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Better type annotation for LieType.Mul method. - #383
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Summary of ChangesHello @MarkChenYutian, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request refines the type annotations for the Highlights
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Code Review
This pull request aims to improve type annotations for the LieType.Mul method by using @overload. While this is a good initiative for better static analysis, the current implementation of the overloads introduces an incorrect type hint for the case of multiplying a Lie Algebra by a Tensor. I've left a specific comment with a suggestion to correct this, ensuring the type hints are accurate for all cases.
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After applying the patch the static analyzer can distinguish different cases of 
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…ian/pypose into MarkChenYutian/type-spec-fix
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@wang-chen Hi I've fixed the problem mentioned by Gemini above by setting type of |
* Better type annotation for Mul method. * More specified type spec. --------- Co-authored-by: Chen Wang <chenw@sairlab.org>
* [politics] avoid inplace operations * [politics] avoid bmv in pcg * [misc] remove the auto registered csr mm * [optimizer] add the sparse interface * [ui] add weight unsupported warning * [pcg] minor bug when preconditioner is not supplied - fix the output format of cg * Raise explicit exception on optimizing w/ inference_mode. (#382) * Raise explicit exception on optimizing w/ inference_mode. * Minor fixes * Better type annotation for `LieType.Mul` method. (#383) * Better type annotation for Mul method. * More specified type spec. --------- Co-authored-by: Chen Wang <chenw@sairlab.org> * Bump version from 0.7.3 to 0.7.4 Signed-off-by: Chen Wang <chenw@sairlab.org> * Update setup.py for description and include python 3.12 and * update installation command for editable mode (#385) * Highlights - Installation Command Update: The editable installation command in README.md has been updated from the deprecated python setup.py develop to the modern pip install -e .. - Python Version Support: The setup.py file has been updated to declare support for Python versions 3.13 and 3.14, expanding compatibility for future environments. * Bump version to 0.7.5 Signed-off-by: Chen Wang <chenw@sairlab.org> * [test] clean up csr missing dispatch mess * [refactor] use the imported jacobian * add test case * dense and sparse live in the same step * the unsqueeze is no longer needed * add citation * [politics] simplify * add example * add ba example * remove the dynamic loading from bae * update sparse LM to PGO example * make pcg, TrackingTensor, and map_transform all pp api * [politics] use Track * [trim_SE3] update to simplified bae api * [politics] pp owner require simple example * simplify the example and remove `trim_SE3` from pp * change to sair-lab/bae * rename `parallel_for_sparse_jacobian` * [example] print loss per-iteration * update doc * [example] move bundle adjustment to ba * add version guard * [init] update the bae install command * remaining ba path change * remove doc redundant subsection title * annotate lietype in comment * change section title to autograd * autograd summery page * avoid residual --------- Signed-off-by: Chen Wang <chenw@sairlab.org> Co-authored-by: Yutian Chen <yutianch@andrew.cmu.edu> Co-authored-by: Chen Wang <chenw@sairlab.org>
Improved the type annotation for a better static analysis experience. Following the description of
pypose.mulmethod.