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3 Commits (67b0b78ea1eacdb2647fedab828d9dcff99aac10)

Author SHA1 Message Date
Jeffrey 67b0b78ea1 Update BayesTreeMarginalizationHelper: 
1. Refactor code in BayesTreeMarginalizationHelper;
2. And avoid the unnecessary re-elimination of subtrees
   that only contain marginalizable variables;
 2024-10-31 18:58:49 +08:00
Jeffrey c6ba2b5fd8 update doc string in BayesTreeMarginalizationHelper.h 2024-10-29 15:13:09 +08:00
Jeffrey 896e52ca27 Fix marginalization in IncrementalFixedLagSmoother. 
Add BayesTreeMarginalizationHelper.h and use the new helper
to gather the additional keys to re-eliminate when marginalizing
variables in IncrementalFixedLagSmoother.
 2024-10-28 23:38:04 +08:00