gtsam-develop 4.3a0.dev202505281542__cp310-cp310-macosx_11_0_arm64.whl → 4.3a0.dev202505300745__cp310-cp310-macosx_11_0_arm64.whl

gtsam/__init__.pyi

@@ -3,29 +3,31 @@ Module definition file for GTSAM
 """
 from __future__ import annotations
 from builtins import dict as KeyPairDoubleMap
-from builtins import dict as MatchIndicesMap
 from builtins import dict as IndexPairSetMap
-from builtins import list as Rot3Vector
+from builtins import dict as MatchIndicesMap
+from builtins import list as Pose2Pairs
+from builtins import list as SfmTracks
+from builtins import list as Point2Pairs
+from builtins import list as Pose3Pairs
+from builtins import list as BetweenFactorPose2s
+from builtins import list as SfmTrack2dVector
+from builtins import list as BinaryMeasurementsUnit3
 from builtins import list as SfmCameras
-from builtins import list as BetweenFactorPose3s
-from builtins import list as SfmMeasurementVector
+from builtins import list as KeypointsVector
+from builtins import list as Point3Pairs
 from builtins import list as KeyVector
-from builtins import list as Point2Pairs
 from builtins import list as Point2Vector
+from builtins import list as Rot3Vector
+from builtins import list as IndexPairVector
+from builtins import list as BetweenFactorPose3s
 from builtins import list as BinaryMeasurementsPoint3
 from builtins import list as Pose3Vector
-from builtins import list as Point3Pairs
-from builtins import list as BinaryMeasurementsUnit3
-from builtins import list as Pose2Pairs
-from builtins import list as SfmTracks
-from builtins import list as KeypointsVector
-from builtins import list as IndexPairVector
+from builtins import list as SfmMeasurementVector
 from builtins import list as BinaryMeasurementsRot3
-from builtins import list as BetweenFactorPose2s
-from builtins import list as Pose3Pairs
-from builtins import list as SfmTrack2dVector
 from gtsam.gtsam import AHRSFactor
 from gtsam.gtsam import AcceleratingScenario
+from gtsam.gtsam import AlgebraicDecisionTreeKey
+from gtsam.gtsam import AssignmentKey
 from gtsam.gtsam import BarometricFactor
 from gtsam.gtsam import BatchFixedLagSmoother
 from gtsam.gtsam import BearingFactor2D
@@ -263,6 +265,7 @@ from gtsam.gtsam import HybridGaussianFactor
 from gtsam.gtsam import HybridGaussianFactorGraph
 from gtsam.gtsam import HybridNonlinearFactor
 from gtsam.gtsam import HybridNonlinearFactorGraph
+from gtsam.gtsam import HybridOrdering
 from gtsam.gtsam import HybridSmoother
 from gtsam.gtsam import HybridValues
 from gtsam.gtsam import ISAM2
@@ -593,7 +596,7 @@ from gtsam.utils import findExampleDataFile
 import sys as sys
 from . import gtsam
 from . import utils
-__all__ = ['AHRSFactor', 'AcceleratingScenario', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose2s', 'BetweenFactorPose3', 'BetweenFactorPose3s', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BinaryMeasurementsPoint3', 'BinaryMeasurementsRot3', 'BinaryMeasurementsUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherKeyTimestampMap', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'IndexPairSetMap', 'IndexPairVector', 'InitializePose3', 'ItemsView', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeyPairDoubleMap', 'KeySet', 'KeyVector', 'KeypointsVector', 'KeysView', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'MatchIndicesMap', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Point2', 'Point2Pairs', 'Point2Vector', 'Point3', 'Point3Pairs', 'Pose2', 'Pose2Pairs', 'Pose3', 'Pose3AttitudeFactor', 'Pose3Pairs', 'Pose3Vector', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'Rot3Vector', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmCameras', 'SfmData', 'SfmMeasurementVector', 'SfmTrack', 'SfmTrack2d', 'SfmTrack2dVector', 'SfmTracks', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'ValuesView', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'findExampleDataFile', 'gtsam', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'sys', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'utils', 'writeBAL', 'writeG2o']
+__all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose2s', 'BetweenFactorPose3', 'BetweenFactorPose3s', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BinaryMeasurementsPoint3', 'BinaryMeasurementsRot3', 'BinaryMeasurementsUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherKeyTimestampMap', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'IndexPairSetMap', 'IndexPairVector', 'InitializePose3', 'ItemsView', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeyPairDoubleMap', 'KeySet', 'KeyVector', 'KeypointsVector', 'KeysView', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'MatchIndicesMap', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Point2', 'Point2Pairs', 'Point2Vector', 'Point3', 'Point3Pairs', 'Pose2', 'Pose2Pairs', 'Pose3', 'Pose3AttitudeFactor', 'Pose3Pairs', 'Pose3Vector', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'Rot3Vector', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmCameras', 'SfmData', 'SfmMeasurementVector', 'SfmTrack', 'SfmTrack2d', 'SfmTrack2dVector', 'SfmTracks', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'ValuesView', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'findExampleDataFile', 'gtsam', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'sys', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'utils', 'writeBAL', 'writeG2o']
 class FixedLagSmootherKeyTimestampMap(dict):
     """
     Class to provide backwards compatibility

gtsam/gtsam/__init__.pyi

@@ -11,7 +11,7 @@ from . import noiseModel
 from . import so3
 from . import symbol_shorthand
 from . import utilities
-__all__ = ['AHRSFactor', 'AcceleratingScenario', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
+__all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
 class AHRSFactor(NonlinearFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -41,6 +41,46 @@ class AHRSFactor(NonlinearFactor):
 class AcceleratingScenario(Scenario):
     def __init__(self, nRb: Rot3, p0: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], v0: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], a_n: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
+class AlgebraicDecisionTreeKey:
+    def __call__(self, arg0: AssignmentKey) -> float:
+        ...
+    def __repr__(self, s: str = 'AlgebraicDecisionTreeKey\n', keyFormatter: typing.Callable[[int], str] = ...) -> str:
+        ...
+    def print(self, s: str = 'AlgebraicDecisionTreeKey\n', keyFormatter: typing.Callable[[int], str] = ...) -> None:
+        ...
+class AssignmentKey:
+    def __bool__(self) -> bool:
+        """
+        Check whether the map is nonempty
+        """
+    @typing.overload
+    def __contains__(self, arg0: int) -> bool:
+        ...
+    @typing.overload
+    def __contains__(self, arg0: typing.Any) -> bool:
+        ...
+    def __delitem__(self, arg0: int) -> None:
+        ...
+    def __getitem__(self, arg0: int) -> int:
+        ...
+    def __init__(self) -> None:
+        ...
+    def __iter__(self) -> typing.Iterator[int]:
+        ...
+    def __len__(self) -> int:
+        ...
+    def __repr__(self) -> str:
+        """
+        Return the canonical string representation of this map.
+        """
+    def __setitem__(self, arg0: int, arg1: int) -> None:
+        ...
+    def items(self) -> typing.ItemsView:
+        ...
+    def keys(self) -> typing.KeysView:
+        ...
+    def values(self) -> typing.ValuesView:
+        ...
 class BarometricFactor(NonlinearFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -2517,6 +2557,10 @@ class DiscreteFactor(Factor):
         """
         equals
         """
+    def errorTree(self) -> ...:
+        """
+        Compute error for each assignment and return as a tree.
+        """
     def print(self, s: str = 'DiscreteFactor\n', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         ...
 class DiscreteFactorGraph:
@@ -5620,6 +5664,16 @@ class HybridBayesNet:
         
         Returns: Gaussian posterior P(X|M=m) as a GaussianBayesNet.
         """
+    @typing.overload
+    def discreteMarginal(self) -> DiscreteBayesNet:
+        """
+        Get the discrete Bayes Net P(M).
+        
+        As the hybrid Bayes net defines P(X,M) = P(X|M) P(M), this method returns the marginal distribution on the discrete variables.
+        
+        Returns: discrete marginal as a DiscreteBayesNet.
+        """
+    @typing.overload
     def discreteMarginal(self) -> DiscreteBayesNet:
         """
         Get the discrete Bayes Net P(M).
@@ -5628,6 +5682,15 @@ class HybridBayesNet:
         
