Some Updates #1743
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Some Updates #1743
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… as it is possible to have non-zero discrete keys
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As an FYI, I was going to merge this once we had approvals on the hybrid PRs so that they would be easier to review. |
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Made some updates and fixes while working on some Contact Estimation examples.
The big change is that we no longer check if a
GaussianFactorinside aGaussianMixtureFactorhas 0 keys, since the factor may be a non-null factor with 0 keys (aka a residual).I also fixed a typo in the
slam/README.mdfile.