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Copy file name to clipboardExpand all lines: docs/src/examples/custom_factor_features.md
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@@ -12,20 +12,24 @@ The `cfo` object contains the field `.factor::T` which is the type of the user f
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`CalcFactor` was introduced in `IncrementalInference v0.20` to consolidate and standardize a variety of features that had previously been diseparate and unwieldy.
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!!! tip
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Many factors already exists in `IncrementalInference`, `RoME`, and `Caesar`. Please see their `src` directories for more details.
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### Factor Metadata
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The MM-iSAMv2 algorithm relies on the Kolmogorov-Criteria as well as uncorrelated factor sampling. This means that when generating fresh samples for a factor, those samples should not depend on values of variables in the graph or independent volatile variables. That said, if you have a non-violating reason for using additional data in the factor sampling or residual calculation process, you can do so via the `cf::CalcFactor` interface.
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The MM-iSAMv2 algorithm relies on the Kolmogorov-Criteria as well as uncorrelated factor sampling. This means that when generating fresh samples for a factor, those samples should not depend on values of variables in the graph or independent volatile variables. That said, if you are comfortable or have a valid reason for introducing correlation between the factor sampling process with values inside the factor graph then you can do so via the `cfo.CalcFactor` interface.
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At present `cfo` contains three main fields:
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-`cfo.factor::MyFactor` the factor object as defined in the `struct` definition,
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-`cfo.fullvariables`, which can be used for large data blob retrieval such as used in Terrain Relative Navigation (TRN).
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At present `cf` contains three main fields:
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-`cf.factor::MyFactor` the factor object as defined in the `struct` definition,
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-`cf.fullvariables`, which can be used for large data blob retrieval such as used in Terrain Relative Navigation (TRN).
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- Also see [Stashing and Caching](@ref section_stash_and_cache)
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-`cfo._sampleIdx` is the index of which computational sample is currently being calculated.
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-`cf.cache`, which is user controlled via [`preambleCache`](@ref) function, see [Cache Section](@ref section_stash_and_cache).
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-`cf.manifold`, for the manifold the factor operates on.
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-`cf._sampleIdx` is the index of which computational sample is currently being calculated.
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```@docs
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IncrementalInference.CalcFactor
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```
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!!! tip
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Many factors already exists in `IncrementalInference`, `RoME`, and `Caesar`. Please see their `src` directories for more details.
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!!! note
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!!! warning
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The old `.specialSampler` framework has been replaced with the standardized `::CalcFactor` interface. See http://www.github.com/JuliaRobotics/IIF.jl/issues/467 for details.
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