gtsam-develop 4.3a0.dev202508202018__cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl → 4.3a0.dev202508202357__cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

gtsam/__init__.pyi

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

gtsam/gtsam/__init__.pyi

@@ -16147,6 +16147,8 @@ class Values:
         ...
     def atFundamentalMatrix(self, j: int) -> FundamentalMatrix:
         ...
+    def atGal3(self, j: int) -> Gal3:
+        ...
     def atMatrix(self, j: int) -> numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]:
         ...
     def atNavState(self, j: int) -> ...:
@@ -16253,34 +16255,37 @@ class Values:
     def insert(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, rot2: Rot2) -> None:
+    def insert(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def insert(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, R: SO3) -> None:
+    def insert(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, Q: SO4) -> None:
+    def insert(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, P: SOn) -> None:
+    def insert(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, H: SL4) -> None:
+    def insert(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, rot3: Rot3) -> None:
+    def insert(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, pose3: Pose3) -> None:
+    def insert(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, similarity2: Similarity2) -> None:
+    def insert(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def insert(self, j: int, similarity3: Similarity3) -> None:
+    def insert(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def insert(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def insert(self, j: int, unit3: Unit3) -> None:
@@ -16360,10 +16365,6 @@ class Values:
     @typing.overload
     def insert(self, j: int, c: float) -> None:
         ...
-    def insertPoint2(self, j: int, val: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
-        ...
-    def insertPoint3(self, j: int, val: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
-        ...
     @typing.overload
     def insert_or_assign(self, values: Values) -> None:
         """
@@ -16384,34 +16385,37 @@ class Values:
     def insert_or_assign(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, rot2: Rot2) -> None:
+    def insert_or_assign(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def insert_or_assign(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, R: SO3) -> None:
+    def insert_or_assign(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, Q: SO4) -> None:
+    def insert_or_assign(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, P: SOn) -> None:
+    def insert_or_assign(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, H: SL4) -> None:
+    def insert_or_assign(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, rot3: Rot3) -> None:
+    def insert_or_assign(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, pose3: Pose3) -> None:
+    def insert_or_assign(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, similarity2: Similarity2) -> None:
+    def insert_or_assign(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def insert_or_assign(self, j: int, similarity3: Similarity3) -> None:
+    def insert_or_assign(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def insert_or_assign(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def insert_or_assign(self, j: int, unit3: Unit3) -> None:
@@ -16535,34 +16539,37 @@ class Values:
     def update(self, j: int, point3: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
-    def update(self, j: int, rot2: Rot2) -> None:
+    def update(self, j: int, T: Gal3) -> None:
         ...
     @typing.overload
     def update(self, j: int, pose2: Pose2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, R: SO3) -> None:
+    def update(self, j: int, pose3: Pose3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, Q: SO4) -> None:
+    def update(self, j: int, rot2: Rot2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, P: SOn) -> None:
+    def update(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, H: SL4) -> None:
+    def update(self, j: int, similarity2: Similarity2) -> None:
         ...
     @typing.overload
-    def update(self, j: int, rot3: Rot3) -> None:
+    def update(self, j: int, similarity3: Similarity3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, pose3: Pose3) -> None:
+    def update(self, j: int, H: SL4) -> None:
         ...
     @typing.overload
-    def update(self, j: int, similarity2: Similarity2) -> None:
+    def update(self, j: int, R: SO3) -> None:
         ...
     @typing.overload
-    def update(self, j: int, similarity3: Similarity3) -> None:
+    def update(self, j: int, Q: SO4) -> None:
+        ...
+    @typing.overload
+    def update(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
     def update(self, j: int, unit3: Unit3) -> None:

gtsam/gtsam/so3.pyi

@@ -4,7 +4,7 @@ so3 submodule
 from __future__ import annotations
 import numpy
 import typing
-__all__: list[str] = ['DexpFunctor', 'ExpmapFunctor']
+__all__: list[str] = ['DexpFunctor', 'ExpmapFunctor', 'InvJKernel', 'Kernel']
 class DexpFunctor(ExpmapFunctor):
     def C(self) -> float:
         ...
@@ -12,40 +12,24 @@ class DexpFunctor(ExpmapFunctor):
         ...
     def E(self) -> float:
         ...
+    def Gamma(self) -> Kernel:
+        ...
+    def InvJacobian(self) -> InvJKernel:
+        ...
+    def Jacobian(self) -> Kernel:
+        ...
+    def Rodrigues(self) -> Kernel:
+        ...
     @typing.overload
     def __init__(self, omega: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
     @typing.overload
     def __init__(self, omega: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], nearZeroThresholdSq: float, nearPiThresholdSq: float) -> None:
         ...
-    def applyLeftJacobian(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with leftJacobian(), with optional derivatives.
-        """
-    def applyLeftJacobianInverse(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies withleftJacobianInverse(), with optional derivatives.
-        """
-    def applyRightJacobian(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with rightJacobian(), with optional derivatives.
-        """
-    def applyRightJacobianInverse(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
-        """
-        Multiplies with rightJacobian().inverse(), with optional derivatives.
-        """
     def leftJacobian(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
-    def leftJacobianInverse(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
-        """
-        For |omega|>pi uses leftJacobian().inverse(), as unstable beyond pi!
-        """
     def rightJacobian(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
-    def rightJacobianInverse(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
-        """
-        Inverse of right Jacobian For |omega|>pi uses rightJacobian().inverse(), as unstable beyond pi!
-        """
     @property
     def omega(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
@@ -80,3 +64,30 @@ class ExpmapFunctor:
     @property
     def theta2(self) -> float:
         ...
+class InvJKernel:
+    J: Kernel
+    def applyLeft(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def applyRight(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def left(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def right(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+class Kernel:
+    def applyFrechet(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        """
+        Apply Fréchet derivative to vector (left specialization)
+        """
+    def applyLeft(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def applyRight(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def frechet(self, X: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        """
+        Fréchet derivative of left-kernel M(ω) in the direction X ∈ so(3) L_M(Ω)[X] = b X + c (Ω X + X Ω) + s (db Ω + dc Ω²), with s = -½ tr(Ω X)
+        """
+    def left(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...
+    def right(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
+        ...

{gtsam_develop-4.3a0.dev202508202018.dist-info → gtsam_develop-4.3a0.dev202508202357.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202508202018
+Version: 4.3a0.dev202508202357
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202508202018.dist-info → gtsam_develop-4.3a0.dev202508202357.dist-info}/RECORD

