BatchFactor#2306

Draft

dellaert wants to merge 11 commits into

feature/batch_factor

Commits on Nov 19, 2025

feat: introduce BatchFactor for efficient linearization of multiple identical factors into a single JacobianFactor
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feat: Add `BatchFactor` convenience constructor test and supporting `TestProjectionFactor` wrapper.
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feat: Add generic BatchFactor constructor taking a container and factory function.
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feat: Implement new BatchFactor constructors that accept measurement maps and automatically deduce factor constructor signatures using metaprogramming.
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refactor: move `createFactor` helper to `detail` namespace and remove several `BatchFactor` constructors.
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Fix Jacobian
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Compare with batch version
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Fixed bug in timing [skip ci]
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Lots of experimentation, no clear win
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Merge branch 'develop' into feature/batch_factor
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No EXPORT
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