Luis Pineda

The hash functions used for states in the currently implemented domains are not very good. This should be improved.

The Makefile is a mess of directory variables which are not consistently used by all the different targets. At the very least consistency should be enforced.

So far I haven't been paying attention to efficiency issues related to the use of copies instead of references, for example in the transition function. At some point, it will...

To use an heuristic, the state object must have a pointer to the problem, otherwise the heuristic won't be called. This behavior must be explained in the documentation.

Opening this just for easier diff of functorch changes.

Improve unit test for CHOLMOD stability using sparse matrix routines. _Originally posted by @fantaosha in https://github.com/facebookresearch/theseus/pull/238#discussion_r920200929_

Remember to add an issue to add some light weight unit tests for this feature, especially to check if the merge info stuff works as expected. _Originally posted by @mhmukadam...

- [ ] Pass `dtype` to `ScaleCostWeight` when constructed from `float`. - [x] [Typo](https://github.com/facebookresearch/theseus/blob/main/theseus/geometry/se3.py#L128) in `SE3`. - [x] Add `between` and `adjoint` [aliases](https://github.com/facebookresearch/theseus/blob/main/theseus/geometry/lie_group.py#L145) to global `th` scope. - [ ]...