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Description
Feature
Currently, all namespaces under the top level gtsam (e.g. symbol_shorthand) are added as pybind submodules. This requires the python import to look like
from gtsam.gtsam.symbol_shorthand import Xaka a gtsam module inside a gtsam module.
We can get rid of the inner gtsam module by configuring the pybind wrapper to create separate modules for all the inner namespaces, allowing us to do
from gtsam.symbol_shorthand import Xwhich is more intuitive and neater, especially since import gtsam.symbol_shorthand works.
Motivation
Outlined above.
Pitch
Update the Pybind wrapper to have separate modules for each inner namespace.
Currently there are 5:
- noiseModel
- mEstimator
- symbol_shorthand
- imuBias
- utilities
Alternatives
N/A
Additional context
@ProfFan should be able to provide details on whether this is doable without breaking other stuff since he's the lead on the Pybind wrapper. :-)
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