@@ -1,6 +1,6 @@
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
-gtsam/__init__.pyi,sha256=FUy6TE9tdrWr_jyHaq-axiFDL8-X5MFLnLZwxA7PHWs,44359
-gtsam/gtsam.cpython-310-aarch64-linux-gnu.so,sha256=7D7u-yU_VJ74_xBg0FOUulfVCvPZSxKxlPFk-WymHCU,22922361
+gtsam/__init__.pyi,sha256=tF5Xex_q8PgNEGS3NZXGIeuUHo7JMcxg1ClZuwEifD8,44359
+gtsam/gtsam.cpython-310-aarch64-linux-gnu.so,sha256=w_GdW7tMkv5RvBdaMoAFQ8aNLtFEgr7B5bTND98Fl_8,22922561
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
@@ -114,11 +114,11 @@ gtsam/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam/examples/gtsam_plotly.py,sha256=bTXAzZ3i_RunKrdGwFLsMsetYYleQrzDa50ekmrt_nQ,17073
 gtsam/examples/plot_city10000.py,sha256=xsM1HFlcBn6TqEqQtZjlOl0WQI6tVZMgjtKdYIusbyE,3353
 gtsam/examples/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
-gtsam/gtsam/__init__.pyi,sha256=k2CgMMiKN_tJUvPGRB03vNt2gLcfZM_byPPjujVCQ6w,742769
+gtsam/gtsam/__init__.pyi,sha256=RraDO3ADJ3tiorkBz_r0tKcGHwRfcWWmLpB5JY5cC7A,742771
 gtsam/gtsam/gtsfm.pyi,sha256=YqHbjQW2aHsecKdORMcoGqJscEVvor4GH3Ve8ze9e6A,713
 gtsam/gtsam/imuBias.pyi,sha256=zXpyT6XAIoA6eOMRom7bzPc86BS_3VoO_oujcpsHct4,2808
 gtsam/gtsam/lago.pyi,sha256=XP_iLWJJ8c8jnYidbxmh8iRzo9FiZcEM5TR73JM_bkE,562
-gtsam/gtsam/so3.pyi,sha256=CqODjk71jQ7mgd6EtRssWC4jFpFz6TKgEJTolt_INlw,3960
+gtsam/gtsam/so3.pyi,sha256=46DCpeWznNY3UMRjbnpSagaPwDer7_ZpUDwDLUS3Ceo,4534
 gtsam/gtsam/symbol_shorthand.pyi,sha256=JMd25P7XvfC6iJJvLos3WmzmzJDgsCKtbzXBwBmvg34,1002
 gtsam/gtsam/utilities.pyi,sha256=i05kEneiWpMgXXo64Q0er5Ra-07ZXtSf4HafAq8bvjM,3395
 gtsam/gtsam/noiseModel/__init__.pyi,sha256=EwAVMBQq5ycATicVY2V-arRnTMGuz5lu-Edt88GSyH8,8792
@@ -247,17 +247,17 @@ gtsam_develop.libs/libboost_system-0f8f8a6a.so.1.87.0,sha256=vG7c-nCNDFk9UrmGaYj
 gtsam_develop.libs/libboost_thread-e6217d1e.so.1.87.0,sha256=E2jFMpQ_xgH8mzebJPVAo9JKwZRF0cTUZx4q4aDVVKo,357745
 gtsam_develop.libs/libboost_timer-c03b5720.so.1.87.0,sha256=C-jrqHaflQqKfg88hGhzFRof8w0WX5Lw-N56zLtD3CE,133249
 gtsam_develop.libs/libcephes-gtsam-906422bf.so.1.0.0,sha256=aX4Q_2V2F1uwqCEdNkLhzOzgGWLf2cTeZn9OJeRcSvY,264913
-gtsam_develop.libs/libgtsam-f15c7675.so.4.3a0.dev202508202018,sha256=CBQAqSV9pTpIDaENRXnsCzzn7tcMRq3UqbpRif-1W2w,11276865
-gtsam_develop.libs/libgtsam_unstable-e22bad36.so.4.3a0.dev202508202018,sha256=08yCkjH_LYlTK0WxN7c6ftFn7A4rNnUVyDJIscm1Afs,2585577
+gtsam_develop.libs/libgtsam-57fc1f36.so.4.3a0.dev202508202357,sha256=LZjIeYmSN1eXiNmnD3xHdRtJv_Sz7qTgijBOk6bp9DQ,11275449
+gtsam_develop.libs/libgtsam_unstable-e22bad36.so.4.3a0.dev202508202357,sha256=QDDIuTntg-l3zDsmryy_Y2gI1mGK1-A0t_BPpPYcHZs,2585577
 gtsam_develop.libs/libmetis-gtsam-b7310f3a.so,sha256=6Y9LebAEnr8OFCzKGxK2KADmtBGIq3XnzDpXF7jMX4A,546689
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
-gtsam_unstable/gtsam_unstable.cpython-310-aarch64-linux-gnu.so,sha256=ZhgdYpX7TKYyV_8gqLvtHLqw4zPI4xP6Fh3_9o9pdDA,2715801
+gtsam_unstable/gtsam_unstable.cpython-310-aarch64-linux-gnu.so,sha256=lI25got8NkgaCU9qih0Na3LzgpKioHHeVFxEce5myjE,2715801
 gtsam_unstable/examples/LocalizationExample.py,sha256=na47I1PQ_5Tenj8Wg2LBg3GaqP32O4yEb8jtRWKu0P8,2882
 gtsam_unstable/examples/TimeOfArrivalExample.py,sha256=uky5ps4Ng83C0Q_s2EAc64Af6iztQjXXdj3ahifRXoI,3737
 gtsam_unstable/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py,sha256=t2l62uWoXfjrM8oH6ogV7M20WjTYKZ4CSferdurMIY0,2156
-gtsam_develop-4.3a0.dev202508202018.dist-info/METADATA,sha256=D_1MC8d2W_sqNHMHsImX5x4YFWqn8eqCTX6AbllmNRM,7789
-gtsam_develop-4.3a0.dev202508202018.dist-info/WHEEL,sha256=vt10XHyx8XHNEIAFxeE1WFzs0eMXeaXoxjuAPSHPBl8,153
-gtsam_develop-4.3a0.dev202508202018.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
-gtsam_develop-4.3a0.dev202508202018.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202508202357.dist-info/METADATA,sha256=4hrwX8Rbiavv3e3R25s7FRlV32_Oi7J2pREjIHbdkSY,7789
+gtsam_develop-4.3a0.dev202508202357.dist-info/WHEEL,sha256=vt10XHyx8XHNEIAFxeE1WFzs0eMXeaXoxjuAPSHPBl8,153
+gtsam_develop-4.3a0.dev202508202357.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202508202357.dist-info/RECORD,,