set pose_4dof#99
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@yunzc Hi Yun, before managing Kimera-PGMO, please reflect on this PR first. |
yunzc
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Feb 12, 2025
nathanhhughes
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Mar 11, 2025
* Initial start of using pose4dof and implment factors * set use_4dof_optim flag and processFactorsAndValues * (minor, not directly used) add convertPose3ToPose4DoF function and run clang-format * Simplify key type checking because it is already done inside `KimeraRpgoOptimizer::update` * Support 4dof optimization mode * consider prior factors * Generalize managing robot and vertex prefixes * Rename pose variables for clarification * Account for temp_factors * (minor) elaborate the runtime error statement * set prefixExistsInMap functions * Cleanup code using `prefixExistsInMap` function (checked it runs in batch optimization mode) * Fix error to account for place nodes * Detach Pose4DoF package (relevant to MIT-SPARK/Kimera-RPGO#99) * set run_time error to prevent unexpected case (+ apply clang-format)
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Upload pose_4dof in Kimera-RPGO
utils.