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try to do for v0.35.0, would like to ensure partials working properly for RoME. Small chance this punts to v0.35.1 given other priorities needing v0.35.0.
this is new test coverage, and test looks at implicit partial priors and graph is still fully defined. Decision on how to handle these partials either explicit or code improvements with Manifolds.
Way back before Manifolds and StaticArrays this would work because the implicit partial was handled automatically since all compute and variable assignments were done in coordinates and using manifold dims of variables and factors (i.e. xDim and zDim).
quick discussion had preference for always having "partial" info available for each factor. I.e. solver can recover necessary partial info for any factor. Preference to avoid having multiple factors for the same measurement type on different graphs. Example PriorPosition2/PriorPose2_XY/PriorPose3_XY.
See
@test_broken
here:The text was updated successfully, but these errors were encountered: