IncrementalInference.jl

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impr type stability on CalcFactor

3

dehann

Consolidate CCW.hypotheses::Union{Nothing, Distributions.Categorical}

3

Use only `Distributions.Categorical`, and be smart about detecting trivial case of `Categorical([1;])` (which cannot be used with `rand(c, N)`). This would require standardization of the `ExplicitDiscreteMarginalizations.jl` functions.

dehann

Document how to use FMD metadata in factor evaluation

3

taking over from #783 xref #467

dehann

Multi-threaded factor evaluation was temporarily removed with the CPT cleanup see #1615

Affie

Towards immutable FactorMetadata(...)

4

Its not the main performance issue right now

dehann

Should it be included or can it be removed?

Affie

Standardize `IIF.Mixture` as density

1

### Project Epic board https://github.com/orgs/JuliaRobotics/projects/5/views/1 ### Discussed in https://github.com/JuliaRobotics/Caesar.jl/discussions/808 Continue chatting on Discussion page, this Issue is just boiler plate link to Project Epics. ( we can unlock this conversation...

dehann

Providing gradients and automatic differentiation

5

A lot of the factors' gradients can be analytically computed. For others, automatic differentiation can be done with packages such as Zygote or ForwardDiff. I'm starting this broad issue to...

Affie

Improve Parametric Batch Solve Performance

42

This issue is currently just a placeholder for performance-related issues around parametric batch solve. ```julia using IncrementalInference #v0.29 using RoME #v0.19 ## fg = initfg() addVariable!(fg, :x0, ContinuousScalar) addVariable!(fg, :x1,...

Affie

"Basic 3 door, trinary multihypothesis tests" often fails numerically

5

Affie