gtsam-develop 4.3a0.dev202505270244__cp313-cp313-macosx_11_0_arm64.whl → 4.3a0.dev202505281327__cp313-cp313-macosx_11_0_arm64.whl

gtsam/__init__.pyi

@@ -2,28 +2,28 @@
 Module definition file for GTSAM
 """
 from __future__ import annotations
-from builtins import dict as MatchIndicesMap
 from builtins import dict as KeyPairDoubleMap
+from builtins import dict as MatchIndicesMap
 from builtins import dict as IndexPairSetMap
-from builtins import list as Pose2Pairs
+from builtins import list as Point2Vector
 from builtins import list as KeyVector
-from builtins import list as SfmMeasurementVector
-from builtins import list as Pose3Pairs
-from builtins import list as SfmTracks
+from builtins import list as BinaryMeasurementsPoint3
 from builtins import list as Point3Pairs
+from builtins import list as Pose3Vector
+from builtins import list as BinaryMeasurementsRot3
+from builtins import list as Rot3Vector
 from builtins import list as Point2Pairs
-from builtins import list as Point2Vector
-from builtins import list as BinaryMeasurementsPoint3
-from builtins import list as BinaryMeasurementsUnit3
+from builtins import list as SfmTracks
+from builtins import list as IndexPairVector
+from builtins import list as Pose2Pairs
 from builtins import list as KeypointsVector
-from builtins import list as SfmCameras
-from builtins import list as BinaryMeasurementsRot3
+from builtins import list as BinaryMeasurementsUnit3
+from builtins import list as Pose3Pairs
 from builtins import list as BetweenFactorPose3s
-from builtins import list as Rot3Vector
 from builtins import list as BetweenFactorPose2s
-from builtins import list as Pose3Vector
-from builtins import list as IndexPairVector
 from builtins import list as SfmTrack2dVector
+from builtins import list as SfmMeasurementVector
+from builtins import list as SfmCameras
 from gtsam.gtsam import AHRSFactor
 from gtsam.gtsam import AcceleratingScenario
 from gtsam.gtsam import BarometricFactor

gtsam/gtsam/__init__.pyi

@@ -6199,6 +6199,9 @@ class HybridValues:
     @typing.overload
     def __init__(self, cv: VectorValues, dv: DiscreteValues) -> None:
         ...
+    @typing.overload
+    def __init__(self, cv: VectorValues, dv: DiscreteValues, v: Values) -> None:
+        ...
     def __repr__(self, s: str = 'HybridValues', keyFormatter: typing.Callable[[int], str] = ...) -> str:
         ...
     def at(self, j: int) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
@@ -6221,6 +6224,22 @@ class HybridValues:
         """
         equals required byTestablefor unit testing
         """
+    def exists(self, j: int) -> bool:
+        """
+        Check whether a variable with keyjexists.
+        """
+    def existsDiscrete(self, j: int) -> bool:
+        """
+        Check whether a variable with keyjexists inDiscreteValues.
+        """
+    def existsNonlinear(self, j: int) -> bool:
+        """
+        Check whether a variable with keyjexists in values.
+        """
+    def existsVector(self, j: int) -> bool:
+        """
+        Check whether a variable with keyjexists inVectorValues.
+        """
     @typing.overload
     def insert(self, j: int, value: int) -> None:
         """
@@ -6254,6 +6273,13 @@ class HybridValues:
         Throws an invalid_argument exception if any keys to be inserted are already used.
         """
     @typing.overload
+    def insert(self, values: Values) -> None:
+        """
+        Insert all values fromvalues.
+        
+        Throws an invalid_argument exception if any keys to be inserted are already used.
+        """
+    @typing.overload
     def insert(self, values: HybridValues) -> None:
         """
         Insert all values fromvalues.
@@ -6261,6 +6287,123 @@ class HybridValues:
         Throws an invalid_argument exception if any keys to be inserted are already used.
         """
     @typing.overload
+    def insertNonlinear(self, j: int, vector: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, matrix: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, point2: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, rot2: Rot2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, pose2: Pose2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, R: SO3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, P: SOn) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, rot3: Rot3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, pose3: Pose3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, similarity2: Similarity2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, similarity3: Similarity3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, unit3: Unit3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3bundler: Cal3Bundler) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3f: Cal3f) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3_s2: Cal3_S2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3ds2: Cal3DS2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3fisheye: Cal3Fisheye) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, cal3unified: Cal3Unified) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, E: EssentialMatrix) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, F: FundamentalMatrix) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, F: SimpleFundamentalMatrix) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, plane: OrientedPlane3) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3Bundler) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3f) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3_S2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3DS2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3Fisheye) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholeCameraCal3Unified) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholePoseCal3Bundler) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: ...) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholePoseCal3_S2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholePoseCal3DS2) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholePoseCal3Fisheye) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, camera: PinholePoseCal3Unified) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, constant_bias: imuBias.ConstantBias) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, nav_state: NavState) -> None:
+        ...
+    @typing.overload
+    def insertNonlinear(self, j: int, c: float) -> None:
+        ...
+    @typing.overload
     def insert_or_assign(self, j: int, value: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         """
         insert_or_assign(), similar toValues.h
@@ -6270,10 +6413,21 @@ class HybridValues:
         """
         insert_or_assign(), similar toValues.h
         """
+    def nonlinear(self) -> Values:
+        """
+        Return the nonlinear values.
+        """
     def print(self, s: str = 'HybridValues', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         """
         print required byTestablefor unit testing
         """
+    def retract(self, delta: VectorValues) -> HybridValues:
+        """
+        Add a delta config to current config and returns a new config.
+        
+        Args:
+        delta: The delta to be added.
+        """
     @typing.overload
     def update(self, values: VectorValues) -> None:
         """
@@ -6289,6 +6443,13 @@ class HybridValues:
         Throws std::out_of_range if any keys in values are not present in this object.
         """
     @typing.overload
+    def update(self, values: Values) -> None:
+        """
+        For all key/value pairs invalues, replace nonlinear values with corresponding keys in this object with those invalues.
+        
+        Throws std::out_of_range if any keys in values are not present in this object.
+        """
+    @typing.overload
     def update(self, values: HybridValues) -> None:
         """
         For all key/value pairs invalues, replace all values with corresponding keys in this object with those invalues.

