12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update CustomFactorExample.py to correctly document return types

release/4.3a0
Clark Taylor 2023-09-01 14:15:39 -04:00 committed by GitHub
parent 3d6e2fc81c
commit 8ee9f20537
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
python/gtsam/examples/CustomFactorExample.py
View File

@ -30,7 +30,7 @@ def simulate_car() -> List[float]:
def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor, def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values, values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float: jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
"""GPS Factor error function """GPS Factor error function
:param measurement: GPS measurement, to be filled with `partial` :param measurement: GPS measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle :param this: gtsam.CustomFactor handle
@ -49,7 +49,7 @@ def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor, def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values, values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float: jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
"""Odometry Factor error function """Odometry Factor error function
:param measurement: Odometry measurement, to be filled with `partial` :param measurement: Odometry measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle :param this: gtsam.CustomFactor handle
@ -70,7 +70,7 @@ def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor, def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values, values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float: jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
"""Landmark Factor error function """Landmark Factor error function
:param measurement: Landmark measurement, to be filled with `partial` :param measurement: Landmark measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle :param this: gtsam.CustomFactor handle