gtsam-develop 4.3a0.dev202509281228__cp313-cp313-macosx_11_0_arm64.whl → 4.3a0.dev202509282100__cp313-cp313-macosx_11_0_arm64.whl

gtsam/__init__.pyi

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

gtsam/gtsam/__init__.pyi

@@ -8842,28 +8842,16 @@ class NavState:
     def velocity(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
 class NavStateImuEKF(LeftLinearEKFNavState):
-    def Dynamics(self, n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], X: NavState, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
-        """
-        Compute the dynamics of the system.
-        
-        This function computes the next state of the system based on the current state, gravity, body angular velocity, body specific force, and time step. The dynamics are defined as: X_{k+1} = f(X_k; g, omega_b, f_b, dt) = W(g, dt) \\phi_dt(X_k) U(omega_b, f_b, dt) where W, \\phi, and U are the gravity, (autonomous) position update, and IMU increment functions, respectively.
-        
-        Args:
-        n_gravity: Gravity vector in the navigation frame.
-        X: Current NavState.
-        omega_b: Body angular velocity measurement (rad/s).
-        f_b: Body specific force measurement (m/s^2).
-        dt: Time step in seconds.
-        
-        Returns: The next NavState after applying the dynamics.
-        """
-    def Gravity(self, n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
-        """
-        Calculate W (gravity-only left composition, world-frame increments)
-        """
-    def IMU(self, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+    @staticmethod
+    def Dynamics(n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], X: NavState, omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+        ...
+    @staticmethod
+    def Gravity(n_gravity: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
+        ...
+    @staticmethod
+    def IMU(omega_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], f_b: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], dt: float) -> NavState:
         """
-        Calculate U from raw IMU (no gravity): body-frame increments.
+        Calculate U from raw IMU (no gravity): body-frame increments We do an explicit closed-form integration based on SO3(3) kernels.
         """
     def __init__(self, X0: NavState, P0: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], params: PreintegrationParams) -> None:
         ...

{gtsam_develop-4.3a0.dev202509281228.dist-info → gtsam_develop-4.3a0.dev202509282100.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202509281228
+Version: 4.3a0.dev202509282100
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202509281228.dist-info → gtsam_develop-4.3a0.dev202509282100.dist-info}/RECORD

@@ -1,13 +1,13 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/gtsam.cpython-313-darwin.so,sha256=Rs8EIvw-cSDcYZUhsea4bGarDwXNPuBzkiMQiIO014M,18906480
-gtsam/__init__.pyi,sha256=bGMBp5CvTFQo9fbPuHn2SlLOmgK2iLkFv93Xr0KNElc,47139
+gtsam/gtsam.cpython-313-darwin.so,sha256=8WSWGCvcdK_S4c2AGvtjv-MtmW64vZhjHP3YsAm5IMs,18906656
+gtsam/__init__.pyi,sha256=f8Fp_x7wtd2ijU90KNtulhK3SQjfAWBBZOdqv8kJTBk,47139
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/gtsam/utilities.pyi,sha256=i05kEneiWpMgXXo64Q0er5Ra-07ZXtSf4HafAq8bvjM,3395
 gtsam/gtsam/gtsfm.pyi,sha256=YqHbjQW2aHsecKdORMcoGqJscEVvor4GH3Ve8ze9e6A,713
-gtsam/gtsam/__init__.pyi,sha256=j25w3Sg0FgkHF7SYqNCa5ZlwYMHgZN6_BwtSy0efdSI,763488
+gtsam/gtsam/__init__.pyi,sha256=P8yfk-K9qSIkAgA7tQwqROYX_g-rw-XEtXOn3Q90ulc,762725
 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
@@ -129,9 +129,9 @@ 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.dev202509282100.dylib,sha256=YZMJQhUPjwpvztVC3UB79cOylEbAeXhs5pGtQmn3GFk,1623248
 gtsam/.dylibs/libboost_regex.dylib,sha256=XWw3H3ehJjFuFVSSDGo2lyKOIsoTQ-0Aaf1ekhsQJfY,356464
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202509281228.dylib,sha256=75Psbvy7BYPrRIPE3oGGyoiok650ebl_ZHOeZOJRluo,1623248
-gtsam/.dylibs/libgtsam.4.3a0.dev202509281228.dylib,sha256=m5ErXe3C3lAlaQd8MuwbEBMSsTq4F9w15NG2ObJutbQ,5979776
+gtsam/.dylibs/libgtsam.4.3a0.dev202509282100.dylib,sha256=6hlTSYie3Xu1PF2J4M_XC_cACH01ykwUGGygDMP3WbQ,5979936
 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
@@ -252,13 +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-313-darwin.so,sha256=gE7UUNcJ5bCYR4J4JifmQ-Y0gEBqYJ-mjwFJzNmvITo,2050224
+gtsam_unstable/gtsam_unstable.cpython-313-darwin.so,sha256=X9DDIW_XBEYUvuq9eWqFhyVEk79ygN95ypvDw7Gac3U,2050224
 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.dev202509281228.dist-info/RECORD,,
-gtsam_develop-4.3a0.dev202509281228.dist-info/WHEEL,sha256=oqGJCpG61FZJmvyZ3C_0aCv-2mdfcY9e3fXvyUNmWfM,136
-gtsam_develop-4.3a0.dev202509281228.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
-gtsam_develop-4.3a0.dev202509281228.dist-info/METADATA,sha256=ColyH9QwjJ0E43itJqSomKmtWglj8HhTUd-HvjQfsIs,8808
+gtsam_develop-4.3a0.dev202509282100.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202509282100.dist-info/WHEEL,sha256=oqGJCpG61FZJmvyZ3C_0aCv-2mdfcY9e3fXvyUNmWfM,136
+gtsam_develop-4.3a0.dev202509282100.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202509282100.dist-info/METADATA,sha256=_THlvdT534OLdt0ZjzOuslkUWD7e_vwiIoWoyQnFX3M,8808