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Fixed lag and python#2599

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bboyack wants to merge 3 commits into
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BYU-FROST-Lab:fixedLagAndPython
Open

Fixed lag and python#2599
bboyack wants to merge 3 commits into
borglab:developfrom
BYU-FROST-Lab:fixedLagAndPython

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@bboyack

@bboyack bboyack commented Jul 16, 2026

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Added return option of fixed lag smoother to include:

  • indices for new factors added during marginalization
  • indices for removed factors during marginalization
  • keys of nodes deleted during marginalization

Added several functions to the python bindings that hadn't been there before. Also added functions marginalizeLeavesWithIndices to return the marginal and deleted factor indices directly for use in python.
Also added a specific setSmootherLag function to be used in python as well.

bboyack added 3 commits July 16, 2026 07:52
…ly for python because c++ used references to return values. Added some return information to the fixed lag smoother.
…to match develop in for the linear container factor python binding because I never used or tested them.
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