question here is whether we should just update Mixture to be a regular `

Expand Mixture to accomodate different factor types too

1

Not just `Mixture` of measurement processes (as is currently already able), but different factor types too. Anticipate `NamedTuple` on `.mechanics` field, along with required changes to serialization. Ref: - https://juliarobotics.org/Caesar.jl/latest/concepts/dataassociation/#Mixture-Models...

Three options in "Table 1" https://arxiv.org/pdf/2103.02472.pdf

[FEATURE] build linear Gaussian chain rule utility function

6

A variable elimination game calls for calculating a new conditional from other factors (akin to "smart factors").

Standarize partials definition and behavior

1

We should do better than define partials as coordinate dimension positions -- i.e. - [ ] get away from say a Yaw factor partial currently using coordinates `(3,)`. Rather use...

During tests: ```julia test simple Mixture | 9 9 [ Info: monitorCSMs: all tasks done WARNING: Wrapping `Vararg` directly in UnionAll is deprecated (wrap the tuple instead). ```

wip, test fails. Make sure partial definitions used consistently everywhere. Current issue is `antimarginal` dimension hard to assume with vanilla factors like PartialPrior. Perhaps best to just remove instances of...

performance opportunity if a factor's inflation=0 to skip the inflation cycles