         Returns: discrete marginal as a DiscreteBayesNet.
         """
+    def discretePosterior(self, continuousValues: VectorValues) -> AlgebraicDecisionTreeKey:
+        """
+        Compute normalized posterior P(M|X=x) and return as a tree.
+        
+        Args:
+        continuousValues: Continuous values x to condition P(M|X=x) on.
+        
+        Returns: AlgebraicDecisionTree<Key>
+        """
     def dot(self, keyFormatter: typing.Callable[[int], str] = ..., writer: DotWriter = ...) -> str:
         """
         Output to graphviz format string.
@@ -5644,6 +5707,15 @@ class HybridBayesNet:
         """
         Add error for all factors.
         """
+    def errorTree(self, continuousValues: VectorValues) -> AlgebraicDecisionTreeKey:
+        """
+        Compute the negative log posterior log P'(M|x) of all assignments up to a constant, returning the result as an algebraic decision tree.
+        
+        Args:
+        continuousValues: Continuous values x at which to compute log P'(M|x)
+        
+        Returns: AlgebraicDecisionTree<Key>
+        """
     def evaluate(self, values: HybridValues) -> float:
         """
         Evaluate hybrid probability density for givenHybridValues.
@@ -5654,6 +5726,33 @@ class HybridBayesNet:
         """
     def logProbability(self, x: HybridValues) -> float:
         ...
+    def mpe(self) -> DiscreteValues:
+        """
+        Compute the Most Probable Explanation (MPE) of the discrete variables.
+        
+        Returns: DiscreteValues
+        """
+    @typing.overload
+    def negLogConstant(self) -> float:
+        """
+        Get the negative log of the normalization constant corresponding to the joint density represented by this Bayes net.
+        
+        Optionally index by discrete.
+        
+        Returns: double
+        """
+    @typing.overload
+    def negLogConstant(self, discrete: DiscreteValues) -> float:
+        """
+        Get the negative log of the normalization constant corresponding to the joint density represented by this Bayes net.
+        
+        Optionally index by discrete.
+        
+        Args:
+        discrete: Optional DiscreteValues
+        
+        Returns: double
+        """
     @typing.overload
     def optimize(self) -> HybridValues:
         """
@@ -5674,6 +5773,19 @@ class HybridBayesNet:
     def print(self, s: str = 'HybridBayesNet\n', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         ...
     @typing.overload
+    def prune(self, maxNrLeaves: int) -> HybridBayesNet:
+        """
+        Prune the Bayes Net such that we have at most maxNrLeaves leaves.
+        
+        Args:
+        maxNrLeaves: Continuous values at which to compute the error.
+        
+        Returns: A pruned HybridBayesNet
+        """
+    @typing.overload
+    def prune(self, maxNrLeaves: int, marginalThreshold: float) -> HybridBayesNet:
+        ...
+    @typing.overload
     def push_back(self, s: HybridGaussianConditional) -> None:
         ...
     @typing.overload
@@ -5683,6 +5795,13 @@ class HybridBayesNet:
     def push_back(self, s: DiscreteConditional) -> None:
         ...
     @typing.overload
+    def push_back(self, conditional: HybridConditional) -> None:
+        """
+        Add a hybrid conditional using a shared_ptr.
+        
+        This is the "native" push back, as this class stores hybrid conditionals.
+        """
+    @typing.overload
     def sample(self, given: HybridValues, rng: MT19937 = None) -> HybridValues:
         """
         Samplefrom an incompleteBayesNet, given missing variables.
@@ -5765,9 +5884,27 @@ class HybridBayesTreeClique:
         """
         Return true if this clique is the root of a Bayes tree.
         """
-class HybridConditional:
+class HybridConditional(HybridFactor):
     def __call__(self, arg0: HybridValues) -> float:
         ...
+    @typing.overload
+    def __init__(self) -> None:
+        ...
+    @typing.overload
+    def __init__(self, continuousKeys: list[int], discreteKeys: DiscreteKeys, nFrontals: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, continuousFrontals: list[int], discreteFrontals: DiscreteKeys, continuousParents: list[int], discreteParents: DiscreteKeys) -> None:
+        ...
+    @typing.overload
+    def __init__(self, continuousConditional: GaussianConditional) -> None:
+        ...
+    @typing.overload
+    def __init__(self, discreteConditional: DiscreteConditional) -> None:
+        ...
+    @typing.overload
+    def __init__(self, hybridGaussianCond: ...) -> None:
+        ...
     def __repr__(self, s: str = 'Hybrid Conditional\n', keyFormatter: typing.Callable[[int], str] = ...) -> str:
         ...
     def asDiscrete(self) -> DiscreteConditional:
@@ -5792,10 +5929,6 @@ class HybridConditional:
         """
         GTSAM-style equals.
         """
-    def error(self, values: HybridValues) -> float:
-        """
-        Return the error of the underlying conditional.
-        """
     def evaluate(self, values: HybridValues) -> float:
         """
         Return the probability (or density) of the underlying conditional.
@@ -5804,6 +5937,18 @@ class HybridConditional:
         """
         Get the type-erased pointer to the inner type.
         """
+    def isContinuous(self) -> bool:
+        """
+        True if this is a factor of continuous variables only.
+        """
+    def isDiscrete(self) -> bool:
+        """
+        True if this is a factor of discrete variables only.
+        """
+    def isHybrid(self) -> bool:
+        """
+        True is this is a Discrete-Continuous factor.
+        """
     def logProbability(self, values: HybridValues) -> float:
         """
         Return the log-probability (or density) of the underlying conditional.
@@ -5839,7 +5984,9 @@ class HybridFactor(Factor):
         """
         equals
         """
-    def error(self, values: HybridValues) -> float:
+    def error(self, hybridValues: HybridValues) -> float:
+        ...
+    def errorTree(self, continuousValues: VectorValues) -> AlgebraicDecisionTreeKey:
         ...
     def isContinuous(self) -> bool:
         """
@@ -5859,7 +6006,9 @@ class HybridFactor(Factor):
         """
     def print(self, s: str = 'HybridFactor\n', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         ...
-class HybridGaussianConditional(HybridFactor):
+    def restrict(self, assignment: DiscreteValues) -> Factor:
+        ...
+class HybridGaussianConditional(HybridGaussianFactor):
     @typing.overload
     def __init__(self, discreteParents: DiscreteKeys, conditionals: ..., std: ...) -> None:
         ...
@@ -5868,6 +6017,14 @@ class HybridGaussianConditional(HybridFactor):
         ...
     def __repr__(self, s: str = 'HybridGaussianConditional\n', keyFormatter: typing.Callable[[int], str] = ...) -> str:
         ...
+    def choose(self, discreteValues: DiscreteValues) -> GaussianConditional:
+        """
+        Return the conditional Gaussian for the given discrete assignment.
+        """
+    def continuousParents(self) -> list[int]:
+        """
+        Returns the continuous keys among the parents.
+        """
     def evaluate(self, values: HybridValues) -> float:
         """
         Calculate probability density for givenvalues.
@@ -5883,8 +6040,33 @@ class HybridGaussianConditional(HybridFactor):
         
