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Hybrid Timing#1948

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varunagrawal merged 138 commits intodevelopborglab/gtsam:developfrom hybrid-timingborglab/gtsam:hybrid-timingCopy head branch name to clipboardJan 8, 2025

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Commits on Dec 18, 2024

• expose GTSAM_ENABLE_TIMING

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Commits on Dec 23, 2024

• code to print timing as CSV

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• Merge branch 'develop' into hybrid-timing

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• Merge branch 'develop' into hybrid-timing

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Commits on Dec 24, 2024

• remove extra space after comma

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Commits on Dec 27, 2024

• Merge branch 'discrete-improvements' into hybrid-timing

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• Merge branch 'develop' into hybrid-timing

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• Merge branch 'discrete-improvements' into hybrid-timing

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• conditional switch for hybrid timing

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• update config.h.in

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Commits on Dec 31, 2024

• make a cmake flag

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• use TableFactor instead of DecisionTreeFactor in discrete elimination

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• initial DiscreteTableConditional

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• DiscreteConditional evaluate method for conditionals

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• setData method

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• use a TableFactor as the underlying data representation for DiscreteTableConditional since it provides a clean abstraction

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• fix return type

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• add evaluate and getter

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• add override methods to DiscreteTableConditional

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• use DiscreteTableConditional in EliminateDiscrete

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• small cleanup

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• use DiscreteConditional shared_ptr for dynamic dispatch

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• use TableFactor for discrete elimination

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• small cleanup

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• fix hybrid tests

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• fix equals

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• undo changes to DiscreteFactorGraph

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• remove unused methods

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• Use TableFactor everywhere in hybrid elimination

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• fix tests

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• customize discrete elimination in Hybrid

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• remove GTSAM_HYBRID_TIMING guards

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• fix types

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• Merge branch 'hybrid-custom-discrete' into discrete-table-conditional

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• return DiscreteTableConditional from hybrid elimination

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• update testGaussianMixture

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• remove evaluate method

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• fix constructor and equals

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• fix bug in TableFactor when trying to convert to DecisionTreeFactor

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• fix creation of DiscreteConditional

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• full discrete elimination

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Commits on Jan 1, 2025

• normalize

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• Merge pull request #1954 from borglab/hybrid-with-tablefactor

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• new helper constructor for DiscreteConditional

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• simplify discrete conditional computation

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• small fix

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• fix empty keys case

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• rename

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• move common typedef to top

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• Merge branch 'hybrid-custom-discrete' into discrete-table-conditional

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• evaluate needed for correct test results

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• custom discreteMaxProduct

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• custom ProductAndNormalize for TableFactor

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• fixed maxProduct

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Commits on Jan 2, 2025

• remove TableFactor check for another day

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• custom path for empty separator

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• clarify TableProduct function

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• remove DiscreteConditional constructor since we no longer use it

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• Merge branch 'hybrid-custom-discrete' into discrete-table-conditional

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• fix TableProduct name

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• fix testGaussianMixture

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• undo HybridBayesNet changes

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• fix testHybridGaussianFactorGraph

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• fix to use DiscreteTableConditional

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• custom max-product for HybridBayesTree

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• fix discreteMaxProduct declaration

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• make asDiscrete a template

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• add checks

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• fix testHybridEstimation

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• fix testGaussianMixture

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• fix testHybridMotionModel

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• formatting

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• fix pruning test in testHybridBayesNet

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• fix testHybridGaussianFactorGraph

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• more helper methods in DiscreteTableConditional

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• cleaner API

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• fix testHybridNonlinearFactorGraph

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• Merge branch 'develop' into hybrid-timing

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• small fix

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• separate function to collect discrete factors

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• simplify empty separator check

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• Merge branch 'develop' into hybrid-timing

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• Merge branch 'hybrid-timing' into hybrid-custom-discrete

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• Merge branch 'hybrid-custom-discrete' into discrete-table-conditional

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Commits on Jan 3, 2025

• fix testHybridGaussianISAM

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• fix testHybridNonlinearISAM

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• serialize table inside TableDistribution

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• Merge pull request #1955 from borglab/hybrid-custom-discrete

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• serialize functions for Eigen::SparseVector

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• add serialization code to TableFactor

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• test for TableFactor serialization

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• use string based constructor

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• Merge branch 'hybrid-timing' into discrete-table-conditional

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• rename from DiscreteTableConditional to TableDistribution

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• rename source files

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• export TableDistribution for serialization

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• improved docstring

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• kill operator* method

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• formatting

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Commits on Jan 4, 2025

• remove constructors that need parents

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• add helpful constructors

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• fix tests

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• use template

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• fix TableDistribution constructor call

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• pass DiscreteConditional& for pruning instead of shared_ptr

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• normalize values in sparse_table so it forms a proper distribution

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• fix TableDistribution constructors in tests

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• get rid of setData and make prune() imperative for non-factors

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• update pruning in BayesNet and BayesTree

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• update test

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• add argmax method to TableDistribution

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• use TableDistribution::argmax in discreteMaxProduct

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• max returns DiscreteFactor

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• wrap TableDistribution

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• wrap TableFactor

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• typo fix

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• fix python test

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• return DiscreteValues directly

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• code cleanup

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• emplace then prune

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• remove deleted constructors

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Commits on Jan 7, 2025

• Merge branch 'develop' into hybrid-timing

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• Merge branch 'hybrid-timing' into discrete-table-conditional

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• updates to get things working

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• remove hybrid timing flag from DiscreteFactorGraph

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• new scaledProduct method instead of DiscreteProduct

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• kill TableProduct in favor of DiscreteFactorGraph::scaledProduct

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• override sum and max in TableDistribution

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• override operator/ in TableDistribution

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• update scaledProduct docs

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• fix headers

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• make ADT with nullptr in TableDistribution

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• override sample in TableDistribution

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• add hack to multiply DiscreteConditional with TableDistribution

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• simplify multiplication

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• fix relinearization in HybridNonlinearISAM

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• fix tests

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Commits on Jan 8, 2025

• Merge pull request #1953 from borglab/discrete-table-conditional

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