symforce.codegen.geo_factors_codegen module

get_between_factor_docstring(between_argument_name)

Parameters:

between_argument_name (str) –

Return type:

str

get_prior_docstring()

Return type:

str

between_factor(a, b, a_T_b, sqrt_info, epsilon=0)

Parameters:

• a (Any) –

• b (Any) –

• a_T_b (Any) –

• sqrt_info (Matrix) –

• epsilon (float) –

Return type:

Matrix

prior_factor(value, prior, sqrt_info, epsilon=0)

Parameters:

• value (Any) –

• prior (Any) –

• sqrt_info (Matrix) –

• epsilon (float) –

Return type:

Matrix

generate_between_factors(types, output_dir)

Generates between factors for each type in types into output_dir.

Parameters:

• types (Sequence[Type]) –

• output_dir (str | PathLike) –

Return type:

None

generate_pose3_extra_factors(output_dir)

Generates factors specific to Poses which penalize individual components into output_dir.

This includes factors for only the position or rotation components of a Pose. This can’t be done by wrapping the other generated functions because we need jacobians with respect to the full pose.

Parameters:

output_dir (str | PathLike) –

Return type:

None

generate(output_dir)

Prior factors and between factors for C++.

Parameters:

output_dir (Path) –

Return type:

None