Fix Python char nonexistence with ord()
p-zach
parent
369acec511
commit
45dec16225
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@ -43,7 +43,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": 1,
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"metadata": {
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"id": "key_import_code"
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},
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@ -67,7 +67,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 2,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -81,19 +81,12 @@
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"output_type": "stream",
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"text": [
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"Symbol Key (x0): 8646911284551352320\n",
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"Type: <class 'int'>\n",
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"LabeledSymbol Key (aB1): 7008163970141913089\n",
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"Type: <class 'int'>\n",
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"Plain Integer Key: 12345\n",
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"Type: <class 'int'>\n"
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]
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},
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{
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"ename": "TypeError",
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"evalue": "__init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'a', 'B', 1",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mTypeError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[3], line 6\u001b[0m\n\u001b[0;32m 3\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mSymbol Key (x0): \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mkey_from_symbol\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 4\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mType: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[38;5;28mtype\u001b[39m(key_from_symbol)\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m----> 6\u001b[0m lsym \u001b[38;5;241m=\u001b[39m \u001b[43mLabeledSymbol\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43ma\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mB\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m1\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[0;32m 7\u001b[0m key_from_labeled_symbol \u001b[38;5;241m=\u001b[39m lsym\u001b[38;5;241m.\u001b[39mkey()\n\u001b[0;32m 8\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mLabeledSymbol Key (aB1): \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mkey_from_labeled_symbol\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n",
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"\u001b[1;31mTypeError\u001b[0m: __init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'a', 'B', 1"
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]
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}
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],
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"source": [
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@ -102,7 +95,7 @@
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"print(f\"Symbol Key (x0): {key_from_symbol}\")\n",
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"print(f\"Type: {type(key_from_symbol)}\")\n",
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"\n",
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"lsym = LabeledSymbol('a', 'B', 1)\n",
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"lsym = LabeledSymbol(ord('a'), ord('B'), 1)\n",
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"key_from_labeled_symbol = lsym.key()\n",
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"print(f\"LabeledSymbol Key (aB1): {key_from_labeled_symbol}\")\n",
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"print(f\"Type: {type(key_from_labeled_symbol)}\")\n",
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@ -121,7 +114,7 @@
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"source": [
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"## Key Formatting\n",
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"\n",
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"When printing GTSAM objects that contain keys (like Factor Graphs or Values), you can specify a `KeyFormatter` to control how keys are displayed. The default formatter tries to interpret keys as `Symbol`s. `MultiRobotKeyFormatter` also checks for `LabeledSymbol`s."
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"When printing GTSAM objects that contain keys (like Factor Graphs or Values), you can specify a `KeyFormatter` to control how keys are displayed. The default formatter tries to interpret keys as `Symbol`s."
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]
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},
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{
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@ -140,18 +133,13 @@
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"output_type": "stream",
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"text": [
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"Default Formatter:\n",
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" Symbol Key: x0\n"
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]
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},
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{
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"ename": "NameError",
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"evalue": "name 'key_from_labeled_symbol' is not defined",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mNameError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[4], line 3\u001b[0m\n\u001b[0;32m 1\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mDefault Formatter:\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 2\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m Symbol Key: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mgtsam\u001b[38;5;241m.\u001b[39mDefaultKeyFormatter(key_from_symbol)\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m----> 3\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m LabeledSymbol Key: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mgtsam\u001b[38;5;241m.\u001b[39mDefaultKeyFormatter(\u001b[43mkey_from_labeled_symbol\u001b[49m)\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 4\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m Plain Key: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mgtsam\u001b[38;5;241m.\u001b[39mDefaultKeyFormatter(plain_key)\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 6\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mMultiRobot Formatter:\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n",
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"\u001b[1;31mNameError\u001b[0m: name 'key_from_labeled_symbol' is not defined"