         Returns: double
         """
+    def negLogConstant(self) -> float:
+        """
+        Return log normalization constant in negative log space.
+        
+        The log normalization constant is the min of the individual log-normalization constants.
+        
+        Returns: double
+        """
+    def nrComponents(self) -> int:
+        """
+        Returns the total number of continuous components.
+        """
     def print(self, s: str = 'HybridGaussianConditional\n', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         ...
+    def prune(self, discreteProbs: DiscreteConditional) -> HybridGaussianConditional:
+        """
+        Prune the decision tree of Gaussian factors as per the discretediscreteProbs.
+        
+        Args:
+        discreteProbs: A pruned set of probabilities for the discrete keys.
+        
+        Returns: Shared pointer to possibly a pruned HybridGaussianConditional
+        """
+    def pruned(self) -> bool:
+        """
+        Return true if the conditional has already been pruned.
+        """
 class HybridGaussianFactor(HybridFactor):
     @typing.overload
     def __init__(self, discreteKey: tuple[int, int], factors: list[GaussianFactor]) -> None:
@@ -16348,6 +16530,8 @@ def FindKarcherMeanSO3(elements: list[SO3]) -> SO3:
     ...
 def FindKarcherMeanSO4(elements: list[SO4]) -> SO4:
     ...
+def HybridOrdering(graph: HybridGaussianFactorGraph) -> Ordering:
+    ...
 def IndexPairSetAsArray(set: set[IndexPair]) -> list[IndexPair]:
     ...
 def PrintDiscreteValues(values: DiscreteValues, s: str = '', keyFormatter: typing.Callable[[int], str] = ...) -> None:

gtsam/tests/test_HybridBayesNet.py

@@ -8,7 +8,8 @@ See LICENSE for the license information
 Unit tests for Hybrid Values.
 Author: Frank Dellaert
 """
-# pylint: disable=invalid-name, no-name-in-module, no-member
+
+# pylint: disable=invalid-name, no-name-in-module, no-member, E1101
 
 import math
 import unittest
@@ -17,80 +18,324 @@ import numpy as np
 from gtsam.symbol_shorthand import A, X
 from gtsam.utils.test_case import GtsamTestCase
 
-from gtsam import (DiscreteConditional, DiscreteValues,
-                   GaussianConditional, HybridBayesNet,
-                   HybridGaussianConditional, HybridValues, VectorValues,
-                   noiseModel)
+from gtsam import (
+    AlgebraicDecisionTreeKey,
+    AssignmentKey,
+    DecisionTreeFactor,
+    DiscreteBayesNet,
+    DiscreteConditional,
+    DiscreteValues,
+    GaussianBayesNet,
+    GaussianConditional,
+    HybridBayesNet,
+    HybridGaussianConditional,
+    HybridGaussianFactorGraph,
+    HybridValues,
+    KeySet,
+    VectorValues,
+    noiseModel,
+)
 
 
 class TestHybridBayesNet(GtsamTestCase):
-    """Unit tests for HybridValues."""
+    """Unit tests for HybridBayesNet."""
 