gtsam/tests/test_HybridValues.py

@@ -6,16 +6,15 @@ All Rights Reserved
 See LICENSE for the license information
 
 Unit tests for Hybrid Values.
-Author: Shangjie Xue
+Author: Shangjie Xue, Varun Agrawal, Frank Dellaert
 """
-# pylint: disable=invalid-name, no-name-in-module, no-member
 
-from __future__ import print_function
+# pylint: disable=invalid-name, no-name-in-module, no-member
 
 import unittest
 
 import numpy as np
-from gtsam.symbol_shorthand import C, X
+from gtsam.symbol_shorthand import D, V, M
 from gtsam.utils.test_case import GtsamTestCase
 
 import gtsam
@@ -24,19 +23,216 @@ import gtsam
 class TestHybridValues(GtsamTestCase):
     """Unit tests for HybridValues."""
 
-    def test_basic(self):
-        """Test construction and basic methods of hybrid values."""
+    def setUp(self):
+        """Set up common objects for tests."""
+        self.vector_values = gtsam.VectorValues()
+        self.vector_values.insert(V(0), np.array([1.0, 2.0]))
+        self.vector_values.insert(V(1), np.array([3.0]))
+
+        self.discrete_values = gtsam.DiscreteValues()
+        self.discrete_values[D(0)] = 1
+        self.discrete_values[D(1)] = 0
+
+        self.nonlinear_values = gtsam.Values()
+        self.nonlinear_values.insert(M(5), gtsam.Pose2(1, 2, 0.3))
+
+    def test_constructors(self):
+        """Test various constructors."""
+        hv_empty = gtsam.HybridValues()
+        self.assertEqual(hv_empty.continuous().size(), 0)
+        self.assertEqual(len(hv_empty.discrete()), 0)
+        self.assertEqual(hv_empty.nonlinear().size(), 0)
+
+        hv_vd = gtsam.HybridValues(self.vector_values, self.discrete_values)
+        self.assertEqual(hv_vd.continuous().size(), 2)
+        self.assertEqual(len(hv_vd.discrete()), 2)
+        self.assertEqual(hv_vd.nonlinear().size(), 0)
+        self.assertTrue(hv_vd.continuous().equals(self.vector_values, 1e-9))
+        # DiscreteValues comparison needs to be element-wise or via string
+        self.assertEqual(hv_vd.discrete()[D(0)], self.discrete_values[D(0)])
+
+        hv_all = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+        self.assertEqual(hv_all.continuous().size(), 2)
+        self.assertEqual(len(hv_all.discrete()), 2)
+        self.assertEqual(hv_all.nonlinear().size(), 1)
+        self.assertTrue(hv_all.nonlinear().equals(self.nonlinear_values, 1e-9))
+
+    def test_accessors(self):
+        """Test accessing underlying containers."""
+        hv_all = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+
+        self.assertTrue(hv_all.continuous().equals(self.vector_values, 1e-9))
+        # Compare DiscreteValues content
+        retrieved_dv = hv_all.discrete()
+        self.assertEqual(len(retrieved_dv), len(self.discrete_values))
+        for k, v in self.discrete_values.items():
+            self.assertEqual(retrieved_dv[k], v)
+        self.assertTrue(hv_all.nonlinear().equals(self.nonlinear_values, 1e-9))
+
+        # Test at methods
+        self.gtsamAssertEquals(hv_all.at(V(0)), self.vector_values.at(V(0)), 1e-9)
+        self.assertEqual(hv_all.atDiscrete(D(0)), self.discrete_values[D(0)])
+        # For nonlinear, access via nonlinear().atTYPE()
+        self.assertTrue(
+            hv_all.nonlinear()
+            .atPose2(M(5))
+            .equals(self.nonlinear_values.atPose2(M(5)), 1e-9)
+        )
+
+    def test_exists(self):
+        """Test existence checks."""
+        hv_all = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+
+        self.assertTrue(hv_all.existsVector(V(0)))
+        self.assertFalse(hv_all.existsVector(D(0)))  # Key for discrete
+        self.assertFalse(hv_all.existsVector(M(5)))  # Key for nonlinear
+
+        self.assertTrue(hv_all.existsDiscrete(D(1)))
+        self.assertFalse(hv_all.existsDiscrete(V(0)))  # Key for vector
+
+        self.assertTrue(hv_all.existsNonlinear(M(5)))
+        self.assertFalse(hv_all.existsNonlinear(V(0)))  # Key for vector
+
+        # General exists (checks nonlinear, then vector, then discrete)
+        self.assertTrue(hv_all.exists(V(0)))  # Vector
+        self.assertTrue(hv_all.exists(D(0)))  # Discrete
+        self.assertTrue(hv_all.exists(M(5)))  # Nonlinear
+        self.assertFalse(hv_all.exists(D(7)))  # Non-existent key
+