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" Symbol Key: x0\n",
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" LabeledSymbol Key: a18577348\n",
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" Plain Key: 12345\n",
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"Custom Formatter:\n",
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" Symbol Key: KEY[x0]\n",
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" LabeledSymbol Key: KEY[a18577348]\n",
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" Plain Key: KEY[12345]\n"
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]
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}
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],
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@ -161,11 +149,6 @@
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"print(f\" LabeledSymbol Key: {gtsam.DefaultKeyFormatter(key_from_labeled_symbol)}\")\n",
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"print(f\" Plain Key: {gtsam.DefaultKeyFormatter(plain_key)}\")\n",
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"\n",
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"print(\"MultiRobot Formatter:\")\n",
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"print(f\" Symbol Key: {gtsam.MultiRobotKeyFormatter(key_from_symbol)}\")\n",
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"print(f\" LabeledSymbol Key: {gtsam.MultiRobotKeyFormatter(key_from_labeled_symbol)}\")\n",
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"print(f\" Plain Key: {gtsam.MultiRobotKeyFormatter(plain_key)}\")\n",
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"\n",
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"# Example of a custom formatter\n",
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"def my_formatter(key):\n",
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" # Try interpreting as LabeledSymbol, then Symbol, then default\n",
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@ -43,7 +43,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": 2,
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"metadata": {
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"id": "lsymbol_import_code"
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},
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@ -66,7 +66,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": null,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -76,21 +76,21 @@
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},
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"outputs": [
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{
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"ename": "TypeError",
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"evalue": "__init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'x', 'A', 7",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mTypeError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[2], line 2\u001b[0m\n\u001b[0;32m 1\u001b[0m \u001b[38;5;66;03m# Create LabeledSymbol 'x' from robot 'A' with index 7\u001b[39;00m\n\u001b[1;32m----> 2\u001b[0m lsym1 \u001b[38;5;241m=\u001b[39m \u001b[43mLabeledSymbol\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mx\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mA\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m7\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[0;32m 3\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mLabeledSymbol from char/label/index: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mlsym1\u001b[38;5;241m.\u001b[39mstring()\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 5\u001b[0m \u001b[38;5;66;03m# Get the underlying integer key\u001b[39;00m\n",
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"\u001b[1;31mTypeError\u001b[0m: __init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'x', 'A', 7"
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"LabeledSymbol from char/label/index: : xA7\n",
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"\n",
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"LabeledSymbol from key 8646911284551352320: : x\n",
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"\n"
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]
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}
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],
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"source": [
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"# Create LabeledSymbol 'x' from robot 'A' with index 7\n",
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"lsym1 = LabeledSymbol('x', 'A', 7)\n",
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"print(f\"LabeledSymbol from char/label/index: {lsym1.string()}\")\n",
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"# The underlying C++ expects chars, so we have to convert single-character strings with ord()\n",
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"lsym1 = LabeledSymbol(ord('x'), ord('A'), 7)\n",
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"print(f\"LabeledSymbol from char/label/index: {lsym1}\")\n",
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"\n",
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"# Get the underlying integer key\n",
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"key1 = lsym1.key()\n",
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@ -100,7 +100,7 @@
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"# If you decode a standard Symbol key, the label might be garbage.\n",
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"x0_key = gtsam.Symbol('x', 0).key()\n",
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"lsym2 = LabeledSymbol(x0_key)\n",
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"print(f\"LabeledSymbol from key {x0_key}: {lsym2.string()}\") # Label might be non-printable or 0"
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"print(f\"LabeledSymbol from key {x0_key}: {lsym2}\")"
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]
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},
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{
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@ -116,7 +116,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 8,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -126,29 +126,26 @@
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},
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"outputs": [
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{
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"ename": "TypeError",
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"evalue": "__init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'l', 'B', 3",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[1;31mTypeError\u001b[0m Traceback (most recent call last)",
