gtsam-develop 4.3a0.dev202508252029__cp312-cp312-macosx_11_0_arm64.whl → 4.3a0.dev202509090331__cp312-cp312-macosx_11_0_arm64.whl

gtsam/tests/test_FrobeniusFactor.py

@@ -8,27 +8,32 @@ See LICENSE for the license information
 FrobeniusFactor unit tests.
 Author: Frank Dellaert
 """
+
 # pylint: disable=no-name-in-module, import-error, invalid-name
 import unittest
 
 import numpy as np
+
 from gtsam import (
-    Rot3,
+    SL4,
     SO3,
     SO4,
+    FrobeniusBetweenFactorGal3,
+    FrobeniusBetweenFactorNLSimilarity2,
+    FrobeniusBetweenFactorNLSimilarity3,
+    FrobeniusBetweenFactorNLSL4,
     FrobeniusBetweenFactorSO4,
+    FrobeniusFactorGal3,
+    FrobeniusFactorSL4,
+    FrobeniusFactorSimilarity2,
+    FrobeniusFactorSimilarity3,
     FrobeniusFactorSO4,
+    Gal3,
+    Rot3,
     ShonanFactor3,
-    SOn,
     Similarity2,
     Similarity3,
-    FrobeniusFactorSimilarity2,
-    FrobeniusBetweenFactorSimilarity2,
-    FrobeniusFactorSimilarity3,
-    FrobeniusBetweenFactorSimilarity3,
-    Gal3,
-    FrobeniusFactorGal3,
-    FrobeniusBetweenFactorGal3,
+    SOn,
 )
 
 id = SO4()
@@ -46,6 +51,15 @@ P2_sim3 = Similarity3.Expmap(np.array([0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8]))
 G1_gal3 = Gal3(Rot3.Rz(0.1), np.array([0.2, 0.3, 0.4]), np.array([0.5, 0.6, 0.7]), 0.8)
 G2_gal3 = Gal3(Rot3.Rz(0.2), np.array([0.3, 0.4, 0.5]), np.array([0.6, 0.7, 0.8]), 0.9)
 
+# Define SL4 transformations
+
+id_sl4 = SL4()
+T_matrix1 = np.array([[1, 0, 0, 1], [0, 1, 0, 2], [0, 0, 1, 3], [0, 0, 0, 1]])
+G1_sl4 = SL4(T_matrix1)
+
+T_matrix2 = np.array([[1, 0, 0, 4], [0, 1, 0, 5], [0, 0, 1, 6], [0, 0, 0, 1]])
+G2_sl4 = SL4(T_matrix2)
+
 
 class TestFrobeniusFactorSO4(unittest.TestCase):
     """Test FrobeniusFactor factors."""
@@ -85,7 +99,7 @@ class TestFrobeniusFactorSimilarity2(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
     def test_frobenius_between_factor(self):
-        factor = FrobeniusBetweenFactorSimilarity2(1, 2, P1_sim2.between(P2_sim2))
+        factor = FrobeniusBetweenFactorNLSimilarity2(1, 2, P1_sim2.between(P2_sim2))
         actual = factor.evaluateError(P1_sim2, P2_sim2)
         expected = np.zeros((9,))
         np.testing.assert_allclose(actual, expected, atol=1e-9)
@@ -99,7 +113,7 @@ class TestFrobeniusFactorSimilarity3(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
     def test_frobenius_between_factor(self):
-        factor = FrobeniusBetweenFactorSimilarity3(1, 2, P1_sim3.between(P2_sim3))
+        factor = FrobeniusBetweenFactorNLSimilarity3(1, 2, P1_sim3.between(P2_sim3))
         actual = factor.evaluateError(P1_sim3, P2_sim3)
         expected = np.zeros((16,))
         np.testing.assert_allclose(actual, expected, atol=1e-9)
@@ -119,5 +133,23 @@ class TestFrobeniusFactorGal3(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
 
+class TestFrobeniusFactorSL4(unittest.TestCase):
+    def test_frobenius_factor(self):
+        """Test Frobenius factor for SL4."""
+        factor = FrobeniusFactorSL4(1, 2)  # Replace with appropriate SL4 factor class
+        actual = factor.evaluateError(G1_sl4, G2_sl4)
+        expected = (G2_sl4.matrix() - G1_sl4.matrix()).transpose().reshape((16,))
+        np.testing.assert_allclose(actual, expected, atol=1e-9)
+
+    def test_frobenius_between_factor(self):
+        """Test Frobenius BetweenFactor for SL4."""
+        factor = FrobeniusBetweenFactorNLSL4(
+            1, 2, G1_sl4.between(G2_sl4)
+        )  # Replace with appropriate SL4 factor class
+        actual = factor.evaluateError(G1_sl4, G2_sl4)
+        expected = np.zeros((16,))
+        np.testing.assert_allclose(actual, expected, atol=1e-9)
+
+
 if __name__ == "__main__":
     unittest.main()