+    def test_equals(self):
+        """Test equals method."""
+        hv1 = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+        hv2 = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+
+        self.assertTrue(hv1.equals(hv2, 1e-9))
+
+    def test_insert_individual(self):
+        """Test inserting individual values."""
+        hv = gtsam.HybridValues()
+        hv.insert(V(10), np.array([1.0]))
+        hv.insert(D(10), 1)
+        hv.insertNonlinear(M(11), gtsam.Pose2())
+
+        self.assertTrue(hv.existsVector(V(10)))
+        self.gtsamAssertEquals(hv.at(V(10)), np.array([1.0]))
+        self.assertTrue(hv.existsDiscrete(D(10)))
+        self.assertEqual(hv.atDiscrete(D(10)), 1)
+
+    def test_insert_containers(self):
+        """Test inserting from other Values containers."""
+        hv = gtsam.HybridValues()
+
+        hv.insert(self.vector_values)
+        self.assertEqual(hv.continuous().size(), 2)
+        self.assertTrue(hv.continuous().equals(self.vector_values, 1e-9))
+
+        hv.insert(self.discrete_values)
+        self.assertEqual(len(hv.discrete()), 2)
+        # Check discrete values equality
+        retrieved_dv = hv.discrete()
+        for k, v in self.discrete_values.items():
+            self.assertEqual(retrieved_dv[k], v)
+
+        hv.insert(self.nonlinear_values)
+        self.assertEqual(hv.nonlinear().size(), 1)
+        self.assertTrue(hv.nonlinear().equals(self.nonlinear_values, 1e-9))
+
+        hv_copy = gtsam.HybridValues()
+        hv_copy.insert(hv)  # Test insert(HybridValues)
+        self.assertTrue(hv_copy.equals(hv, 1e-9))
+
+    def test_insert_or_assign(self):
+        """Test insert_or_assign method."""
+        hv = gtsam.HybridValues()
+        hv.insert(V(0), np.array([1.0]))
+        hv.insert(D(0), 0)
+
+        # Test insert_or_assign for vector
+        hv.insert_or_assign(V(0), np.array([2.0]))  # Update existing
+        self.gtsamAssertEquals(hv.at(V(0)), np.array([2.0]))
+        hv.insert_or_assign(V(1), np.array([3.0]))  # Insert new
+        self.gtsamAssertEquals(hv.at(V(1)), np.array([3.0]))
+
+        # Test insert_or_assign for discrete
+        hv.insert_or_assign(D(0), 1)  # Update existing
+        self.assertEqual(hv.atDiscrete(D(0)), 1)
+        hv.insert_or_assign(D(1), 2)  # Insert new
+        self.assertEqual(hv.atDiscrete(D(1)), 2)
+
+    def test_update(self):
+        """Test update methods."""
+        hv = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+
+        # Update VectorValues
+        vv_update = gtsam.VectorValues()
+        vv_update.insert(V(0), np.array([10.0, 20.0]))  # Existing key
+        hv.update(vv_update)
+        self.gtsamAssertEquals(hv.at(V(0)), np.array([10.0, 20.0]))
+        self.assertEqual(hv.continuous().size(), 2)  # X0, X1
+
+        # Update DiscreteValues
+        dv_update = gtsam.DiscreteValues()
+        dv_update[D(0)] = 5  # Existing key
+        hv.update(dv_update)
+        self.assertEqual(hv.atDiscrete(D(0)), 5)
+        self.assertEqual(len(hv.discrete()), 2)  # C0, C1
+
+        # Update NonlinearValues
+        nv_update = gtsam.Values()
+        nv_update.insert(M(5), gtsam.Pose2(3, 4, 0.5))
+        hv.update(nv_update)
+        self.assertTrue(
+            hv.nonlinear().atPose2(M(5)).equals(gtsam.Pose2(3, 4, 0.5), 1e-9)
+        )
+        self.assertEqual(hv.nonlinear().size(), 1)
+
+        # Update HybridValues (only continuous and discrete parts for now)
+        hv_update_source = gtsam.HybridValues()
+        vv_source = gtsam.VectorValues()
+        vv_source.insert(V(0), np.array([-1.0, -2.0]))
+        dv_source = gtsam.DiscreteValues()
+        dv_source[D(0)] = 100
+        hv_update_source.insert(vv_source)
+        hv_update_source.insert(dv_source)
+
+        hv.update(hv_update_source)
+        self.gtsamAssertEquals(hv.at(V(0)), np.array([-1.0, -2.0]))
+        self.assertEqual(hv.atDiscrete(D(0)), 100)
+
+    def test_retract(self):
+        """Test retract method."""
+        hv = gtsam.HybridValues(
+            self.vector_values, self.discrete_values, self.nonlinear_values
+        )
+
+        delta = gtsam.VectorValues()
+        deltaM5 = np.array([0.5, 0.5, -1.0])
+        delta.insert(M(5), deltaM5)
+
+        hv_retracted = hv.retract(delta)
 
