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%pip install --quiet gtsam-develop

release/4.3a0
p-zach 2025-04-17 10:28:41 -04:00
parent 2f0bff14b7
commit 515127cbe9
19 changed files with 670 additions and 680 deletions
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2
gtsam/geometry/doc/Pose2.ipynb
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@ -39,7 +39,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/geometry/doc/Pose3.ipynb
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@ -30,7 +30,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

408
gtsam/geometry/doc/Rot2.ipynb
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@ -1,45 +1,31 @@
{
"nbformat": 4,
"nbformat_minor": 0,
"metadata": {
"colab": {
"provenance": []
},
"kernelspec": {
"name": "python3",
"display_name": "Python 3"
},
"language_info": {
"name": "python"
}
},
"cells": [
{
"cell_type": "markdown",
"source": [
"# Rot2"
],
"metadata": {
"id": "-3NPWeM5nKTz"
}
},
"source": [
"# Rot2"
]
},
{
"cell_type": "markdown",
"source": [
"A `gtsam.Rot2` represents rotation in 2D space. It models a 2D rotation in the Special Orthogonal Group $\\text{SO}(2)$."
],
"metadata": {
"id": "zKQLwRQWvRAW"
}
},
"source": [
"A `gtsam.Rot2` represents rotation in 2D space. It models a 2D rotation in the Special Orthogonal Group $\\text{SO}(2)$."
]
},
{
"cell_type": "markdown",
"source": [
"<a href=\"https://colab.research.google.com/github/borglab/gtsam/blob/develop/gtsam/geometry/doc/Rot2.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
],
"metadata": {
"id": "1MUA6xip5fG4"
}
},
"source": [
"<a href=\"https://colab.research.google.com/github/borglab/gtsam/blob/develop/gtsam/geometry/doc/Rot2.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
]
},
{
"cell_type": "code",
@ -49,41 +35,70 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{
"cell_type": "code",
"source": [
"from gtsam import Rot2, Point2\n",
"import numpy as np"
],
"execution_count": 6,
"metadata": {
"id": "-dp28DoR7WsD"
},
"execution_count": 6,
"outputs": []
"outputs": [],
"source": [
"from gtsam import Rot2, Point2\n",
"import numpy as np"
]
},
{
"cell_type": "markdown",
"source": [
"## Initialization and properties"
],
"metadata": {
"id": "gZRXZTrJ7mqJ"
}
},
"source": [
"## Initialization and properties"
]
},
{
"cell_type": "markdown",
"source": [
"A `Rot2` can be initialized with no arguments, which yields the identity rotation, or it can be constructed from an angle in radians, degrees, cos-sin form, or the bearing or arctangent of a 2D point. `Rot2` uses radians to communicate angle by default."
],
"metadata": {
"id": "PK-HWTDm7sU4"
}
},
"source": [
"A `Rot2` can be initialized with no arguments, which yields the identity rotation, or it can be constructed from an angle in radians, degrees, cos-sin form, or the bearing or arctangent of a 2D point. `Rot2` uses radians to communicate angle by default."
]
},
{
"cell_type": "code",
"execution_count": 58,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "oIakIOAB9afi",
"outputId": "c2cb005d-056f-4a4f-b5ff-2226be1ba3e7"
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Identities:\n",
"0.0\n",
"0.0\n",
"Radians:\n",
"1.5707963267948966\n",
"1.5707963267948966\n",
"Degrees:\n",
"1.5707963267948966\n",
"Cos-Sin:\n",
"0.5235987755982988\n",
"Bearing:\n",
"0.7853981633974483\n",
"0.7853981633974483\n"
]
}
],
"source": [
"# The identity rotation has theta = 0.\n",
"identity = Rot2()\n",
@ -118,39 +133,13 @@
"# Or with atan2(y, x), which accomplishes the same thing.\n",
"atan = Rot2.atan2(p[1], p[0])\n",
"print(atan.theta())"
],
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "oIakIOAB9afi",
"outputId": "c2cb005d-056f-4a4f-b5ff-2226be1ba3e7"
},
"execution_count": 58,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"text": [
"Identities:\n",
"0.0\n",
"0.0\n",
"Radians:\n",
"1.5707963267948966\n",
"1.5707963267948966\n",
"Degrees:\n",
"1.5707963267948966\n",
"Cos-Sin:\n",
"0.5235987755982988\n",
"Bearing:\n",
"0.7853981633974483\n",
"0.7853981633974483\n"
]
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "rHovUXbUys5r"
},
"source": [
"The following properties are available from the standard interface:\n",
"- `theta()` (in radians)\n",
@ -161,25 +150,11 @@
"\\cos\\theta & -\\sin\\theta \\\\\n",
"\\sin\\theta & \\cos\\theta\n",
"\\end{bmatrix}$)"
],
"metadata": {
"id": "rHovUXbUys5r"
}
]
},
{
"cell_type": "code",
"source": [
"example_rot = Rot2(3 * np.pi / 4)\n",
"\n",
"# The default print statement includes 'theta: ' and a newline at the end.\n",
"print(example_rot)\n",
"\n",
"print(f\"Radians: {example_rot.theta()}\")\n",
"print(f\"Degrees: {example_rot.degrees()}\")\n",
"print(f\"Cosine: {example_rot.c()}\")\n",
"print(f\"Sine: {example_rot.s()}\")\n",
"print(f\"Matrix:\\n{example_rot.matrix()}\")\n"
],
"execution_count": 18,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
@ -187,11 +162,10 @@
"id": "P5OXTjFu2DeX",
"outputId": "70848419-c055-44bc-de11-08e8f93fe3bf"
},
"execution_count": 18,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"output_type": "stream",
"text": [
"theta: 2.35619\n",
"\n",
@ -204,28 +178,59 @@
" [ 0.70710678 -0.70710678]]\n"
]
}
],
"source": [
"example_rot = Rot2(3 * np.pi / 4)\n",
"\n",
"# The default print statement includes 'theta: ' and a newline at the end.\n",
"print(example_rot)\n",
"\n",
"print(f\"Radians: {example_rot.theta()}\")\n",
"print(f\"Degrees: {example_rot.degrees()}\")\n",
