From ee76205073fc26e632edb547ce6a39338eca09d9 Mon Sep 17 00:00:00 2001
From: brentyi <yibrenth@gmail.com>
Date: Mon, 23 Dec 2024 02:20:05 -0800
Subject: [PATCH] Fix "auto" for forward-mode vs reverse-mode jacobians,
 cleanup

---
 .flake8                    | 7 -------
 .gitignore                 | 5 -----
 LICENSE                    | 2 +-
 src/jaxls/_factor_graph.py | 2 +-
 4 files changed, 2 insertions(+), 14 deletions(-)
 delete mode 100644 .flake8

diff --git a/.flake8 b/.flake8
deleted file mode 100644
index 17277ba..0000000
--- a/.flake8
+++ /dev/null
@@ -1,7 +0,0 @@
-[flake8]
-# E203: whitespace before :
-# E501: line too long (<n> characters)
-# W503: line break before binary operator
-; ignore = E203,E501,D100,D101,D102,D103,W503
-ignore = E203,E501,W503
-per-file-ignores = __init__.py:F401,F403
diff --git a/.gitignore b/.gitignore
index 4c4cd68..afe062f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,8 +2,3 @@
 *.pyc
 *.egg-info
 __pycache__
-.mypy_cache
-.dmypy.json
-.pytype
-.hypothesis
-.ipynb_checkpoints
diff --git a/LICENSE b/LICENSE
index f090814..2fb1edd 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2021 Brent Yi
+Copyright (c) 2024 Brent Yi
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/src/jaxls/_factor_graph.py b/src/jaxls/_factor_graph.py
index aa41a00..78317b9 100644
--- a/src/jaxls/_factor_graph.py
+++ b/src/jaxls/_factor_graph.py
@@ -134,7 +134,7 @@ def compute_jac_with_perturb(factor: _AnalyzedFactor) -> jax.Array:
                     "reverse": jax.jacrev,
                     "auto": jax.jacrev
                     if factor.residual_dim < val_subset._get_tangent_dim()
-                    else jax.jacrev,
+                    else jax.jacfwd,
                 }[factor.jac_mode]
                 return jacfunc(
                     # The residual function, with respect to to some local delta.