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[WIP] Implement TemporalTrafoManager on top of TransformGraphBase #257

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merged 28 commits into from
Jul 20, 2023
Merged

[WIP] Implement TemporalTrafoManager on top of TransformGraphBase #257

merged 28 commits into from
Jul 20, 2023

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kopytjuk
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@kopytjuk kopytjuk commented Jul 16, 2023 •
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@kopytjuk kopytjuk mentioned this pull request Jul 16, 2023
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@kopytjuk kopytjuk changed the title Implement TemporalTrafoManager on top of base-class [WIP] Implement TemporalTrafoManager on top of base-class Jul 16, 2023
@kopytjuk kopytjuk changed the title [WIP] Implement TemporalTrafoManager on top of base-class [WIP] Implement TemporalTrafoManager on top of TransformGraphBase Jul 16, 2023
@kopytjuk kopytjuk force-pushed the transform-manager-with-time-new-base branch from 2665b8d to 2782f23 Compare July 17, 2023 15:54
@kopytjuk kopytjuk force-pushed the transform-manager-with-time-new-base branch from 6ae214b to 10e4444 Compare July 18, 2023 08:42
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kopytjuk commented Jul 18, 2023 •
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Hey @AlexanderFabisch

your idea with a state variable holding the current time was amazing! Look how small the TemporalTransformationManager has become :)

So the interpolation is conducted within the transforms property method calling the as_matrix(time) interface there.

We could even remove the _get_transform methods, and access transforms property directly in the base class!

@kopytjuk kopytjuk mentioned this pull request Jul 18, 2023
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@AlexanderFabisch AlexanderFabisch self-assigned this Jul 18, 2023
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AlexanderFabisch requested changes Jul 18, 2023
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Everything looks very good now.

I'd like to merge this PR to refactor/transform_manager soon.

What is missing to close this first step is the following:

  • there are some comments above
  • proper testing to reach 100% coverage
  • separation of type hints in .pyi file

After that we have to address some other issues:

  • update documentation (tutorial part)
  • discuss inclusion of dynamic transformation (documentation, additional optional dependencies?)

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AlexanderFabisch
AlexanderFabisch requested changes Jul 19, 2023
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Apart from these last few comments it looks good!

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@AlexanderFabisch AlexanderFabisch merged commit 9c74446 into dfki-ric:refactor/transform_manager Jul 20, 2023
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