v0.7.0

Full Changelog: v0.6.0...v0.7.0

🚨 Breaking Changes

sf.Pose2_SE2 and sf.Pose3_SE3 are now in geo.unsupported (also accessible through sf.unsupported). We haven't removed any functionality, just moved them to clarify that they are not intended to be supported by much of SymForce and we do not intend to add more support for them. The sf.Pose2 and sf.Pose3 classes should be used instead, since they use more efficient representations.

• 1c1cfd1 Move SE(n) classes to geo.unsupported @aaron-skydio

🐍 Python 3.11 Support

SymForce now supports Python 3.11! As of this release you should be able to build symforce from source or install it with pip on Python 3.11.

• 84f0fc7 Add py3.11 to list of supported versions @aaron-skydio
• 0bc8ea6 Python 3.11 support @aaron-skydio
• 443997a Update requirements @aaron-skydio

🗒️ Documentation and Examples Improvements

• 6828030 Fix links and warnings in tutorials @aaron-skydio
• 982ac12 Add internship callout, video link @aaron-skydio
• c55badc Add note to README about epsilon @aaron-skydio
• 6f100c5 Fix robot_2d_localization plotting @aaron-skydio
• 5d81680 Add info on make install to README @aaron-skydio
• fd644ff Create Values before Factors in examples @aaron-skydio

📉 Optimizer Improvements

• e11c49f unique ID for Values and reset factor index_entries when input values changes @samuel-wang-skydio
• da76e73 Count linearized factors then allocate @aaron-skydio
• 2273737 Initialize default key contructor @simutisernestas
• d9132d2 Expose jacobian and cholesky factor sparsity patterns @aaron-skydio

🛠️ Buildsystem / Infrastructure / Testing Improvements

• b9795e1 Use checkout@v3 everywhere @aaron-skydio
• 417f566 Fix make test_update on macos @bradley-solliday-skydio
• ec17afd stubs codegen test doesn't require the manifest @aaron-skydio
• d2bb8a4 Add symforce_root and symforce_data_root @aaron-skydio
• aaa7846 Move unused-import pylint ignore to one line @aaron-skydio
• 352116f Add workflow_dispatch trigger for CI @aaron-skydio
• 3de6517 Remove unused interface library @bradley-solliday-skydio
• 3571634 Update Catch2 to v3.1.1; Test on ubuntu jammy @bradley-solliday-skydio
• af29620 Forward CMAKE_PREFIX_PATH to symengine @brian-kubisiak-skydio
• 7ca1e43 Fix lcmtypes install during editable installation @bradley-solliday-skydio
• cfa8e04 Editable install test fixes @aaron-skydio

👮 SkyMarshal

SkyMarshal C++ bindings can now serialize and deserialize messages larger than 2GiB

• 1552cbd Use ptrdiff_t for encode/decode sizes @aaron-skydio
• 95dd10b Misc typescript change @vincent-lecrubier-skydio

✨ Misc

• 694e2ca Add _symengine_ attr to matrix class @roy-vorster-skydio
• 9619229 Added assert to prevent codgen with nested databuffers @nathan-skydio
• 5cf1840 Fix bug that caused symengine symbols types to be pass-by-ref @roy-vorster-skydio
• d7220a0 More dataclasses over dicts @aaron-skydio
• 6447174 Purge os.path @aaron-skydio
• b16b2cb Add codegen_util.load_generated_function @bradley-solliday-skydio
• 238765e Add interpolate lie group operation @roy-vorster-skydio
• 3e543e8 Always raise IndexError if wrong shape genned code @bradley-solliday-skydio
• 7d58556 Default log level is info @aaron-skydio
• f0ef328 sym class constructors accept column vectors @bradley-solliday-skydio