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Build and retain optimization extras in Hydra backends - #209
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Construct place constraints through read-only deformation graph access and pass caller-owned extras to Kimera-PGMO. Prepare compatible 4DoF inputs, retain extra estimates for DSG updates, and migrate partial optimization to bundled problems and results. Depends on Kimera-PGMO commit 10d4a69. Developed with Codex (GPT-6).
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Construct place constraints through read-only deformation graph access and pass caller-owned extras to Kimera-PGMO. Prepare compatible 4DoF inputs, retain extra estimates for DSG updates, and migrate partial optimization to bundled problems and results.
Depends on Kimera-PGMO commit 10d4a69.
Developed with Codex (GPT-6).