"print(f\"Cosine: {example_rot.c()}\")\n",
"print(f\"Sine: {example_rot.s()}\")\n",
"print(f\"Matrix:\\n{example_rot.matrix()}\")\n"
]
},
{
"cell_type": "markdown",
"source": [
"## Basic operations"
],
"metadata": {
"id": "PpqHUDnl5rTW"
}
},
"source": [
"## Basic operations"
]
},
{
"cell_type": "markdown",
"source": [
"For basic use, a `Rot2` can rotate and unrotate a point."
],
"metadata": {
"id": "sa4qx58n5tG9"
}
},
"source": [
"For basic use, a `Rot2` can rotate and unrotate a point."
]
},
{
"cell_type": "code",
"execution_count": 25,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "yaBKjGn05_-c",
"outputId": "fb89fe09-b2b8-496d-e835-f379d197a4eb"
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Rotated: [-2.82842712e+00 2.22044605e-16]\n",
"Unrotated: [-2. 2.]\n",
"Unrotated again: [-2.22044605e-16 2.82842712e+00]\n"
]
}
],
"source": [
"rot = Rot2.fromDegrees(45)\n",
"p = Point2(-2, 2)\n",
@ -237,38 +242,37 @@
"print(f\"Unrotated: {rot.unrotate(rotated)}\")\n",
"# Of course, unrotating a point you didn't rotate just rotates it backwards.\n",
"print(f\"Unrotated again: {rot.unrotate(p)}\")"
],
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "yaBKjGn05_-c",
"outputId": "fb89fe09-b2b8-496d-e835-f379d197a4eb"
},
"execution_count": 25,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"text": [
"Rotated: [-2.82842712e+00 2.22044605e-16]\n",
"Unrotated: [-2. 2.]\n",
"Unrotated again: [-2.22044605e-16 2.82842712e+00]\n"
]
}
]
},
{
"cell_type": "markdown",
"source": [
"Also, the `equals()` function allows for comparison of two `Rot2` objects with a tolerance."
],
"metadata": {
"id": "RVFCoBpW6Bvh"
}
},
"source": [
"Also, the `equals()` function allows for comparison of two `Rot2` objects with a tolerance."
]
},
{
"cell_type": "code",
"execution_count": 31,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "m74YbK5h6CPU",
"outputId": "1b16695e-cdfe-4348-875f-c41d8b4a3b26"
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"True\n",
"False\n"
]
}
],
"source": [
"eq_rads = Rot2(np.pi / 4)\n",
"eq_degs = Rot2.fromDegrees(45)\n",
@ -277,48 +281,60 @@
"\n",
"# Direct comparison does not work for Rot2.\n",
"print(eq_rads == eq_degs)"
],
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "m74YbK5h6CPU",
"outputId": "1b16695e-cdfe-4348-875f-c41d8b4a3b26"
},
"execution_count": 31,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"text": [
"True\n",
"False\n"
]
}
]
},
{
"cell_type": "markdown",
"source": [
"## Lie group $\\text{SO}(2)$"
],
"metadata": {
"id": "ko9KSZgd4bCp"
}
},
"source": [
"## Lie group $\\text{SO}(2)$"
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "76D2KkX241zX"
},
"source": [
"### Group operations\n",
"\n",
"`Rot2` implements the group operations `inverse`, `compose`, `between` and `identity`. For more information on groups and their use here, see [GTSAM concepts](https://gtsam.org/notes/GTSAM-Concepts.html)."
],
"metadata": {
"id": "76D2KkX241zX"
}
]
},
{
"cell_type": "code",
"execution_count": 57,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "QZ_NTeXK87Wq",
"outputId": "12af920d-8f86-473d-88ab-ee57d316cb72"
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Inverse:\n",
"theta: -0.523599\n",
"\n",
"Compose:\n",
"theta: 1.5708\n",
"\n",
"theta: 1.5708\n",
"\n",
"Between:\n",
"theta: 0.523599\n",
"\n",
"Identity:\n",
"theta: 0\n",
"\n"
]
}
],
"source": [
"a = Rot2(np.pi / 6)\n",
"b = Rot2(np.pi / 3)\n",
@ -340,51 +356,44 @@
"# The identity is theta = 0, as above.\n",
"print(\"Identity:\")\n",
"print(Rot2.Identity())"
],
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "QZ_NTeXK87Wq",
"outputId": "12af920d-8f86-473d-88ab-ee57d316cb72"
},
"execution_count": 57,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"text": [
"Inverse:\n",
"theta: -0.523599\n",
"\n",
"Compose:\n",
"theta: 1.5708\n",
"\n",
"theta: 1.5708\n",
"\n",
"Between:\n",
"theta: 0.523599\n",
"\n",
"Identity:\n",
"theta: 0\n",
"\n"
]
}
]
},
{
"cell_type": "markdown",
"metadata": {
"id": "YfiYuVpL-cgq"
},
"source": [
"## Lie group operations\n",
"\n",
"`Rot2` implements the Lie group operations for exponential mapping and log mapping. For more information on Lie groups and their use here, see [GTSAM concepts](https://gtsam.org/notes/GTSAM-Concepts.html)."
],
"metadata": {
"id": "YfiYuVpL-cgq"
}
]
},
{
"cell_type": "code",
"execution_count": 54,
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "4JiDEGqG-van",
"outputId": "56047f8d-3349-4ee6-e73c-cd2fa1efb95d"
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"theta: 1.5708\n",
"\n",
"theta: 3.14159\n",
"\n",
"[1.57079633]\n",
"[-0.78539816]\n",
"[-0.78539816]\n"
]
}
],
"source": [
"r = Rot2(np.pi / 2)\n",
"w = Rot2(np.pi / 4)\n",
@ -405,30 +414,21 @@
"# logmap is the same as calculating the coordinate of the second Rot2 in the\n",
"# local frame of the first, which localCoordinates (inherited from LieGroup) does.\n",
"print(r.localCoordinates(w))\n"
],
"metadata": {
"colab": {
"base_uri": "https://localhost:8080/"
},
"id": "4JiDEGqG-van",
"outputId": "56047f8d-3349-4ee6-e73c-cd2fa1efb95d"
},
"execution_count": 54,
"outputs": [
{
"output_type": "stream",
"name": "stdout",
"text": [
"theta: 1.5708\n",
"\n",
"theta: 3.14159\n",
"\n",
"[1.57079633]\n",
"[-0.78539816]\n",
"[-0.78539816]\n"
]
}
]
}
]
}
],
"metadata": {
"colab": {
"provenance": []
},
"kernelspec": {
"display_name": "Python 3",
"name": "python3"
},
"language_info": {
"name": "python"
}
},
"nbformat": 4,
"nbformat_minor": 0
}