-    def test_evaluate(self):
-        """Test evaluate for a hybrid Bayes net P(X0|X1) P(X1|Asia) P(Asia)."""
-        asiaKey = A(0)
-        Asia = (asiaKey, 2)
-
-        # Create the continuous conditional
-        I_1x1 = np.eye(1)
-        conditional = GaussianConditional.FromMeanAndStddev(
-            X(0), 2 * I_1x1, X(1), [-4], 5.0)
-
-        # Create the noise models
-        model0 = noiseModel.Diagonal.Sigmas([2.0])
-        model1 = noiseModel.Diagonal.Sigmas([3.0])
-
-        # Create the conditionals
-        conditional0 = GaussianConditional(X(1), [5], I_1x1, model0)
-        conditional1 = GaussianConditional(X(1), [2], I_1x1, model1)
-
-        # Create hybrid Bayes net.
-        bayesNet = HybridBayesNet()
-        bayesNet.push_back(conditional)
-        bayesNet.push_back(
-            HybridGaussianConditional(Asia, [conditional0, conditional1]))
-        bayesNet.push_back(DiscreteConditional(Asia, "99/1"))
-
-        # Create values at which to evaluate.
-        values = HybridValues()
+    def setUp(self):
+        """Set up a common HybridBayesNet for testing P(X0|X1) P(X1|Asia) P(Asia)."""
+        self.Asia = (A(0), 2)
+
+        self.I_1x1 = np.eye(1)
+        self.conditional_X0_X1 = GaussianConditional.FromMeanAndStddev(
+            X(0), 2 * self.I_1x1, X(1), [-4], 5.0
+        )
+
+        self.model0 = noiseModel.Diagonal.Sigmas([2.0])
+        self.model1 = noiseModel.Diagonal.Sigmas([3.0])
+
+        self.conditional0_X1_A = GaussianConditional(X(1), [5], self.I_1x1, self.model0)
+        self.conditional1_X1_A1 = GaussianConditional(
+            X(1), [2], self.I_1x1, self.model1
+        )
+
+        self.hybrid_conditional_X1_Asia = HybridGaussianConditional(
+            self.Asia, [self.conditional0_X1_A, self.conditional1_X1_A1]
+        )
+
+        self.conditional_Asia = DiscreteConditional(self.Asia, "99/1")
+
+        self.bayesNet = HybridBayesNet()
+        self.bayesNet.push_back(self.conditional_X0_X1)
+        self.bayesNet.push_back(self.hybrid_conditional_X1_Asia)
+        self.bayesNet.push_back(self.conditional_Asia)
+
+        self.values = HybridValues()
         continuous = VectorValues()
         continuous.insert(X(0), [-6])
         continuous.insert(X(1), [1])
-        values.insert(continuous)
+        self.values.insert(continuous)
         discrete = DiscreteValues()
-        discrete[asiaKey] = 0
-        values.insert(discrete)
+        discrete[A(0)] = 0
+        self.values.insert(discrete)
+
+    def test_constructor_and_basic_props(self):
+        """Test constructor, empty(), size(), keys(), print(), dot()."""
+        bn_empty = HybridBayesNet()
+        self.assertTrue(bn_empty.empty())
+        self.assertEqual(bn_empty.size(), 0)
+
+        self.assertFalse(self.bayesNet.empty())
+        self.assertEqual(self.bayesNet.size(), 3)
+
+        keys = self.bayesNet.keys()
+        self.assertIsInstance(keys, KeySet)
+        self.assertTrue(X(0) in keys)
+        self.assertTrue(X(1) in keys)
+        self.assertTrue(A(0) in keys)
+        self.assertEqual(keys.size(), 3)
+
+        # Test dot (returns a string)
+        self.assertIsInstance(self.bayesNet.dot(), str)
+
+    def test_equals_method(self):
+        """Test the equals(HybridBayesNet) method."""
+        bn_copy = HybridBayesNet()
+        bn_copy.push_back(self.conditional_X0_X1)
+        bn_copy.push_back(self.hybrid_conditional_X1_Asia)
+        bn_copy.push_back(self.conditional_Asia)
+        self.assertTrue(self.bayesNet.equals(bn_copy, 1e-9))
+
+        bn_different_order = HybridBayesNet()  # Order matters for BayesNets
+        bn_different_order.push_back(self.conditional_Asia)  # Different order
+        bn_different_order.push_back(self.conditional_X0_X1)
+        bn_different_order.push_back(self.hybrid_conditional_X1_Asia)
+        self.assertFalse(self.bayesNet.equals(bn_different_order, 1e-9))
+
+        bn_different_cond = HybridBayesNet()
+        bn_different_cond.push_back(self.conditional_X0_X1)
+        bn_different_cond.push_back(self.hybrid_conditional_X1_Asia)
+        # Different P(Asia)
+        bn_different_cond.push_back(DiscreteConditional(self.Asia, "5/5"))
+        self.assertFalse(self.bayesNet.equals(bn_different_cond, 1e-9))
+
+    def test_error_method(self):
+        """Test the error(HybridValues) method of HybridBayesNet."""
+        # logProbability(x) = -(K + error(x)) with K = -log(k)
+        self.assertAlmostEqual(
+            self.bayesNet.negLogConstant() + self.bayesNet.error(self.values),
+            -self.bayesNet.logProbability(self.values),
+            places=5,
+        )
+
+    def test_evaluate(self):
+        """Test evaluate for a hybrid Bayes net P(X0|X1) P(X1|Asia) P(Asia)."""
+        # Original test_evaluate content
+        conditionalProbability = self.conditional_X0_X1.evaluate(
+            self.values.continuous()
+        )
+        # For HybridGaussianConditional, we need to evaluate its chosen component
+        # given the discrete assignment in self.values
+        chosen_gaussian_conditional_X1 = self.hybrid_conditional_X1_Asia.choose(
+            self.values.discrete()
+        )
+        mixtureProbability = chosen_gaussian_conditional_X1.evaluate(
+            self.values.continuous()
+        )
+        discreteProbability = self.conditional_Asia.evaluate(self.values.discrete())
 
-        conditionalProbability = conditional.evaluate(values.continuous())
-        mixtureProbability = conditional0.evaluate(values.continuous())
-        self.assertAlmostEqual(conditionalProbability * mixtureProbability *
-                               0.99,
-                               bayesNet.evaluate(values),
-                               places=5)
+        self.assertAlmostEqual(
+            conditionalProbability * mixtureProbability * discreteProbability,
+            self.bayesNet.evaluate(self.values),
+            places=5,
+        )
 
         # Check logProbability
-        self.assertAlmostEqual(bayesNet.logProbability(values),
-                               math.log(bayesNet.evaluate(values)))
+        self.assertAlmostEqual(
+            self.bayesNet.logProbability(self.values),
+            math.log(self.bayesNet.evaluate(self.values)),
+            places=5,
+        )
 
         # Check invariance for all conditionals:
-        self.check_invariance(bayesNet.at(0).asGaussian(), continuous)
-        self.check_invariance(bayesNet.at(0).asGaussian(), values)
-        self.check_invariance(bayesNet.at(0), values)
+        self.check_invariance(
+            self.bayesNet.at(0).asGaussian(), self.values.continuous()
+        )
+        self.check_invariance(self.bayesNet.at(0).asGaussian(), self.values)
+        self.check_invariance(self.bayesNet.at(0), self.values)
 
-        self.check_invariance(bayesNet.at(1), values)
+        self.check_invariance(self.bayesNet.at(1), self.values)
 
-        self.check_invariance(bayesNet.at(2).asDiscrete(), discrete)
-        self.check_invariance(bayesNet.at(2).asDiscrete(), values)
-        self.check_invariance(bayesNet.at(2), values)
+        self.check_invariance(self.bayesNet.at(2).asDiscrete(), self.values.discrete())
+        self.check_invariance(self.bayesNet.at(2).asDiscrete(), self.values)
+        self.check_invariance(self.bayesNet.at(2), self.values)
 
