Merge pull request #105 from NavAbility/main

release v0.5.1-rc1

Author: dehann

docs/blobs.md

@@ -77,7 +77,7 @@ blobId = await addBlob(client, "testimage.png", imgblob)
 Remember to add at least one BlobEntry somewhere in your session so that you might find it again in the future, see `addBlobEntry` above.
 
 :::{seealso}
-See [Tutorial 5 from ICRA 2022 for a more indepth example of working with data blobs](https://app.navability.io/get-started/tutorials/icra-5-marineexample).
+See [Tutorial 5 from ICRA 2022 for a more in-depth example of working with data blobs](sdkpynb:python/navability-sdk/icra-5-marineexample).
 :::
 
 <!-- ```@docs

docs/nvatutorials.md

@@ -18,4 +18,5 @@ On the notebook pages, use the Rocket icon in the top right menu bar to launch a
 - [Tutorial 1: Creating and Solving Factor Graphs](sdkpynb:python/navability-sdk/icra-1-simple)
 - [Tutorial 2: Non-Gaussian Measurements](sdkpynb:python/navability-sdk/icra-2-nongaussian)
 - [Tutorial 3: Insufficient Data (3D Range-only)](sdkpynb:python/navability-sdk/icra-3-rangeonly)
-- [Tutorial 4: Leveraging (Contradictory) Prior Data](sdkpynb:python/navability-sdk/icra-4-contradictorydata)
+- [Tutorial 4: Leveraging (Contradictory) Prior Data](sdkpynb:python/navability-sdk/icra-4-contradictorydata)
+- [Tutorial 5: Marine Data: Entries and Blobs](sdkpynb:python/navability-sdk/icra-5-marineexample)

setup.py

@@ -11,7 +11,7 @@
 """
     )
 
-_version = "0.5.0"
+_version = "0.5.1"
 
 setup(
     name="navabilitysdk",

src/navability/entities/__init__.py

@@ -18,9 +18,11 @@
     Pose2Point2BearingRange,
     Pose2Point2Range,
     Pose2Pose2,
+    Pose3Pose3,
     Prior,
     PriorPoint2,
     PriorPose2,
+    PriorPose3,
 )
 from .navabilityclient import (
     NavAbilityClient,

src/navability/entities/factor/inferencetypes.py

@@ -96,6 +96,23 @@ def dumps(self):
     # TODO: Deserializing this.
 
 
+@dataclass
+class PriorPose3(InferenceType):
+    Z: Distribution
+
+    def __repr__(self):
+        return f"<{self.__class__.__name__}(Z={str(self.Z)})>"
+
+    def dump(self):
+        return ZSchema().dump(self)
+
+    def dumps(self):
+        return ZSchema().dumps(self)
+
+    # TODO: Deserializing this.
+
+
+
 """
 Create a prior factor for a Point2 with a distribution Z representing (x,y) prior
 information, e.g. `FullNormal([0.0, 0.0.0], diag([0.01, 0.01]))`.
@@ -141,6 +158,22 @@ def dumps(self):
     # TODO: Deserializing this.
 
 
+@dataclass
+class Pose3Pose3(InferenceType):
+    Z: Distribution
+
+    def __repr__(self):
+        return f"<{self.__class__.__name__}(Z={str(self.Z)})>"
+
+    def dump(self):
+        return ZSchema().dump(self)
+
+    def dumps(self):
+        return ZSchema().dumps(self)
+
+    # TODO: Deserializing this.
+
+
 """
 Create a Point2->Point2 range factor with a 1D distribution:
 - range: The range from the pose to the point.

src/navability/services/utils.py

@@ -58,9 +58,12 @@ def GraphVizApp(client, variableStartsWith=None):
 def MapVizApp(client, variableStartsWith=None):
     geometry_vis_link = f"https://app.navability.io/cloud/map/?userId={client.userId}&robotStartsWith={client.robotId}&sessionStartsWith={client.sessionId}"  # noqa: E501, B950
     if variableStartsWith is None:
+        # reset the filter
         geometry_vis_link = geometry_vis_link + "&variableStartsWith"
+    else:
         if 0 < len(variableStartsWith):
-            geometry_vis_link = geometry_vis_link + "=" + variableStartsWith
+            # this defines a filter
+            geometry_vis_link = geometry_vis_link + "&variableStartsWith=" + variableStartsWith
     print(geometry_vis_link)
     try:
         return md(