Adding test and fix for issue #1596 #1790
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A Non-active constraint returns a `nullptr`, which needs to be checked for when gathering the keys in `EliminateSymbolic`.
dellaert
approved these changes
Aug 24, 2024
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Addressing Issue #1596: When a derived Nonlinear Factor is not active, the linearization returns a nullptr (NonlinearFactor.cpp:156), which causes an error when
EliminateSymbolicis called (SymbolicFactor-inst.h:45) because it does not check if the factor is nullptr.