-    def check_invariance(self, conditional, values):
+    def check_invariance(self, conditional, values_obj):
         """Check invariance for given conditional."""
-        probability = conditional.evaluate(values)
+        probability = conditional.evaluate(values_obj)
         self.assertTrue(probability >= 0.0)
-        logProb = conditional.logProbability(values)
-        self.assertAlmostEqual(probability, np.exp(logProb))
-        expected = -(conditional.negLogConstant() + conditional.error(values))
-        self.assertAlmostEqual(logProb, expected)
+        logProb = conditional.logProbability(values_obj)
+        if probability > 1e-9:  # Avoid issues with log(0)
+            self.assertAlmostEqual(
+                probability, np.exp(logProb), delta=probability * 1e-6
+            )  # Relative delta
+
+        expected = -(conditional.negLogConstant() + conditional.error(values_obj))
+        self.assertAlmostEqual(logProb, expected, places=5)
+
+    def test_mpe_and_optimize_methods(self):
+        """Test mpe(), optimize(), and optimize(DiscreteValues)."""
+        # MPE: Most Probable Explanation for discrete variables
+        mpe_assignment = self.bayesNet.mpe()
+        self.assertIsInstance(mpe_assignment, DiscreteValues)
+        # Given P(Asia) = "99/1", Asia=0 is more probable
+        self.assertEqual(mpe_assignment[A(0)], 0)
+
+        # Optimize(): MAP for discrete, then optimize continuous given MAP discrete
+        map_solution = self.bayesNet.optimize()
+        self.assertIsInstance(map_solution, HybridValues)
+        self.assertEqual(map_solution.atDiscrete(A(0)), 0)  # Asia=0
+        # If Asia=0, X1 from conditional0_X1_A: N(mean=[5], model0_sigmas=[2.0]) -> optimal X1=5
+        self.assertAlmostEqual(map_solution.at(X(1))[0], 5.0, places=5)
+        # If X1=5, X0 from conditional_X0_X1: N(mean=2*5-4=6, stddev=5.0) -> optimal X0=6
+        self.assertAlmostEqual(map_solution.at(X(0))[0], 6.0, places=5)
+
+        # Optimize(DiscreteValues): optimize continuous given fixed discrete
+        discrete_choice = DiscreteValues()
+        discrete_choice[A(0)] = 1  # Fix Asia=1 (less likely choice)
+        optimized_continuous = self.bayesNet.optimize(discrete_choice)
+        self.assertIsInstance(optimized_continuous, VectorValues)
+        # If Asia=1, X1 from conditional1_X1_A1: N(mean=[2], model1_sigmas=[3.0]) -> optimal X1=2
+        self.assertAlmostEqual(optimized_continuous.at(X(1))[0], 2.0, places=5)
+        # If X1=2, X0 from conditional_X0_X1: N(mean=2*2-4=0, stddev=5.0) -> optimal X0=0
+        self.assertAlmostEqual(optimized_continuous.at(X(0))[0], 0.0, places=5)
+
+    def test_sampling_methods(self):
+        """Test sample() and sample(HybridValues)."""
+        # sample()
+        full_sample = self.bayesNet.sample()
+        self.assertIsInstance(full_sample, HybridValues)
+        self.assertTrue(full_sample.existsDiscrete(A(0)))
+        self.assertTrue(full_sample.existsVector(X(0)))
+        self.assertTrue(full_sample.existsVector(X(1)))
+        self.assertIn(full_sample.atDiscrete(A(0)), [0, 1])
+
+        # sample(HybridValues) - conditional sampling
+        given_values = HybridValues()
+        discrete_given = DiscreteValues()
+        discrete_given[A(0)] = 0  # Condition on Asia=0
+        given_values.insert(discrete_given)
+
+        conditional_sample = self.bayesNet.sample(given_values)
+        self.assertIsInstance(conditional_sample, HybridValues)
+        self.assertEqual(
+            conditional_sample.atDiscrete(A(0)), 0
+        )  # Should respect condition
+        self.assertTrue(conditional_sample.existsVector(X(0)))
+        self.assertTrue(conditional_sample.existsVector(X(1)))
+
+    def test_marginals_and_choice_methods(self):
+        """Test discreteMarginal() and choose(DiscreteValues)."""
+        # discreteMarginal() -> DiscreteBayesNet P(M)
+        discrete_marginal_bn = self.bayesNet.discreteMarginal()
+        self.assertIsInstance(discrete_marginal_bn, DiscreteBayesNet)
+        # Our BN has only one discrete var Asia, so marginal is just P(Asia)
+        self.assertEqual(discrete_marginal_bn.size(), 1)
+        d_cond = discrete_marginal_bn.at(0)  # Should be P(Asia)
+        self.gtsamAssertEquals(d_cond, self.conditional_Asia, 1e-9)
+