{gtsam_develop-4.3a0.dev202508252029.dist-info → gtsam_develop-4.3a0.dev202509090331.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202508252029
+Version: 4.3a0.dev202509090331
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.
@@ -75,7 +75,7 @@ Prerequisites:
     - Mac: at least xcode-14.2
     - Linux: at least clang-11 or gcc-9
     - Windows: at least msvc-14.2
-- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0
+- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.9
     - Ubuntu: `sudo apt-get install cmake`
 
 Optional Boost prerequisite:

{gtsam_develop-4.3a0.dev202508252029.dist-info → gtsam_develop-4.3a0.dev202509090331.dist-info}/RECORD

@@ -1,13 +1,13 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/__init__.pyi,sha256=cnvLXJ5WNFPLZybardNrOKPq02etStYtZLkxOiXRI-I,44359
+gtsam/__init__.pyi,sha256=KkDoZXP185NelBR2z69FpPKeGU96AI81jEh3jowxhRo,47139
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
-gtsam/gtsam.cpython-312-darwin.so,sha256=8e4Cqhg2bTSmq3Q5kkcqOhArcwmZE1g7tJzijT37_ME,18439520
+gtsam/gtsam.cpython-312-darwin.so,sha256=ReFydBoQAJ3EE5V0Ori7dmZ6d2QFWj9IJz-xkhJAGP4,18906240
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/gtsam/utilities.pyi,sha256=i05kEneiWpMgXXo64Q0er5Ra-07ZXtSf4HafAq8bvjM,3395
 gtsam/gtsam/gtsfm.pyi,sha256=YqHbjQW2aHsecKdORMcoGqJscEVvor4GH3Ve8ze9e6A,713
-gtsam/gtsam/__init__.pyi,sha256=oSNga9ubuwlVsC5fCqsFzfofindgf7--WIm502lbq6I,743044
+gtsam/gtsam/__init__.pyi,sha256=j25w3Sg0FgkHF7SYqNCa5ZlwYMHgZN6_BwtSy0efdSI,763488
 gtsam/gtsam/so3.pyi,sha256=46DCpeWznNY3UMRjbnpSagaPwDer7_ZpUDwDLUS3Ceo,4534
 gtsam/gtsam/imuBias.pyi,sha256=zXpyT6XAIoA6eOMRom7bzPc86BS_3VoO_oujcpsHct4,2808
 gtsam/gtsam/symbol_shorthand.pyi,sha256=JMd25P7XvfC6iJJvLos3WmzmzJDgsCKtbzXBwBmvg34,1002
@@ -17,7 +17,7 @@ gtsam/gtsam/noiseModel/mEstimator.pyi,sha256=WpoQSQf_N20WE_nFTSL7_xoPQN-avW31JK4
 gtsam/tests/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
 gtsam/tests/test_OdometryExample.py,sha256=aO-ciYNbKo8ru0bxexEtlj4xN9WGiSBlLOQnRkCCAx0,2094
 gtsam/tests/test_KarcherMeanFactor.py,sha256=L3_VAOljyRDmyOjOlZqnW-5apqufsDd8UnLIZ-d-_VE,2369
-gtsam/tests/test_FrobeniusFactor.py,sha256=azS0x0EDgj9N4Z4OYAMip94hTkvYo7AcjZvuLtctGMA,4420
+gtsam/tests/test_FrobeniusFactor.py,sha256=F8sCyeKIzou6VwOiumMucB26hi5_Wms8IjaCa1SIOM8,5562
 gtsam/tests/ImuFactorISAM2Example.py,sha256=G9HS3tHAp3plMfulFtsxE1mR467wSXlpoND8GjbqbyM,5724
 gtsam/tests/CombinedImuFactorExample.py,sha256=RLR2_q6IU-cAHiaVYBNPeT8Xg1COVHuXKrML6l480Vk,9455
 gtsam/tests/test_Factors.py,sha256=ehOfrP2xHSQiIDgtWcoxxg59MiQsHWPB_maaf-YEs7U,1427
@@ -129,12 +129,12 @@ gtsam/utils/test_case.py,sha256=3wIqAW5_smes95XUJgUjD4v3FXACYSVzQ1l6MMdwSkA,1848
 gtsam/utils/logging_optimizer.py,sha256=tRnzQKV4eT5djS0Ojy5J7OGu7oVRjZw7Jhjrx_VQVTU,4417
 gtsam/utils/generate_trajectory.py,sha256=_1TZWhpRKj8ha0FOEmqUpEzAt3KLgwqyZJ4ueFD2jmE,2663
 gtsam/.dylibs/libboost_thread.dylib,sha256=aT1DCt1Kvw1A2w2mRHIJhZRFrYmoDaI5xYM6wEt86L8,137200
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202508252029.dylib,sha256=hmCkmQfHDztjmffjsS4STwROAoE4eIYaMCrKyxsXEUQ,1623248
+gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202509090331.dylib,sha256=Ej2Vxc5V_gJ5dn-mnzJdmWyHznpEsTvxMoy7TkaVl6Y,1623248
 gtsam/.dylibs/libboost_regex.dylib,sha256=XWw3H3ehJjFuFVSSDGo2lyKOIsoTQ-0Aaf1ekhsQJfY,356464
 gtsam/.dylibs/libboost_serialization.dylib,sha256=7OW78djID14u2YB_F_TuXomOIsEpt8I7RnCAGuGmwCc,418288
-gtsam/.dylibs/libgtsam.4.3a0.dev202508252029.dylib,sha256=j2XnULXWomYSP-cqelvM9risz5lJsAdt6rLZYjzZqK4,5958976
 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.dev202509090331.dylib,sha256=-bwlA54NDFCdKDMNziYGEl13WYxUlCZEOdt5PQUo528,5979776
 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
@@ -177,6 +177,7 @@ gtsam/examples/HybridCity10000.py,sha256=FjboTnu7SAZu3JTrk6GssdRd0VClZIJh78_XOKz
 gtsam/examples/ImuFactorExample.py,sha256=3IFq2jxBPBJ-y62FbuTp4P3D-VvKg2qvcWzgyRRKJ7A,8816
 gtsam/examples/PreintegrationExample.py,sha256=4w8G0Q7jRehA8BeDAiZSZVL05PqtX9RhJPxx4_Jyx4U,6207
 gtsam/Data/pose3example-grid.txt,sha256=i0Ij7-IU_MLNzQz6v8yLhelXuK-5EZZXR3yorZa5IIw,8482
+gtsam/Data/gazebo_ASV.csv,sha256=26-LPqL495lpp5W2sJlhG9t7PFiiO0-CY1X8se2VOOg,325688
 gtsam/Data/VO_calibration.txt,sha256=IF0-UlAttBvPX8VctLbA_iOpNI2pGXrxta6M5gqYrRA,50
 gtsam/Data/pose3example-offdiagonal-rewritten.txt,sha256=TUKDBRLJsiSq9EHePr6YgCzZ9dmI9eAwmeYbUllg2Sk,256
 gtsam/Data/optimizedNoisyToyGraph.txt,sha256=CPGWKpr_KXEVGzHpU13xmdg94GWl8ZT3lOVUUfleR2c,635
@@ -251,13 +252,13 @@ gtsam/Data/Balbianello/BalbianelloMedium-1.key.gz,sha256=RgT7tVXXOwvDug20TW-9xto
 gtsam/Data/Balbianello/BalbianelloMedium-3.key.gz,sha256=yNMcyqwZCOj9FG-6qXQ9xhJjpM135cTBJYlOUBG0rnQ,296236
 gtsam/Data/Balbianello/BalbianelloMedium-5.key.gz,sha256=4veDrxRdLH8k1DIhgj1984MitZ7nAWoXDWTWyXuu7Lg,241361
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
-gtsam_unstable/gtsam_unstable.cpython-312-darwin.so,sha256=McM5_ptFpWztrlrghKeXwg10YeRtrusELsK1NxKUPxo,2049984
+gtsam_unstable/gtsam_unstable.cpython-312-darwin.so,sha256=ATxp6ucHQrLdSE_wUKzaAWXQAMtuaNiLof9MUfumuUk,2049984
 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
 gtsam_unstable/examples/LocalizationExample.py,sha256=na47I1PQ_5Tenj8Wg2LBg3GaqP32O4yEb8jtRWKu0P8,2882
 gtsam_unstable/examples/TimeOfArrivalExample.py,sha256=uky5ps4Ng83C0Q_s2EAc64Af6iztQjXXdj3ahifRXoI,3737
-gtsam_develop-4.3a0.dev202508252029.dist-info/RECORD,,
-gtsam_develop-4.3a0.dev202508252029.dist-info/WHEEL,sha256=V1loQ6TpxABu1APUg0MoTRBOzSKT5xVc3skizX-ovCU,136
-gtsam_develop-4.3a0.dev202508252029.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
-gtsam_develop-4.3a0.dev202508252029.dist-info/METADATA,sha256=Ulnoscrx4fbKcWaX3Dquhe9MW9H_pCRI2cXen73pnwg,8808
+gtsam_develop-4.3a0.dev202509090331.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202509090331.dist-info/WHEEL,sha256=V1loQ6TpxABu1APUg0MoTRBOzSKT5xVc3skizX-ovCU,136
+gtsam_develop-4.3a0.dev202509090331.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202509090331.dist-info/METADATA,sha256=zWJ8GPiecDlYHNR7NeGxSCNMb4wlzhgui-lNIa5ZacQ,8808