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don't optimize each time

release/4.3a0
Varun Agrawal 2025-01-29 18:40:29 -05:00
parent ef35f3c1fe
commit e2adb91d91
1 changed files with 3 additions and 3 deletions
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6
examples/Hybrid_City10000.cpp
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@ -44,7 +44,7 @@ using symbol_shorthand::M;
using symbol_shorthand::X; using symbol_shorthand::X;
// Testing params // Testing params
const size_t max_loop_count = 3000; // 2000; // 200 //2000 //8000 const size_t max_loop_count = 2000; // 2000; // 200 //2000 //8000
noiseModel::Diagonal::shared_ptr prior_noise_model = noiseModel::Diagonal::shared_ptr prior_noise_model =
noiseModel::Diagonal::Sigmas( noiseModel::Diagonal::Sigmas(
@ -122,8 +122,8 @@ void SmootherUpdate(HybridSmoother& smoother, HybridNonlinearFactorGraph& graph,
// std::cout << "index: " << index << std::endl; // std::cout << "index: " << index << std::endl;
smoother.update(linearized, maxNrHypotheses); smoother.update(linearized, maxNrHypotheses);
graph.resize(0); graph.resize(0);
HybridValues delta = smoother.hybridBayesNet().optimize(); // HybridValues delta = smoother.hybridBayesNet().optimize();
result->insert_or_assign(initial.retract(delta.continuous())); // result->insert_or_assign(initial.retract(delta.continuous()));
} }
/* ************************************************************************* */ /* ************************************************************************* */