[codex] Move covariance recovery into GaussianBayesTree and expose ISAM2 queries#2486
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[codex] Move covariance recovery into GaussianBayesTree and expose ISAM2 queries#2486
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Summary
Move Gaussian covariance recovery into
GaussianBayesTree, keepMarginalsas a thin nonlinear wrapper, and expose the same joint-marginal query surface onISAM2.What Changed
JointMarginalout ofMarginalsintogtsam/linearGaussianBayesTreeMarginalsto forward to the Gaussian Bayes-tree query layerISAM2GaussianBayesTreeand inheritedISAM2query methods in the Python wrapperISAM2.ipynbnotebook with examples for the new Python methods, including Bayes-tree visualizationWhy
The query machinery already lived on the Bayes-tree. This change moves the covariance logic to the new file
gtsam/linear/GaussianBayesTreeQueries.hsoGaussianBayesTree,Marginals, andISAM2all use the same implementation and expose the same API.Validation
New tests and example code in
gtsam/nonlinear/doc/ISAM2.ipynb