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The consistency of BatchFixedLagSmoother (enforceConsistency_=true) may not be maintained as expected? #1860

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NewThinker-Jeffrey opened this issue Oct 2, 2024 · 0 comments

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@NewThinker-Jeffrey
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if (enforceConsistency_ && (linearValues_.size() > 0)) {
theta_.update(linearValues_);
for(const auto key: linearValues_.keys()) {
delta_.at(key) = newDelta.at(key);
}
}

It seems that the above lines are trying maintaining the consistency (First Estimate Jacobian) of the smoother, but the linearValues_ are set nowhere, so actually the above lines won't be reached ever. Is this a bug or the consistency is handled elsewhere?

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