gtbook 0.0.32

Frank Dellaerts book support lib, made with nbdev

gtbook

An nbdev powered toolbox for Frank and Seth's robotics book.

How to use

In the book chapters, we should have a cell that fetches the latest version using pip:

%pip install -q -U gtbook

The above automatically installs other libraries on colab, e.g., gtsam and plotly.

You also need a cell that imports what you need in a particular section, for example:

from gtbook.display import show
from gtbook.discrete import Variables

Further usage examples of these and more functions are given in the module documentation itself.

There are also some command line tools defined in the cli module.

Notes for development

Mostly for Frank as he adds to the library.

• Conda install nbdev
• show preview using nbdev_preview
• pip install -e . for local install for test purposes.
• nbdev_prepare to prepare for git commit

To release a new version:

• nbdev_bump_version
• make release

Problems with nbdev2:

• Somehow still wants to build the website in "docs"
• "fixes" the notebooks in test, making cli test fail (commented out now). I committed them as I don't know how to prevent this. Correct files are at tag "nbdev1"

Problems with circular dependency and issue #3, January 2023:

• By adding the pybind stl header again in inference.h the typeError went away
• building the wrapper in 3.8 leads to a circular dependency, however.
• I created a version 4.2a9 to stabilize, and created a PR on gtsam-manylinux-build to build it. It builds and wheels were built for linux and mac-86.
• I built 3 wheels for M1 with gtsam-build-m1.
• uploaded all with twine, at https://pypi.org/project/gtsam/4.2a9/
• changed dependence to 4.2a9
• nbdev_prepare and nbdev_pypi