Merge pull request #121 from decargroup/add_batch_tutorial

Add batch tutorial example
decargroup · Jun 11, 2024 · 280c685 · 280c685
2 parents 1dce296 + bf9291d
commit 280c685
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diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
@@ -24,4 +24,5 @@ All the dependencies should get installed by this command and the package should
    2. Toy Problem - Traditional <./tutorial/traditional.ipynb>
    3. Toy Problem - Lie groups <./tutorial/lie_groups.ipynb>
    4. Specifying Jacobians <./tutorial/jacobians.ipynb>
-   4. Composite States <./tutorial/composite.ipynb>
+   4. Composite States <./tutorial/composite.ipynb>
+   5. Batch Estimation <./tutorial/batch.ipynb>
diff --git a/docs/source/tutorial/batch.ipynb b/docs/source/tutorial/batch.ipynb
diff --git a/navlie/lib/models.py b/navlie/lib/models.py
@@ -524,11 +524,6 @@ def __init__(
 
     def evaluate(self, x: CompositeState) -> np.ndarray:
         """Evaluates the measurement model for the landmark state."""
-
-        # The pose is always assumed to be the first element
-        # TODO: is there a better way to do this? The
-        # Measurement class already hold on to the IDs of these two
-        # states
         pose: MatrixLieGroupState = x.get_state_by_id(self._pose_state_id)
         landmark: VectorState = x.get_state_by_id(self._landmark_state_id)