+        # choose(DiscreteValues) -> GaussianBayesNet P(X | M=m)
+        fixed_discrete = DiscreteValues()
+        fixed_discrete[A(0)] = 0  # Fix Asia = 0
+        gaussian_bn_given_asia0 = self.bayesNet.choose(fixed_discrete)
+        self.assertIsInstance(gaussian_bn_given_asia0, GaussianBayesNet)
+        # Should contain P(X0|X1) and P(X1|Asia=0)
+        # The order is important for BayesNets, parents are always *last*
+        self.assertEqual(gaussian_bn_given_asia0.size(), 2)
+        self.gtsamAssertEquals(
+            gaussian_bn_given_asia0.at(1), self.conditional0_X1_A, 1e-9
+        )  # P(X1|A=0)
+        self.gtsamAssertEquals(
+            gaussian_bn_given_asia0.at(0), self.conditional_X0_X1, 1e-9
+        )  # P(X0|X1)
+
+    def test_errorTree(self):
+        """Test errorTree(VectorValues)."""
+        vector_values = self.values.continuous()
+
+        # errorTree(VectorValues) -> unnormalized log P(M | X=continuous_values)
+        error_tree = self.bayesNet.errorTree(vector_values)
+        self.assertIsInstance(error_tree, AlgebraicDecisionTreeKey)
+
+        # Get the errorTree for X1 given Asia=0 (key A(0)):
+        error_tree_X1_A = self.hybrid_conditional_X1_Asia.errorTree(vector_values)
+
+        # For Asia=0 (key A(0)) from self.values:
+        assignment_Asia0 = AssignmentKey()
+        assignment_Asia0[A(0)] = 0
+        # self.values has Asia=0
+        error_Asia0 = self.conditional_Asia.error(self.values.discrete())
+        expected_error_Asia0 = (
+            self.conditional_X0_X1.error(vector_values)
+            + error_tree_X1_A(assignment_Asia0)
+            + error_Asia0
+        )
+        self.assertAlmostEqual(
+            error_tree(assignment_Asia0), expected_error_Asia0, places=4
+        )
+
+        # For Asia=1:
+        # Need error(A=1) from P(Asia)="99/1" -> P(A=1)=0.01
+        dv = DiscreteValues()
+        dv[A(0)] = 1
+        error_Asia1 = self.conditional_Asia.error(dv)
+        assignment_Asia1 = AssignmentKey()
+        assignment_Asia1[A(0)] = 1
+        expected_error_Asia1 = (
+            self.conditional_X0_X1.error(vector_values)
+            + error_tree_X1_A(assignment_Asia1)
+            + error_Asia1
+        )
+        self.assertAlmostEqual(
+            error_tree(assignment_Asia1), expected_error_Asia1, places=4
+        )
+
+    def test_errorTree_discretePosterior(self):
+        """Test discretePosterior(VectorValues)."""
+        vector_values = self.values.continuous()
+        posterior_tree = self.bayesNet.discretePosterior(vector_values)
+        self.assertIsInstance(posterior_tree, AlgebraicDecisionTreeKey)
+
+    def test_pruning_methods(self):
+        """Test prune(maxNrLeaves) and prune(maxNrLeaves, marginalThreshold)."""
+        # Prune to max 1 leaf (most likely path)
+        pruned_bn_1leaf = self.bayesNet.prune(1)
+        self.assertIsInstance(pruned_bn_1leaf, HybridBayesNet)
+        # The discrete part should now be deterministic for Asia=0
+        # TODO(frank): why does it not become a conditional?
+        mpe_pruned = pruned_bn_1leaf.mpe()
+        self.assertEqual(mpe_pruned[A(0)], 0)
+        # The discrete conditional for Asia should reflect P(Asia=0)=1.0
+        # TODO(frank): why is there no dead-mode removal here?
+        actual = pruned_bn_1leaf.discreteMarginal().at(0).evaluate(mpe_pruned)
+        self.assertAlmostEqual(actual, 1.0, places=5)
+
+        # Prune with marginalThreshold
+        # P(Asia=0)=0.99, P(Asia=1)=0.01
+        # Threshold 0.5 should keep only Asia=0 branch
+        pruned_bn_thresh = self.bayesNet.prune(
+            2, marginalThreshold=0.5
+        )  # maxNrLeaves=2 allows both if above thresh
+        # TODO(Frank): I don't understand *how* discrete got cut here.
+        self.assertEqual(pruned_bn_thresh.size(), 2)  # Should keep both conditionals
+
+    def test_toFactorGraph_method(self):
+        """Test toFactorGraph(VectorValues) method."""
+        # Create measurements for conditioning
+        measurements = VectorValues()
+        measurements.insert(X(0), [-5.0])  # Example measurement for X(0)
+
+        hfg = self.bayesNet.toFactorGraph(measurements)
+        self.assertIsInstance(hfg, HybridGaussianFactorGraph)
+        self.assertEqual(hfg.size(), self.bayesNet.size())
 