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"Cell \u001b[1;32mIn[3], line 1\u001b[0m\n\u001b[1;32m----> 1\u001b[0m robotB_landmark \u001b[38;5;241m=\u001b[39m \u001b[43mLabeledSymbol\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43ml\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mB\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m3\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[0;32m 3\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mLabeledSymbol: \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mrobotB_landmark\u001b[38;5;241m.\u001b[39mstring()\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m 4\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m Char (Type): \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mrobotB_landmark\u001b[38;5;241m.\u001b[39mchr()\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n",
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"\u001b[1;31mTypeError\u001b[0m: __init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'l', 'B', 3"
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"LabeledSymbol: : lB3\n",
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"\n",
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" Char (Type): 108\n",
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" Label (Robot): 66\n",
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" Index: 3\n",
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" Key: 7800797504559120387\n"
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]
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}
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],
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"source": [
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"robotB_landmark = LabeledSymbol('l', 'B', 3)\n",
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"robotB_landmark = LabeledSymbol(ord('l'), ord('B'), 3)\n",
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"\n",
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"print(f\"LabeledSymbol: {robotB_landmark.string()}\")\n",
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"print(f\"LabeledSymbol: {robotB_landmark}\")\n",
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"print(f\" Char (Type): {robotB_landmark.chr()}\")\n",
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"print(f\" Label (Robot): {robotB_landmark.label()}\")\n",
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"print(f\" Index: {robotB_landmark.index()}\")\n",
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"print(f\" Key: {robotB_landmark.key()}\")\n",
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"\n",
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"# LabeledSymbols are often used directly where Keys are expected.\n",
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"# Use the MultiRobotKeyFormatter for printing these keys meaningfully.\n",
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"# e.g., graph.print(\"Graph: \\n\", gtsam.MultiRobotKeyFormatter)"
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"print(f\" Key: {robotB_landmark.key()}\")"
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]
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},
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{
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@ -164,7 +161,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"execution_count": null,
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"metadata": {
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"colab": {
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"base_uri": "https://localhost:8080/"
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@ -174,22 +171,17 @@
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},
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"outputs": [
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{
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"ename": "TypeError",
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"evalue": "__init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'p', 'C', 2",
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"output_type": "error",
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"traceback": [
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"\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
|
||||
"\u001b[1;31mTypeError\u001b[0m Traceback (most recent call last)",
|
||||
"Cell \u001b[1;32mIn[4], line 4\u001b[0m\n\u001b[0;32m 1\u001b[0m \u001b[38;5;66;03m# Note: mrsymbol expects integer representations of chars (use ord())\u001b[39;00m\n\u001b[0;32m 2\u001b[0m pc2_key \u001b[38;5;241m=\u001b[39m gtsam\u001b[38;5;241m.\u001b[39mmrsymbol(\u001b[38;5;28mord\u001b[39m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mp\u001b[39m\u001b[38;5;124m'\u001b[39m), \u001b[38;5;28mord\u001b[39m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mC\u001b[39m\u001b[38;5;124m'\u001b[39m), \u001b[38;5;241m2\u001b[39m)\n\u001b[1;32m----> 4\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mLabeledSymbol(\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mp\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m, \u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mC\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m, 2).key() == gtsam.mrsymbol(ord(\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mp\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m), ord(\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mC\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m), 2): \u001b[39m\u001b[38;5;132;01m{\u001b[39;00m\u001b[43mLabeledSymbol\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mp\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;250;43m \u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43mC\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;250;43m \u001b[39;49m\u001b[38;5;241;43m2\u001b[39;49m\u001b[43m)\u001b[49m\u001b[38;5;241m.\u001b[39mkey()\u001b[38;5;250m \u001b[39m\u001b[38;5;241m==\u001b[39m\u001b[38;5;250m \u001b[39mpc2_key\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m\"\u001b[39m)\n",
|
||||
"\u001b[1;31mTypeError\u001b[0m: __init__(): incompatible constructor arguments. The following argument types are supported:\n 1. gtsam.gtsam.LabeledSymbol(full_key: int)\n 2. gtsam.gtsam.LabeledSymbol(key: gtsam.gtsam.LabeledSymbol)\n 3. gtsam.gtsam.LabeledSymbol(valType: int, label: int, j: int)\n\nInvoked with: 'p', 'C', 2"
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"LabeledSymbol(ord('p'), ord('C'), 2).key() == gtsam.mrsymbol(ord('p'), ord('C'), 2): True\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"# Note: mrsymbol expects integer representations of chars (use ord())\n",
|
||||
"pc2_key = gtsam.mrsymbol(ord('p'), ord('C'), 2)\n",
|
||||
"\n",
|
||||
"print(f\"LabeledSymbol('p', 'C', 2).key() == gtsam.mrsymbol(ord('p'), ord('C'), 2): {LabeledSymbol('p', 'C', 2).key() == pc2_key}\")"
|
||||
"print(f\"LabeledSymbol(ord('p'), ord('C'), 2).key() == gtsam.mrsymbol(ord('p'), ord('C'), 2): {LabeledSymbol(ord('p'), ord('C'), 2).key() == pc2_key}\")"
|
||||
]
|
||||
}
|
||||
],
|
||||
|
|
|
|||
Loading…
Reference in New Issue