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Expose GPSFactor and GPSFactor2 in the Python wrapper #141

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octopuscabbage opened this issue Oct 10, 2019 · 6 comments
Closed

Expose GPSFactor and GPSFactor2 in the Python wrapper #141

octopuscabbage opened this issue Oct 10, 2019 · 6 comments
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@MandyXie

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@octopuscabbage
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Feature

We would like GPSFactor and GPSFactor2 exposed in the python API.
Currently we have tried wrapping it ourselves in gtsam.h but are having problems with building it.

Motivation

It would be useful to be able to use the full NavState in the python API. Currently only the IMU factors are implemented.

Pitch

GPSFactor and GPSFactor2 to be usable in the python wrapper.

Alternatives

Expose the ability to create custom factors in the python API.

Additional context

None
@dellaert
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I would love to assist. Could you create a PR with your attempt at wrapping?
By the way, the language that gtsam.h accepts is close to c++ but not quite. See comments at top. My approach to debugging it is to start with an empty class and then add methods one by one to find problem. Error reporting is terrible, but we are working on a new wrap...

@octopuscabbage
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Will do, I'll talk with my colleague and put what we have so far in a fork.

We read the preamble and think our code conforms to it but yeah it has some weird bad parsing error.

@octopuscabbage
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We actually got it to build - we'll post our PR later.

@dellaert
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Excellent!! Look forward to it 👍

@dellaert
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@octopuscabbage don't forget the PR :-)

@dellaert
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Fixed by PR #155 . Thanks @MandyXie !

varunagrawal added a commit that referenced this issue Dec 22, 2021
@varunagrawal
Squashed 'wrap/' changes from 2cbaf7a3a..3e076c9ac
49880e5 
3e076c9ac Merge pull request #141 from borglab/feature/compile-on-change
055d6ad3f add dependencies to specialization and preamble files
497b330e8 address review comments
8e233b644 use custom command instead of custom target
238954eaa minor fix
b709f512b update cmake to make multiple wrapping calls for each interface file
a1b9ffaaf pybind wrapper updates to handle submodules separately from the main python module

git-subtree-dir: wrap
git-subtree-split: 3e076c9ace04fea946124d586a01c2e9b8a32bdc
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@MandyXie MandyXie

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@octopuscabbage @dellaert @MandyXie