-        hv1 = gtsam.HybridValues()
-        hv1.insert(X(0), np.ones((3, 1)))
-        hv1.insert(C(0), 2)
+        # Original should be unchanged
+        self.assertTrue(hv.continuous().equals(self.vector_values, 1e-9))
 
-        hv2 = gtsam.HybridValues()
-        hv2.insert(C(0), 2)
-        hv2.insert(X(0), np.ones((3, 1)))
+        # Check retracted values
+        expected_M5 = hv.nonlinear().atPose2(M(5)).retract(deltaM5)
+        self.gtsamAssertEquals(hv_retracted.nonlinear().atPose2(M(5)), expected_M5)
 
-        self.assertEqual(hv1.atDiscrete(C(0)), 2)
-        self.assertEqual(hv1.at(X(0))[0], np.ones((3, 1))[0])
+        # Check that discrete and continuous parts are copied
+        self.assertEqual(len(hv_retracted.discrete()), len(self.discrete_values))
+        self.assertEqual(hv_retracted.continuous().size(), self.vector_values.size())
 
 
 if __name__ == "__main__":

{gtsam_develop-4.3a0.dev202505270244.dist-info → gtsam_develop-4.3a0.dev202505281327.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202505270244
+Version: 4.3a0.dev202505281327
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202505270244.dist-info → gtsam_develop-4.3a0.dev202505281327.dist-info}/RECORD

