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Add node marginalization support#468

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hidmic wants to merge 6 commits intoSteveMacenski:noetic-develSteveMacenski/slam_toolbox:noetic-develfrom ekumenlabs:noetic/feature/chow_liu_tree_approximationekumenlabs/slam_toolbox:noetic/feature/chow_liu_tree_approximationCopy head branch name to clipboard

+1,765-159

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Commits on Mar 25, 2022

• Add node marginalization support.

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• Use LGPL 2.1 in lieu of LGPL 3

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• Delete CeresSolver allocations upon destruction/reset

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• Drop duplicate edge checks from karto::Mapper

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Commits on Apr 4, 2022

• Rework parameter/residual block handling in Ceres solver

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• Null edge pointer after delete

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