Closed bradley-solliday-skydio closed 1 year ago
Reviews in this chain: └https://github.com/symforce-org/symforce/pull/292 Simplify geo_factors_codegen w/ skip_dir_nesting └https://github.com/symforce-org/symforce/pull/294 Add diagonal & isotropic sqrt_infos in geo factors
Previously,
geo_factors_codegen.py
was using an ad-hoc system of generating all the C++ factors into afactors
folder. It did this by callingCodegen.generate_function
to generate the code into a temporary file, read the file into a string, then re-wrote the string into the desired location. I assume this was to avoid all the fluff that's generated by default withCodegen.generate_function
.However, there is the
skip_directory_nesting
optional argument forCodegen.generate_function
which does precisely that (I think the code in this file might have been written before that option was added).So, to reduce confusion (such as the confusion I faced when I first started looking at this file) and complexity, I rewrote the code to instead use the
skip_directory_nesting
argument.Topic: geo_factors_use_skip_directory_nesting