 
 if __name__ == "__main__":

{gtsam_develop-4.3a0.dev202505281542.dist-info → gtsam_develop-4.3a0.dev202505300745.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202505281542
+Version: 4.3a0.dev202505300745
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202505281542.dist-info → gtsam_develop-4.3a0.dev202505300745.dist-info}/RECORD

@@ -1,13 +1,13 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/__init__.pyi,sha256=sX-FuQAIQNTl8YvPLxhm6nV4mPNHgojJeh_bsU9VOpQ,42970
+gtsam/__init__.pyi,sha256=TfqBUzNwzifoOhjWPnZZ8KTraSzdz-u--b2997y2Gs0,43159
 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/gtsam.cpython-310-darwin.so,sha256=6KHCFfWxzowINZdZz9GSJzGJhikCbjPph0aEkZwVJG8,17691408
+gtsam/gtsam.cpython-310-darwin.so,sha256=BVONPP0FnkiTvwP1kZ36koO51C_5c_XSwM83sBpBDr4,17759872
 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=YeFsDuMRJjrYvv7hdtBMrloa_GgOUghAs_nsLq_w70c,716998
+gtsam/gtsam/__init__.pyi,sha256=_uWFVaydZZ2vqBwZwJOiIBAN4YbitXlzHaKWnOnt05I,723458
 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
@@ -42,7 +42,7 @@ gtsam/tests/Pose3SLAMExample_g2o.py,sha256=iei2UD8L7o9XkSOLmHy8cAI3iPcVbYBPO-zra
 gtsam/tests/Pose3ISAM2Example.py,sha256=pTSARr97SpU9ooKTK8qgBWIdCGtcoajje25V67BiyyE,9664
 gtsam/tests/test_DSFMap.py,sha256=fhlgNsqcXvf4dipaKq-VBxTYTYeUHM39S_wqwOUZ0L4,2107
 gtsam/tests/test_FundamentalMatrix.py,sha256=Bf_-8LJMqBu0SHQeNfWBjixDNp8ccbaD0T-GGlgcWT4,10814
-gtsam/tests/test_HybridBayesNet.py,sha256=4NTWAiUqeUSsHwjwdaW7rS3zodw0RtlDuon7l97lc5A,3467
+gtsam/tests/test_HybridBayesNet.py,sha256=8RnBWhp9dM45MIFiAnuRFR3uf8UWCMMn7Mgy5JJW32U,14189
 gtsam/tests/test_logging_optimizer.py,sha256=AZyhLRDwjTVT2lSVBSy3HJgT0wllf5a4w5xEdiUCgrw,4166
 gtsam/tests/EssentialViewGraphExample.py,sha256=md5C69By_Yo6e8A6uj7D1xNOkvXrRN7GyIU3h_Lde8o,3695
 gtsam/tests/test_DiscreteFactorGraph.py,sha256=4PLmQ3tcSngqyaTvg8YEKSSMe4OKtoqdPpbRJ1f6ZmE,8287
@@ -127,18 +127,18 @@ gtsam/utils/__init__.pyi,sha256=_LsGvjUEKTIpqYuifhzC8uGskeHctfcwq6GYKj6oR08,245
 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/libgtsam_unstable.4.3a0.dev202505300745.dylib,sha256=C_QV5Wbbg-sHj3zdtQ_cdISLmnA22vFWnoIfhPVhXi4,1623104
 gtsam/.dylibs/libboost_thread.dylib,sha256=aT1DCt1Kvw1A2w2mRHIJhZRFrYmoDaI5xYM6wEt86L8,137200
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202505281542.dylib,sha256=WMKR7aWiSbxXtYr5IWkdctML4sYzd_RPhyHijE8yafI,1623104
 gtsam/.dylibs/libboost_regex.dylib,sha256=XWw3H3ehJjFuFVSSDGo2lyKOIsoTQ-0Aaf1ekhsQJfY,356464
 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/libgtsam.4.3a0.dev202505281542.dylib,sha256=43VoJl0N1xMhWBKN2niSgbBstHNxmsjQFYi-TuKwrYU,5666800
 gtsam/.dylibs/libcephes-gtsam.1.0.0.dylib,sha256=pNZtgCIaV7_dC0WPXobOc8sNvd_0WQo1AdYxUsqZ1D0,176352
 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
 gtsam/.dylibs/libboost_system.dylib,sha256=W2i7A0l2E-Kkxdzs6E4Fr0S3hXTfBJOJ0WW32M3Fqh8,34992
+gtsam/.dylibs/libgtsam.4.3a0.dev202505300745.dylib,sha256=0-CtWITovBoxRAVB2lQQLvH1sBvP0M-ctYSHOjtSR0o,5666736
 gtsam/.dylibs/libboost_chrono.dylib,sha256=WTFx4Mqt77f3jd9cE11WxBAABvcmj23DbMxXwXkTz2o,79824
 gtsam/examples/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
 gtsam/examples/ImuFactorISAM2Example.py,sha256=G9HS3tHAp3plMfulFtsxE1mR467wSXlpoND8GjbqbyM,5724
@@ -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.dev202505281542.dist-info/RECORD,,
-gtsam_develop-4.3a0.dev202505281542.dist-info/WHEEL,sha256=11kMdE9gzbsaQG30fRcsAYxBLEVRsqJo098Y5iL60Xo,136
-gtsam_develop-4.3a0.dev202505281542.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
-gtsam_develop-4.3a0.dev202505281542.dist-info/METADATA,sha256=Q2D0kXkx4iN9Lv3sKMDxAiLHu1r7sVCJTvRfDhdaWHE,7767
+gtsam_develop-4.3a0.dev202505300745.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202505300745.dist-info/WHEEL,sha256=11kMdE9gzbsaQG30fRcsAYxBLEVRsqJo098Y5iL60Xo,136
+gtsam_develop-4.3a0.dev202505300745.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202505300745.dist-info/METADATA,sha256=zNUhuLAw6mmJbNaXWIpz82S3l6eVKRXD9is0mXWiv8g,7767
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
-gtsam_unstable/gtsam_unstable.cpython-310-darwin.so,sha256=J9ifWwUdltVd2Ar06HaqiXPKIM_R4uKZvAYuHkEoyYA,2033424
+gtsam_unstable/gtsam_unstable.cpython-310-darwin.so,sha256=Mh2aLIipiGkV7rpeJzQVn9o93ur2QotLvghaX5uKgyw,2033424
 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