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add type annotations

release/4.3a0
Varun Agrawal 2021-10-22 19:28:11 -04:00
parent 430530ca54
commit f8f93cab21
2 changed files with 11 additions and 8 deletions
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17
python/gtsam/examples/CustomFactorExample.py
View File

@ -18,7 +18,7 @@ import numpy as np
I = np.eye(1)
def simulate_car():
def simulate_car() -> List[float]:
"""Simulate a car for one second"""
x0 = 0
dt = 0.25 # 4 Hz, typical GPS
@ -28,8 +28,9 @@ def simulate_car():
return x
def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor, values,
jacobians: Optional[List[np.ndarray]]):
def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float:
"""GPS Factor error function
:param measurement: GPS measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle
@ -46,8 +47,9 @@ def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor, values,
return error
def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor, values,
jacobians: Optional[List[np.ndarray]]):
def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float:
"""Odometry Factor error function
:param measurement: Odometry measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle
@ -66,8 +68,9 @@ def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor, values,
return error
def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor, values,
jacobians: Optional[List[np.ndarray]]):
def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor,
values: gtsam.Values,
jacobians: Optional[List[np.ndarray]]) -> float:
"""Landmark Factor error function
:param measurement: Landmark measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle

2
python/gtsam/examples/Pose3SLAMExample_initializePose3Chordal.py
View File

@ -31,7 +31,7 @@ def main():
firstKey = initial.keys()[0]
graph.add(gtsam.PriorFactorPose3(0, gtsam.Pose3(), priorModel))
# Initializing Pose3 - chordal relaxation"
# Initializing Pose3 - chordal relaxation
initialization = gtsam.InitializePose3.initialize(graph)
print(initialization)