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Refactor Mixture as direct Density and standardize sampling on FluxModelsDistributions to resemble <: Sampleable#1882

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Affie merged 2 commits intodevelopfrom
refac/mixture
Sep 15, 2025
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Refactor Mixture as direct Density and standardize sampling on FluxModelsDistributions to resemble <: Sampleable#1882
Affie merged 2 commits intodevelopfrom
refac/mixture

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@Affie Affie commented Sep 12, 2025

Needs: JuliaRobotics/ApproxManifoldProducts.jl#320

Close #1420

Note:

  • Sampleable beliefs need to work the same as <: Sampleable
  • Only somewhat breaking, but mostly kept the Mixture signature.

@Affie Affie requested a review from dehann September 12, 2025 14:16
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dehann commented Sep 12, 2025

for readers finding this PR, note that we know IIF.Mixture needs to be refactored and streamlined. We are working along a path of minimal breaking changes and effort x max compatibility.

Comment thread IncrementalInference/src/Factors/Mixture.jl
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Yes, thanks @Affie , this goes a long way to refactoring Mixture towards regular density! Code looks good to me and also AMP 320

@Affie Affie merged commit 1894b15 into develop Sep 15, 2025
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@Affie Affie deleted the refac/mixture branch September 16, 2025 09:22
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Refactor IIF.Mixture as direct Density

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