@@ -1,13 +1,13 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/gtsam.cpython-313-darwin.so,sha256=Lv5WvPiKNBVwKs0xFd3oA9UNQvSeb0Dg4Pbdxd0E0vE,17888672
-gtsam/__init__.pyi,sha256=YKOlUpnsedU8HycylE-mCyMSiRNe6IyS6dS1hhwDIaU,42970
+gtsam/gtsam.cpython-313-darwin.so,sha256=3hXZPKcsCnu1ODx0Xe6Qk6aDGkSrtRYNVbFqokWIDos,17955920
+gtsam/__init__.pyi,sha256=XVlF_ll1DIXDAbO9HbsCUKgly97t9UKxQBvtzGYDUa4,42970
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/gtsam/utilities.pyi,sha256=-yn7_jeJbTa_3KJGgqcr_NDD70UhDZ8tYX2M2lPLmSQ,3384
 gtsam/gtsam/gtsfm.pyi,sha256=Onoh4CRaSYIQ0FID0vBkZeV7ESIhc2fh4rJGgaPY-ug,702
-gtsam/gtsam/__init__.pyi,sha256=-ZUwjDciJ5hxqozDaw8Zz0uaI2vJaWsI_y3M8VEw7j4,711275
+gtsam/gtsam/__init__.pyi,sha256=YeFsDuMRJjrYvv7hdtBMrloa_GgOUghAs_nsLq_w70c,716998
 gtsam/gtsam/so3.pyi,sha256=UoDGISMgcStVTAtc_y6CmHXCtPJrJ7ju70z3ZH1OLR4,3939
 gtsam/gtsam/imuBias.pyi,sha256=gD6w5kd9xpO4uBEpfNym_3LjW67MV7HPQRYOOoDPysQ,2478
 gtsam/gtsam/symbol_shorthand.pyi,sha256=iaQLf_-hch_4YTYbSWTLINKtIL9Mg7W7HKOMuCXp8Ok,991
@@ -25,7 +25,7 @@ gtsam/tests/IMUKittiExampleGPS.py,sha256=xWAuLEBQX2rhAMDIBouCDOr13WPZZYLk8wRXbWJ
 gtsam/tests/test_VisualISAMExample.py,sha256=x_pISckn6Nd7FpM3t2DdxqZo4whMVXZkBamI0xi-2qM,4254
 gtsam/tests/FixedLagSmootherExample.py,sha256=1i8TzMAzn2jgCxYDbxW7nDLsLvcFDpyd9tO0EiRn8w8,3185
 gtsam/tests/test_HybridFactorGraph.py,sha256=_tJld82_p_AxkqMQdeL11PEA5xTk-p21Fj1RLPvhljE,13093
-gtsam/tests/test_HybridValues.py,sha256=CaMJe_RgwJ4AY1SJkK9JVmcDOdfbIZ1KVHMvtQw7epc,999
+gtsam/tests/test_HybridValues.py,sha256=DtgMnPFoifEuce0hS-gOozLFqfheVfwPO8ehQhpigtc,9027
 gtsam/tests/SFMExample_bal.py,sha256=qLqJOuz4bmG2KQj44mO9pA5sR_TxQJDGV9EJj55E1VQ,4529
 gtsam/tests/test_GaussianBayesNet.py,sha256=tF5CDF5giL9gfHOgQ4dwY1u4JQmg4mxh8jCDQ-3-8Wk,2430
 gtsam/tests/test_SFMExample.py,sha256=qxBV3s4KZDD4ao4Yh03mdptFILbu3n57gXMABc6uvxQ,2784
@@ -128,13 +128,13 @@ gtsam/utils/__init__.py,sha256=_ID7pb13SDZedga5KdBqpPug4PW3eU3THdVF_3jrakQ,678
 gtsam/utils/test_case.py,sha256=3wIqAW5_smes95XUJgUjD4v3FXACYSVzQ1l6MMdwSkA,1848
 gtsam/utils/logging_optimizer.py,sha256=tRnzQKV4eT5djS0Ojy5J7OGu7oVRjZw7Jhjrx_VQVTU,4417
 gtsam/.dylibs/libboost_thread.dylib,sha256=aT1DCt1Kvw1A2w2mRHIJhZRFrYmoDaI5xYM6wEt86L8,137200
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202505270244.dylib,sha256=xWLM0vX72_hk9cQFNyBm8g6gEPL2FmCBrXHTq9fK_iE,1623104
+gtsam/.dylibs/libgtsam.4.3a0.dev202505281327.dylib,sha256=n2GyhM7MZA-aromghixcyd57XIcD2j9SjDPlGfbbLwE,5666800
 gtsam/.dylibs/libboost_regex.dylib,sha256=XWw3H3ehJjFuFVSSDGo2lyKOIsoTQ-0Aaf1ekhsQJfY,356464
