ISAM But For HybridNonlinearFactorGraph?

[Matthew Milunic]

Hello folks,

Thank you so much for making and contributing to this cool library.

Im interested in using HybridNonlinearFactorGraphs in an iterative fashion to model a robot's motion, similar to how one might use ISAM with a standard NonlinearFactorGraph. Is there any correct class to do this with right now? I am currently on the development branch in terms of my GTSAM version.

I was looking around and found HybridSmoother but could not find any example of it being used. Is this what I should be trying to use? Additionally, if I wanted to do a sort of fixed-lag smoothing, would I be able to do it with this by just removing out factors if they got too old?

Sincerely,

Matthew