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Bring Galilean PIM in line with templated IMU preintegration
- #2759
#2759
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dellaert
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borglab/gtsam:develop
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codex/galilean-pim-template
borglab/gtsam:codex/galilean-pim-template
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Aug 29, 2026
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Bring Galilean PIM in line with templated IMU preintegration
#2759
dellaert
merged 3 commits into
develop
borglab/gtsam:develop
from
codex/galilean-pim-template
borglab/gtsam:codex/galilean-pim-template
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Commits on Aug 29, 2026
Squashed 'wrap/' changes from 47d56b2dd..7d1983fa4
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Refactor Galilean PIM as template specialization
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Optimize Galilean preintegration hot paths
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