add type hints, use numpy instead of math module

python/gtsam/utils/circlePose3.py

@@ -1,10 +1,10 @@
-import gtsam
+
-import math
 import numpy as np
-from math import pi
 
+import gtsam
+from gtsam import Values
 
-def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'):
+def circlePose3(numPoses: int = 8, radius: float = 1.0, symbolChar='\0') -> Values:
     """
     circlePose3 generates a set of poses in a circle. This function
     returns those poses inside a gtsam.Values object, with sequential
@@ -21,14 +21,21 @@ def circlePose3(numPoses=8, radius=1.0, symbolChar='\0'):
 
     values = gtsam.Values()
     theta = 0.0
-    dtheta = 2 * pi / numPoses
+    dtheta = 2 * np.pi / numPoses
     gRo = gtsam.Rot3(
-        np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F'))
+        np.array(
+            [
+                [0., 1., 0.],
+                [1., 0., 0.],
+                [0., 0., -1.]
+            ], order='F'
+        )
+    )
     for i in range(numPoses):
         key = gtsam.symbol(symbolChar, i)
-        gti = gtsam.Point3(radius * math.cos(theta), radius * math.sin(theta), 0)
+        gti = gtsam.Point3(radius * np.cos(theta), radius * np.sin(theta), 0)
-        oRi = gtsam.Rot3.Yaw(
+        # negative yaw goes counterclockwise, with Z down !
-            -theta)  # negative yaw goes counterclockwise, with Z down !
+        oRi = gtsam.Rot3.Yaw(-theta)  
         gTi = gtsam.Pose3(gRo.compose(oRi), gti)
         values.insert(key, gTi)
         theta = theta + dtheta