896
gtsam/geometry/doc/Rot3.ipynb
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2
gtsam/inference/doc/BayesNet.ipynb
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@ -52,7 +52,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/BayesTree.ipynb
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@ -52,7 +52,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/Conditional.ipynb
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@ -63,7 +63,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/DotWriter.ipynb
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@ -40,7 +40,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/EdgeKey.ipynb
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@ -38,7 +38,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/EliminationTree.ipynb
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@ -44,7 +44,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/Factor.ipynb
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@ -51,7 +51,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/FactorGraph.ipynb
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@ -53,7 +53,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/ISAM.ipynb
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@ -42,7 +42,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/JunctionTree.ipynb
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@ -44,7 +44,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/Key.ipynb
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@ -38,7 +38,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/LabeledSymbol.ipynb
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@ -38,7 +38,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/Symbol.ipynb
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@ -38,7 +38,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam"
"%pip install --quiet gtsam-develop"
]
},
{

2
gtsam/inference/doc/VariableIndex.ipynb
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@ -40,7 +40,7 @@
},
"outputs": [],
"source": [
"%pip install gtsam-develop"
"%pip install --quiet gtsam-develop"
]
},
{

14
gtsam/nonlinear/doc/CustomFactor.ipynb
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@ -18,7 +18,7 @@
},
{
"cell_type": "code",
"execution_count": 1,
"execution_count": null,
"id": "5ccb48e4",
"metadata": {
"tags": [
@ -28,17 +28,7 @@
"languageId": "markdown"
}
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"\u001b[31mERROR: Could not find a version that satisfies the requirement gtsam-develop (from versions: none)\u001b[0m\u001b[31m\n",
"\u001b[0m\u001b[31mERROR: No matching distribution found for gtsam-develop\u001b[0m\u001b[31m\n",
"\u001b[0mNote: you may need to restart the kernel to use updated packages.\n"
]
}
],
"outputs": [],
"source": [
"%pip install --quiet gtsam-develop"
]