-gtsam/.dylibs/libgtsam.4.3a0.dev202505270244.dylib,sha256=wcdkBwNV0Vj065usNIA15_KK5vC3hcR2XyjjhfcoKGs,5634720
 gtsam/.dylibs/libboost_serialization.dylib,sha256=7OW78djID14u2YB_F_TuXomOIsEpt8I7RnCAGuGmwCc,418288
 gtsam/.dylibs/libboost_timer.dylib,sha256=leVXIyCdydip4vwIm-Ghrt6UGy_Q-yhL2f8ITyfRku0,81520
 gtsam/.dylibs/libboost_filesystem.dylib,sha256=WUuuO1JZADriLciFi63Ky4dmqt1KA7_V6DcNdzCANSo,197328
 gtsam/.dylibs/libcephes-gtsam.1.0.0.dylib,sha256=pNZtgCIaV7_dC0WPXobOc8sNvd_0WQo1AdYxUsqZ1D0,176352
+gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202505281327.dylib,sha256=-bouyNqzO8DKp0E7ifcLLoFF85cwByJYF41-Jo9-juM,1623104
 gtsam/.dylibs/libmetis-gtsam.dylib,sha256=Od5V_NOZKhxu5cEw1wMfGxk3l0_2LEhV-GkEwnqyx4Q,449504
 gtsam/.dylibs/libboost_atomic.dylib,sha256=AbG9FmLd7biQVvDL9F7_sLOEgmhgj5bwxX98c5jnVVc,104160
 gtsam/.dylibs/libboost_date_time.dylib,sha256=zkeDyIl7aGu1K5avCbDjtJURdIPT8llHnNZ-G7N-_Cc,35008
@@ -249,12 +249,12 @@ gtsam/Data/Balbianello/BalbianelloMedium-4.key.gz,sha256=P6tu3JmA0NKlcFYdgYczTOH
 gtsam/Data/Balbianello/BalbianelloMedium-1.key.gz,sha256=RgT7tVXXOwvDug20TW-9xtoeO3dSSPMF1n9DaKxdrIw,332878
 gtsam/Data/Balbianello/BalbianelloMedium-3.key.gz,sha256=yNMcyqwZCOj9FG-6qXQ9xhJjpM135cTBJYlOUBG0rnQ,296236
 gtsam/Data/Balbianello/BalbianelloMedium-5.key.gz,sha256=4veDrxRdLH8k1DIhgj1984MitZ7nAWoXDWTWyXuu7Lg,241361
-gtsam_develop-4.3a0.dev202505270244.dist-info/RECORD,,
-gtsam_develop-4.3a0.dev202505270244.dist-info/WHEEL,sha256=oqGJCpG61FZJmvyZ3C_0aCv-2mdfcY9e3fXvyUNmWfM,136
-gtsam_develop-4.3a0.dev202505270244.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
-gtsam_develop-4.3a0.dev202505270244.dist-info/METADATA,sha256=54Ol7DvwBrXdRa7LZDVac0rBdOIKKBBIv93GU6_42nA,7767
+gtsam_develop-4.3a0.dev202505281327.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202505281327.dist-info/WHEEL,sha256=oqGJCpG61FZJmvyZ3C_0aCv-2mdfcY9e3fXvyUNmWfM,136
+gtsam_develop-4.3a0.dev202505281327.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202505281327.dist-info/METADATA,sha256=5Re4njWXaXjOYmHOEK9NHnfc-Fm_x7RkEF9yZGBHpfU,7767
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
-gtsam_unstable/gtsam_unstable.cpython-313-darwin.so,sha256=SEvNXM6iZqcUb5OLQsMhaidBksLSTIkw1iE8w9smUx8,2050208
+gtsam_unstable/gtsam_unstable.cpython-313-darwin.so,sha256=JHP4Q7Bg-vWt2lf7lBf8uu-Jruyjgxzo_vTNXLLleQo,2050208
 gtsam_unstable/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py,sha256=t2l62uWoXfjrM8oH6ogV7M20WjTYKZ4CSferdurMIY0,2156
 gtsam_unstable/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0